Driving assistance method, driving assistance device and driving assistance system

Abstract

The present invention provides a driving assistance device, a driving assistance method and a driving assistance system, which can input the stopping behavior information of a vehicle (100) from an automatic driving control device (30) to a behavior information input unit (54). If the distance from a point on the predicted moving path of the obstacle to the obstacle is greater than a first threshold and the speed of the obstacle is less than a second threshold, the image / sound output unit (51) outputs inquiry information for inquiring the vehicle occupant to the notification device (2) whether to exclude the possibility of collision between the obstacle and the vehicle (100) from the judgment object in the automatic driving control device (30). A response signal for excluding the possibility of collision from the judgment object is input to the operation signal input unit (50). The command output unit (55) outputs a command to exclude the possibility of collision from the judgment object to the automatic driving control device (30).

Description

[0001] This application is a divisional application of an application with an application date of February 22, 2018, application number 201880029320.6 (PCT / JP2018 / 006341), and invention name “Driving assistance method and driving assistance device and driving assistance system utilizing the driving assistance method”. Technical Field

[0002] The present disclosure relates to a vehicle, a driving assistance method provided for the vehicle, and a driving assistance device, an automatic driving control device, a program, and a driving assistance system using the driving assistance method. Background Art

[0003] In the automatic driving of a vehicle, an obstacle in the vehicle's path is detected, and the vehicle is automatically stopped at a position at a predetermined distance from the obstacle. In order to optimally perform control to automatically stop a vehicle traveling at a medium or high speed, a long-distance obstacle detection unit and a short-distance obstacle detection unit are provided simultaneously, wherein the long-distance obstacle detection unit only detects the presence of an obstacle within a long-distance range, and the short-distance obstacle detection unit calculates the distance to an obstacle that is detected only within a short-distance range (for example, refer to Patent Document 1).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 10-16734 Summary of the invention

[0007] An object of the present disclosure is to provide a technology for traveling according to the situation even when there is an obstacle.

[0008] A driving system according to one embodiment of the present disclosure includes a detection unit, an automatic driving control device, a notification device, and a driving assistance device. The detection unit detects at least one of the speed of an obstacle around a vehicle and the distance from the vehicle. The automatic driving control device calculates the collision probability of the obstacle detected by the detection unit and the vehicle, uses the calculated collision probability as a judgment parameter to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value. The notification device notifies at least information related to the control of the automatic driving control device. The driving assistance device assists the notification. When the stopping behavior information of the vehicle from the automatic driving control device is input, the driving assistance device outputs first inquiry information to the notification device if the distance from the first point where the predicted moving path of the vehicle intersects the predicted moving path of the obstacle obtained based on the detection by the detection unit to the obstacle is greater than a first threshold value and the speed of the obstacle detected by the detection unit is less than a second threshold value. The first inquiry information is used to inquire the occupant of the vehicle whether to exclude the collision probability of the obstacle and the vehicle from the judgment parameter. Furthermore, when the driving assistance device receives a response signal of the occupant's response operation to exclude the first inquiry information notified from the notification device, it outputs a first command to the automatic driving control device to exclude the possibility of collision between the obstacle and the vehicle from the judgment parameters.

[0009] Another aspect of the present disclosure is a driving assistance device. The device is a driving assistance device mounted on a vehicle having a detection unit, an automatic driving control device, and a notification device. The detection unit detects at least one of the speed of an obstacle around the vehicle and the distance from the vehicle. The automatic driving control device calculates the collision probability of the obstacle detected by the detection unit and the vehicle, uses the calculated collision probability as a judgment parameter to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value. The notification device notifies at least information related to the control of the automatic driving control device. When the stopping behavior information of the vehicle from the automatic driving control device is input, the device outputs first inquiry information to the notification device when the distance from the first point where the predicted moving path of the vehicle intersects the predicted moving path of the obstacle obtained based on the detection by the detection unit to the obstacle is greater than a first threshold value and the speed of the obstacle detected by the detection unit is less than a second threshold value. The first inquiry information is used to inquire the occupant of the vehicle whether to exclude the collision probability of the obstacle and the vehicle from the judgment parameter. When the driving assistance device receives a response signal of the occupant's exclusion response operation in response to the first inquiry information notified from the notification device, it outputs a first command to the automatic driving control device to eliminate the possibility of collision between the obstacle and the vehicle from the judgment parameters.

[0010] Another aspect of the present disclosure is a driving assistance method. The method is a driving assistance method used in a driving assistance device installed in a vehicle having a detection unit, an automatic driving control device, and a notification device. The detection unit detects at least one of the speed of an obstacle around the vehicle and the distance from the vehicle. The automatic driving control device calculates the collision possibility of the obstacle detected by the detection unit colliding with the vehicle, uses the calculated collision possibility as a judgment parameter to control the automatic driving of the vehicle, and stops the vehicle when the collision possibility is greater than a specified value. The notification device notifies at least information related to the control of the automatic driving control device. The method includes the following steps: when the stopping behavior information of the vehicle is input from the automatic driving control device, if the distance from the first point where the predicted moving path of the vehicle intersects the predicted moving path of the obstacle obtained based on the detection by the detection unit to the obstacle is greater than a first threshold value, and the speed of the obstacle detected by the detection unit is less than a second threshold value, outputting first inquiry information to the notification device, the first inquiry information is used to inquire the occupant of the vehicle whether to exclude the collision possibility of the obstacle colliding with the vehicle from the judgment parameter; and

[0011] When a response signal of the occupant's exclusion response operation to the first inquiry information notified from the notification device is input, a first command is output to the automatic driving control device to exclude the possibility of collision between the obstacle and the vehicle from the judgment parameters.

[0012] Another embodiment of the present disclosure is a driving assistance device. The device is mounted on a vehicle equipped with an automatic driving control device, and the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability with the other vehicle is greater than a specified value when the vehicle cuts in front of another vehicle. The driving assistance device comprises: a behavior information input unit, which is input with the stopping behavior information of the vehicle from the automatic driving control device; and an inquiry output unit, which, when the stopping behavior information of the vehicle from the behavior information input unit is input, generates an inquiry if the vehicle stops from a location where the other vehicle is predicted to end crossing the road on which the vehicle is traveling to a location where the other vehicle ends crossing the road on which the vehicle is traveling. If the distance between the two vehicles is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value, inquiry information for inquiring the occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object in the automatic driving control device is output to the notification device; an operation signal input unit, which is input with a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object; and a command output unit, which, when the response signal is input to the operation signal input unit, outputs a command to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object.

[0013] Another aspect of the present disclosure is a driving assistance method. The method is a driving assistance method used in a driving assistance device installed in a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability with the other vehicle when the vehicle cuts in front of another vehicle is greater than a specified value. The driving assistance method includes the following steps: inputting the stopping behavior information of the vehicle from the automatic driving control device; when the stopping behavior information of the vehicle is input, if the vehicle is predicted to cross the road where the vehicle is traveling, If the distance from the end point to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value, inquiry information is output to the notification device to inquire the occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object in the automatic driving control device; a response signal is input for the occupant's response operation to the inquiry notified from the notification device, the response operation is an operation to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object; and when the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object.

[0014] Another aspect of the present disclosure is a driving assistance system. The system is mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability with the other vehicle is greater than a specified value when the vehicle cuts in front of another vehicle. The driving assistance system comprises: a behavior information input unit, which inputs the stopping behavior information of the vehicle from the automatic driving control device; and a notification device, which, when inputting the stopping behavior information of the vehicle from the behavior information input unit, notifies the vehicle if it has stopped from a predicted intersection with the other vehicle on the road where the vehicle is traveling. If the distance from the location to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value, then a notification is provided for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object in the automatic driving control device; an input device, which receives a response operation performed by the occupant to the inquiry notified from the notification device, the response operation being an operation to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object; and a command output unit, which outputs a command to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object when the input device receives the response operation.

[0015] In addition, any combination of the above-mentioned constituent elements and the method of converting the expression of the present disclosure between devices, systems, methods, programs, (non-temporary) recording media recording the programs, vehicles equipped with the present device, etc. are also effective as methods of the present disclosure.

[0016] According to the present disclosure, even when there is an obstacle, it is possible to travel according to the situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a diagram showing the structure of a vehicle according to the first embodiment.

[0018] Figure 2 It is schematically indicated Figure 1 Illustration of the interior of the vehicle.

[0019] Figure 3 This is a diagram showing an overview of the processing in Implementation Example 1.

[0020] Figure 4 Yes means Figure 1 Figure 2 is a diagram of the structure of a control unit.

[0021] Figure 5 It means in Figure 2 FIG. 10 is a diagram of an image displayed in a notification device.

[0022] Figure 6 Yes means Figure 4 A diagram showing an overview of the processing of the inquiry processing unit.

[0023] Figure 7 Yes means Figure 4 Another processing overview of the inquiry processing unit.

[0024] Figure 8 Yes means Figure 4 Another processing overview of the inquiry processing unit.

[0025] Fig. 9 Yes means Figure 4 A flow chart of an instruction process of a control unit.

[0026] Fig.10 Yes means Figure 4 A flow chart of another indicative process of the control unit.

[0027] Fig.11 This is a diagram showing an overview of the processing of Implementation Example 2.

[0028] Fig.12 This is a diagram showing an image displayed on the notification device according to the second embodiment.

[0029] Fig.13 This is a diagram showing another outline of processing performed by the control unit according to the second embodiment.

[0030] Fig.14 This is a diagram showing another processing outline of implementation mode 2.

[0031] Fig.15 This is a diagram showing an overview of processing in Implementation Example 3.

[0032] Fig.16 This is a diagram showing an image displayed on the notification device according to the third embodiment.

[0033] Fig.17 This is a flowchart showing the instruction process of the control unit involved in Implementation Example 3.

[0034] Fig.18 This is a flowchart showing another instruction process of the control unit involved in Implementation Example 3.

[0035] Fig.19 This is a diagram showing an overview of processing in Implementation Example 4.

[0036] Fig. 20 This is a diagram showing an image displayed on the notification device according to the fourth embodiment.

[0037] Fig.21 This is a diagram showing another outline of processing performed by the control unit according to the fourth embodiment.

[0038] Fig. 22 This is a diagram showing the processing overview of implementation mode 5.

[0039] Fig.23 This is a diagram showing an image displayed on the notification device according to the fifth embodiment. DETAILED DESCRIPTION

[0040] Before describing the embodiments of the present invention, the problems of the conventional devices are briefly described. When turning left or right or merging, the autonomous driving vehicle stops automatically due to detection of other vehicles or pedestrians. At this time, there are cases where the drivers of other vehicles or pedestrians give way. In addition, there are cases where other vehicles break down and have to stop. However, if it is detected that there are obstacles such as other vehicles or pedestrians within a specified distance of the autonomous driving vehicle, even if the other vehicles give way or stop due to a breakdown, it is determined that the autonomous driving vehicle after the automatic stop may collide with surrounding obstacles including other vehicles or pedestrians, and therefore cannot start.

[0041] (Implementation Method 1)

[0042] Before describing the present disclosure in detail, an overview is described. Implementation 1 relates to a vehicle that calculates the possibility of collision with a detected obstacle, and uses the calculated collision possibility as a judgment object to perform automatic driving. In particular, Implementation 1 relates to a device for controlling an HMI (Human Machine Interface) for exchanging information related to the driving behavior of the vehicle with a vehicle occupant (e.g., a driver) (hereinafter also referred to as a "driving assistance device"). "Driving behavior" includes working states such as steering and braking when the vehicle is driving or stopped, or control content related to automatic driving control, such as constant speed driving, acceleration, deceleration, pause, stop, lane change, path change, left or right turn, parking, etc. In addition, driving behaviors may also include cruising (keeping lane and maintaining speed), lane keeping, following the vehicle in front, starting and stopping when following, lane changes, overtaking, dealing with merging vehicles, road switching including entering and exiting the highway (highway entrances and exits), merging, dealing with construction areas, dealing with emergency vehicles, dealing with vehicles cutting in line, dealing with left and right turn lanes, interacting with pedestrians / bicycles, avoiding obstacles other than vehicles, dealing with signs, dealing with left and right turn / U-turn restrictions, dealing with lane restrictions, dealing with one-way traffic, dealing with traffic signs, dealing with intersections / roundabouts, etc.

[0043] During driving behaviors such as queue cutting, left turns, and right turns, if there are obstacles such as surrounding vehicles (surrounding vehicles) and people near the vehicle, the automatic driving control device calculates the possibility of collision with the obstacle, and if the collision possibility exceeds the specified value, the vehicle stops. If the state in which the collision possibility exceeds the specified value continues, the automatic driving control device does not start the vehicle. Under such circumstances, obstacles sometimes give way to the vehicle. This is done through eye contact between the occupants of the surrounding vehicles or people and the occupants of the vehicle when the vehicle is not performing automatic driving. However, since the vehicle is performing automatic driving, even if the obstacle gives way, as long as the vehicle cannot recognize the situation, the vehicle will not start in a state in which the collision possibility exceeds the specified value. On the other hand, in order to make traffic smooth, it is best for the vehicle to start with the obstacle giving way.

[0044] In the first embodiment, as a driving behavior, attention is paid to "cutting in line". For example, cutting in line occurs when a merging road is connected to a merging road at a merging point. The vehicle is traveling on the merging road, and the automatic driving control device calculates the possibility of collision with surrounding vehicles traveling on the merging road and scheduled to be cut in line by the vehicle, at a position just before the merging point where the vehicle merges with the merging road. If the possibility of collision exceeds a specified value, the automatic driving control device stops the vehicle just before the merging point where the vehicle merges with the merging road. In this case, if surrounding vehicles also stop at positions just before the merging point to give way to the vehicle, the vehicle can cut in line with surrounding vehicles.

[0045] In order to enable queue-jumping in this case, the driving assistance device of the present embodiment performs the following processing. The driving assistance device learns the driving behavior of "stopping" that occurs during the driving behavior of "queue-jumping" from the automatic driving control device. The driving assistance device determines the intersection point on the merged road that intersects with the merging road based on the map information, and derives the distance between the intersection point and the surrounding vehicles as the determination distance. In addition, the driving assistance device obtains the speed of the surrounding vehicles. When the determination distance is greater than the first threshold and the speed is less than the second threshold, the driving assistance device asks the occupant whether to exclude the possibility of collision between the surrounding vehicles and the vehicle from the determination object in the automatic driving control device. For example, an image for inquiry is generated and displayed on the monitor in the vehicle. When the driving assistance device receives a response operation of exclusion from the occupant in response to such an inquiry, it generates a command for excluding the possibility of collision between the surrounding vehicles and the vehicle from the determination object, and sends the command to the automatic driving control device. When the automatic driving control device receives the command from the driving assistance device, it excludes the possibility of collision between the surrounding vehicles and the vehicle from the determination object, and if the collision possibility is less than the specified value, it starts the vehicle.

[0046] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, each embodiment to be described below is an example, and the present disclosure is not limited to these embodiments.

[0047] Figure 1 The structure of the vehicle 100 according to Embodiment 1, and in particular, the structure related to the autonomous driving vehicle, is shown. The vehicle 100 can travel in the autonomous driving mode, and includes a notification device 2, an input device 4, a wireless device 8, a driving operation unit 10, a detection unit 20, an autonomous driving control device 30, and a driving assistance device 40. Figure 1 The devices shown can be connected to each other via dedicated lines or wired communications such as CAN (Controller Area Network), etc. Alternatively, they can be connected via wired communications or wireless communications such as USB (Universal Serial Bus), Ethernet (registered trademark), Wi-Fi (registered trademark), and Bluetooth (registered trademark).

[0048] The notification device 2 notifies the occupants of information related to the travel of the vehicle 100. The notification device 2 is, for example, a vehicle navigation system, a head-up display, or a central display provided in the vehicle. The notification device 2 may also be a display unit that displays information such as a light emitting body such as an LED (Light Emitting Diode) provided around the steering wheel, pillars, front panel, and instrument panel. In addition, the notification device 2 may also be a speaker that converts information into sound to notify the occupants, or may be a vibrating body provided at a position that the occupants can perceive (for example, the occupant's driver's seat, steering wheel, etc.). The notification device 2 may also be a combination of these parts.

[0049] The input device 4 is a user interface device for receiving the operation input of the occupant. For example, the input device 4 is a controller such as a touch panel, a joystick, a button, a switch, a joystick, a volume controller, a sensor such as a camera that recognizes gestures in a non-contact manner, a sensor such as a microphone that recognizes sound, or a combination of these devices, and is used to receive information related to the automatic driving of the vehicle input by the occupant. In addition, it can also receive an operation signal for switching between automatic driving and manual driving. The input device 4 outputs the received information as an operation signal to the driving assistance device 40.

[0050] Figure 2The interior of a vehicle 100 is schematically shown. The notification device 2 may be either a head-up display (HUD) 2a or a central display 2b. The input device 4 may be either a first operating unit 4a provided on the steering gear 11, a second operating unit 4b provided between the driver's seat and the front passenger seat, or a third operating unit 4c which is a sensor such as a camera for recognizing gestures. In addition, the notification device 2 may be formed integrally with the input device 4, for example, it may be installed in the form of a touch panel display. Alternatively, a speaker 6 may be further provided in the vehicle 100, and the speaker 6 may prompt the occupant with information related to automatic driving by sound. In this case, the driving assistance device 40 causes the notification device 2 to display an image representing information related to automatic driving, and at the same time or instead, causes the speaker 6 to output a sound representing information related to automatic driving (for example, acceleration of the vehicle executed or completed by the automatic driving control device, operations on the vehicle accompanied by lane changes, and information on whether the possibility of collision described later is excluded as a judgment parameter). Return to Figure 1 .

[0051] The wireless device 8 corresponds to a portable telephone communication system, WMAN (Wireless Metropolitan Area Network), etc., and is used to perform wireless communications with data servers, infrastructure, surrounding vehicles, pedestrians, etc. The driving operation unit 10 includes a steering gear 11, a brake pedal 12, an accelerator pedal 13, and a turn signal switch 14. The steering gear 11, the brake pedal 12, the accelerator pedal 13, and the turn signal switch 14 can be electronically controlled by a steering gear ECU (Electronic Control Unit), a brake ECU, an engine ECU, a motor ECU, and a turn signal controller, respectively. In the automatic driving mode, the steering gear ECU, the brake ECU, the engine ECU, and the motor ECU drive their respective corresponding actuators according to the control signal provided from the automatic driving control device 30. In addition, the turn signal controller turns the turn signal on or off according to the control signal provided from the automatic driving control device 30.

[0052] The detection unit 20 detects the surrounding conditions and driving state of the vehicle 100. The detection unit 20 detects, for example, the speed of the vehicle 100, the relative speed of the preceding vehicle with respect to the vehicle 100, the distance between the vehicle 100 and the preceding vehicle, the relative speed of the vehicle in the side lane with respect to the vehicle 100, the distance between the vehicle 100 and the vehicle in the side lane, and the position information of the vehicle 100. The detection unit 20 outputs the various detected information (hereinafter referred to as "detection information") to the automatic driving control device 30. In addition, the detection unit 20 can output the detection information to the driving assistance device 40 via the automatic driving control device 30, or can output the detection information directly to the driving assistance device 40. The detection unit 20 includes a position information acquisition unit 21, a sensor 22, a speed information acquisition unit 23, and a map information acquisition unit 24.

[0053] The position information acquisition unit 21 acquires the current position of the vehicle 100 from a GNSS (Global Navigation Satellite System(s): Global Positioning System) receiver. The sensor 22 is a general term for various sensors for detecting the conditions outside the vehicle and the state of the vehicle 100. As sensors for detecting the conditions outside the vehicle, for example, cameras, millimeter wave radars, LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging: laser radar), sonars, temperature sensors, air pressure sensors, humidity sensors, illuminance sensors, etc. are mounted. The conditions outside the vehicle include the road conditions on which the vehicle is traveling including lane information, the environment including weather, the surrounding conditions of the vehicle, and surrounding vehicles located nearby (surrounding vehicles traveling in adjacent lanes, etc.). In addition, any information can be used as long as it is information outside the vehicle that can be detected by the sensor 22. In addition, as sensors 22 for detecting the state of the vehicle 100, for example, acceleration sensors, gyroscope sensors, geomagnetic sensors, tilt sensors, etc. are mounted.

[0054] The speed information acquisition unit 23 acquires the current speed of the vehicle 100 from the vehicle speed sensor. The map information acquisition unit 24 acquires map information of the surrounding area of ​​the current position of the vehicle 100 from the map database. The map database can be recorded in a recording medium in the vehicle 100 or downloaded from a map server via a network when used. In addition, the map information includes information related to roads and intersections.

[0055] The automatic driving control device 30 is an automatic driving controller equipped with an automatic driving control function, and determines the behavior of the vehicle 100 in automatic driving. The automatic driving control device 30 includes a control unit 31, a storage unit 32, and an I / O unit (Input / Output unit) 33. The structure of the control unit 31 can be realized by the cooperation of hardware resources and software resources, or by hardware resources alone. As hardware resources, a processor, ROM (Read Only Memory), RAM (Random Access Memory) and other LSI (Large Scale Integrated Circuit) can be used, and as software resources, programs such as an operating system, an application program, and firmware can be used. The storage unit 32 includes a non-volatile recording medium such as a flash memory. The I / O unit 33 performs communication control corresponding to various communication formats. For example, the I / O unit 33 outputs information related to automatic driving to the driving assistance device 40, and inputs a control command from the driving assistance device 40 to the I / O unit 33. In addition, detection information is input to the I / O unit 33 from the detection unit 20.

[0056] The control unit 31 applies the control command input from the driving assistance device 40 and various information collected from the detection unit 20 or various ECUs to the automatic driving algorithm to calculate the control value of the automatic control object such as the accelerator opening and the steering angle for controlling the vehicle 100. When the control for stopping the vehicle 100 is described as an example, when the detected obstacle is a surrounding vehicle, the control unit 31 calculates the TTC (Time-To-Collision) of collision with the surrounding vehicle as the collision possibility based on the detection information received from the detection unit 20 as follows.

[0057] TTC=D / (V2-V1)

[0058] Here, D represents the inter-vehicle distance between the vehicle 100 and surrounding vehicles, V1 represents the speed of the vehicle 100, and V2 represents the speed of surrounding vehicles. A decrease in TTC means that the time until collision is shortened, which corresponds to an increase in the possibility of collision.

[0059] On the other hand, in the case where the obstacle is a person, the control unit 31 calculates the possibility of collision based on the detection information received from the detection unit 20, according to whether there is a person in an area (hereinafter referred to as a "monitoring area") formed around the vehicle 100 and changing in accordance with the driving behavior. Here, the possibility of collision is small when there is no person, and the possibility of collision is large when there is a person. Regardless of whether the obstacle is a surrounding vehicle or a person, when the possibility of collision is greater than a prescribed value, the control unit 31 determines the stop of the vehicle 100 as an automatic driving control of the vehicle 100, and calculates a control value for stopping the vehicle 100. That is, the control unit 31 uses the possibility of collision as a judgment object (judgment parameter) to perform automatic driving control on the vehicle 100. In addition, the prescribed value may also be different depending on whether the obstacle is a surrounding vehicle or a person. In addition, in the case where there are multiple obstacles, if the possibility of collision with at least one obstacle is greater than a prescribed value, it is decided to stop the vehicle 100. In addition, in the present embodiment, the monitoring area is simplified, for example, Fig.11 As shown, the vehicle is represented by a monitoring area 124 (including a specified width) surrounding the intersection where the vehicle is scheduled to travel. However, as an example of changes corresponding to driving behavior, when the vehicle turns left at an intersection, the above-mentioned area can also be limited to a portion including the vehicle's scheduled travel path, the road on which the vehicle is traveling, and the road after the left turn. The control unit 31 transmits the calculated control value to the ECU or controller of each control object. In the present embodiment, it is transmitted to the steering gear ECU, brake ECU, engine ECU, and turn signal controller. In addition, in the case of an electric vehicle or a hybrid vehicle, the control value is transmitted to the motor ECU instead of the control value being transmitted to the engine ECU, or the control value is transmitted to the motor ECU in addition to the control value being transmitted to the engine ECU.

[0060] The driving assistance device 40 is an HMI (Human Machine Interface) controller for performing an interface function between the vehicle 100 and the occupant, and includes a control unit 41, a storage unit 42, and an I / O unit 43. The control unit 41 performs various data processing such as HMI control. The control unit 41 can be implemented by the cooperation of hardware resources and software resources, or by hardware resources alone. As hardware resources, a processor, ROM, RAM, and other LSIs can be used, and as software resources, programs such as an operating system, an application, and firmware can be used.

[0061] The storage unit 42 is a storage area for storing data referenced or updated by the control unit 41. For example, it is implemented by a non-volatile recording medium such as a flash memory. The I / O unit 43 performs various communication controls corresponding to various communication formats. The I / O unit 43 includes an operation signal input unit 50, an image / sound output unit 51, a detection information input unit 52, a command IF (Interface) 53, and a communication IF 56.

[0062] The operation signal input unit 50 receives an operation signal of an operation performed on the input device 4 by an occupant or a user outside the vehicle from the input device 4, and outputs the operation signal to the control unit 41. The image / sound output unit 51 outputs the image data or sound message generated by the control unit 41 to the notification device 2 for display. The detection information input unit 52 receives the result of the detection processing performed by the detection unit 20, that is, the detection information indicating the current surrounding conditions and driving state of the vehicle 100, from the detection unit 20, and outputs the information to the control unit 41.

[0063] The command IF 53 is used to perform interface processing with the automatic driving control device 30, and includes a behavior information input unit 54 and a command output unit 55. The behavior information input unit 54 receives information related to the automatic driving of the vehicle 100 sent from the automatic driving control device 30, and outputs the information to the control unit 41. The command output unit 55 receives a control command for instructing the automatic driving control device 30 on the automatic driving mode from the control unit 41, and sends the control command to the automatic driving control device 30.

[0064] The communication IF 56 is used to perform interface processing with the wireless device 8. The communication IF 56 transmits the data output from the control unit 41 to the wireless device 8, and further transmits the data from the wireless device 8 to the device outside the vehicle. In addition, the communication IF 56 receives data from the device outside the vehicle transmitted by the wireless device 8, and outputs the data to the control unit 41.

[0065] In addition, here, the automatic driving control device 30 and the driving assistance device 40 are configured as independent devices. Figure 1 As shown by the dotted line, the automatic driving control device 30 and the driving assistance device 40 are integrated into one controller. In other words, an automatic driving control device may also have Figure 1 The configuration of the functions of both the automatic driving control device 30 and the driving assistance device 40. Furthermore, the configuration may be a driving assistance system composed of the notification device 2, the input device 4, and the driving assistance device 40.

[0066] Before explaining the processing of the driving assistance device 40 for the driving behavior of “cutting in line”, the processing of the automatic driving control device 30 will be explained. Figure 3Indicates the processing outline. Figure 3 (a) indicates a queue-cutting behavior determined in the control unit 31 of the automatic driving control device 30 and indicates a queue-cutting behavior that will occur later. The merging road 200 is a road on which the vehicle 100 is traveling, and the vehicle 100 is moving upward. On the other hand, the merging road 202 is a road that merges with the merging road 200, and the first surrounding vehicle 102a and the second surrounding vehicle 102b are moving to the left. Here, the first surrounding vehicle 102a is traveling behind the second surrounding vehicle 102b and is traveling at a position in the merging road 202 just before merging with the merging road 200. The first path 110a on which the vehicle 100 is scheduled to travel is set to move upward in the merging road 200 and bend to the left in the merging road 202. Therefore, the vehicle 100 is scheduled to cut in front of the first surrounding vehicle 102a. The control unit 31 determines based on the detection information from the detection unit 20. Figure 3 Such determination is performed using a known technique, so the description is omitted here.

[0067] The control unit 31 calculates the TTC of collision with the first surrounding vehicle 102a as the possibility of collision based on the inter-vehicle distance 122 between the vehicle 100 and the first surrounding vehicle 102a, the speed of the vehicle 100, and the speed of the first surrounding vehicle 102a. When the calculated possibility of collision is greater than a specified value, the control unit 31 determines a stopping behavior. The control unit 31 performs control so as to stop the vehicle 100 when the stopping behavior is determined. As a result, although the vehicle 100 is traveling on the merging road 200, it stops at a position just before merging with the merging road 202. In addition, the control unit 31 sends information indicating the stopping behavior to the behavior information input unit 54 via the I / O unit 33. At this time or before this, the control unit 31 will indicate the following. Figure 3 The information of the queue-jumping behavior (a) is sent to the behavior information input unit 54. Figure 3 (b)-(d).

[0068] Figure 4 4 shows the structure of the control unit 41. The control unit 41 includes a determination unit 76, an inquiry processing unit 78, and a command processing unit 80. The behavior information input unit 54 receives information indicating that the behavior information is Figure 3 In addition, the behavior information input unit 54 receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. When the behavior information input unit 54 is informed of the stopping behavior of the vehicle, the determination unit 76 of the control unit 41 starts the following processing. The determination unit 76 determines whether the vehicle has stopped according to the information indicating the cutting-in behavior. Figure 3In addition, the determination unit 76 may grasp the queue-jumping behavior based on the detection information in the same manner as the control unit 31, without using the information indicating the queue-jumping behavior.

[0069] Figure 3 (b) shows the queue-jumping behavior detected by the determination unit 76. Figure 3 (b) shows the second path 110b (predicted moving path) predicted to be traveled by the first surrounding vehicle 102a. The second path 110b is generated based on the map information included in the detection information and the position information of the first surrounding vehicle 102a, and is predetermined to be a path that goes straight to the left on the merging road 202. In addition, the determination unit 76 obtains the intersection end point 112 in the merging road 202 where the intersection with the merging road 200 ends, based on the map information included in the detection information. The intersection end point 112 is a point where the first surrounding vehicle 102a traveling on the merging road 202 finally arrives in the overlapping portion of the merging road 202 and the merging road 200 when the merging road 200 is extended in a manner that passes through the merging road 202. Therefore, the intersection end point 112 is set to a point (first point) on the second path 110b. In addition, a point can have a specified area, which is also the same in the embodiments described later.

[0070] The determination unit 76 derives the distance from the intersection end point 112 to the first surrounding vehicle 102a as the determination distance 120. In addition, the determination unit 76 obtains the speed of the first surrounding vehicle 102a. The determination unit 76 compares the determination distance 120 with the first threshold value, and compares the speed of the first surrounding vehicle 102a with the second threshold value. When the determination distance 120 is shorter than the first threshold value or the speed of the first surrounding vehicle 102a is higher than the second threshold value, the determination unit 76 determines that it is a "first state". The first state corresponds to a case where the first surrounding vehicle 102a is traveling and does not give way to the vehicle 100. On the other hand, when the determination distance 120 is greater than the first threshold value and the speed of the first surrounding vehicle 102a is less than the second threshold value, the determination unit 76 determines that it is a "second state". The second state corresponds to a case where the first surrounding vehicle 102a stops or travels at a low speed less than the second threshold value to give way to the vehicle 100.

[0071] In addition, if Figure 3As in (c), sometimes the rear end of the second surrounding vehicle 102b is closer to the first surrounding vehicle 102a than the intersection end point 112. In this case, the determination unit 76 may also derive the distance from the rear end of the second surrounding vehicle 102b to the first surrounding vehicle 102a as the determination distance 120. In addition, the determination unit 76 may also derive the distance between the intersection end point 112 and the first surrounding vehicle 102a as the determination distance 120. The subsequent processing is the same as the previous processing, so the description is omitted here. Figure 3 (d). Return to Figure 4 The determination unit 76 outputs the determination result to the inquiry processing unit 78. In addition, the determination unit 76 also outputs other information to the inquiry processing unit 78.

[0072] The inquiry processing unit 78 receives the determination result from the determination unit 76. When the determination result is the first state, the inquiry processing unit 78 does not perform any processing. On the other hand, when the determination result is the second state, the inquiry processing unit 78 performs processing for inquiring the occupant whether to exclude the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 from the determination objects in the automatic driving control device 30. Therefore, it can also be said that the condition for exclusion is satisfied when the second state is reached. In order to specifically explain the inquiry processing, the following is used. Figure 5 . Figure 5 Indicates an image displayed on the notification device 2. Figure 5 (a) shows an image generated by the inquiry processing unit 78 and displayed on the central display 2b via the image / sound output unit 51. Therefore, it can be said that the image / sound output unit 51 is an inquiry output unit.

[0073] The inquiry processing unit 78 generates a current status indicating that a queue-jumping behavior has occurred, that is, a status information based on other information received from the determination unit 76. Figure 3 An image of the condition shown in (a) (first inquiry information). The image can be generated using a known technique, but shows a vehicle icon 150 corresponding to the vehicle 100, a first surrounding vehicle icon 152a corresponding to the first surrounding vehicle 102a, and a second surrounding vehicle icon 152b corresponding to the second surrounding vehicle 102b. In addition, the inquiry processing unit 78 can also be used to superimpose a message on the image for asking the occupant whether to exclude the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment objects in the automatic driving control device 30. In addition, the method of inquiry is not limited to this, but other examples are described later. Described later Figure 5 (b)-(c). Return to Figure 4 .

[0074] The passenger checks the image displayed on the central display 2b and receives, for example, a polite eye contact from the passenger of the first surrounding vehicle 102a, and recognizes that it is possible to cut in line. When the passenger wishes to cut in line, the passenger performs a finger action such as swiping the first surrounding vehicle icon 152a on the central display 2b as a touch panel. The action is not limited to this. The touch panel detects the action, Figure 1 The operation signal input unit 50 receives the action. The action is a response signal for excluding the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment object in response to the inquiry from the image / sound output unit 51. When the operation signal input unit 50 receives the response signal, it notifies the inquiry processing unit 78 to accept the response signal. When the inquiry processing unit 78 receives the notification from the operation signal input unit 50, it instructs the command processing unit 80 to generate a command. On the other hand, when the operation signal input unit 50 does not receive a response signal within a fixed period from the output of the inquiry from the operation signal input unit 50, the inquiry processing unit 78 ends the processing.

[0075] When the inquiry processing unit 78 instructs the command processing unit 80 to generate a command, the command processing unit 80 generates a command (first command) for instructing to exclude the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment object. The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 calculates the possibility of a collision as before. The calculation of the possibility of a collision in the control unit 31, that is, the calculation of TTC is as described above, so the description is omitted here. However, the control unit 31 determines the driving behavior after excluding the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment object. Figure 3 (d) shows the behavior of the vehicle 100 when the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 is excluded from the determination target. Figure 3 In (d), the vehicle 100 drives on the merged road 202 by cutting in on the first surrounding vehicle 102a. Figure 4 .

[0076] When the control unit 31 of the automatic driving control device 30 performs automatic driving after eliminating the possibility of collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment targets, the control unit 31 outputs the fact that the command has been executed or is being continuously executed to the driving assistance device 40 as behavior information. The behavior information input unit 54 of the driving assistance device 40 receives the behavior information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates an image for making the occupant recognize that the possibility of collision between the first surrounding vehicle 102a and the vehicle 100 has been eliminated from the judgment targets in the automatic driving control device 30. Figure 5 (b) shows an image displayed on the central display 2b when the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 is excluded from the determination object in the automatic driving control device 30. As shown in the figure, the first surrounding vehicle icon 152a changes from a solid line display to a dotted line display. Figure 5 (c). Return to Figure 4 .

[0077] Furthermore, after the command output unit 55 outputs the command, the determination unit 76 continues to determine whether it is the first state or the second state by continuing the above-mentioned processing until the command output unit 55 outputs the command. Figure 3 In this case, the determination unit 76 outputs the determination result to the command processing unit 80.

[0078] The command processing unit 80 receives the determination result from the determination unit 76. When the determination result is the first state, the command processing unit 80 generates a command for instructing the automatic driving control device 30 to include the possibility of collision between the first surrounding vehicle 102a and the vehicle 100 in the determination object. This is equivalent to the situation where the first surrounding vehicle 102a starts to move after being determined to give way. Therefore, it can also be said that the condition for the determination object is satisfied when the first state is reached. The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision between the first surrounding vehicle 102a and the vehicle 100 in the determination object. Thus, when the possibility of collision is greater than the specified value, the control unit 31 stops the vehicle 100.

[0079] When the control unit 31 stops the vehicle 100 and the control unit 31 notifies the command processing unit 80 of the stop via the behavior information input unit 54 , the command processing unit 80 generates an image for notifying the passenger to stop cutting in line. Figure 5 (c) shows an image displayed on the central display 2b when the queue cutting is stopped. As shown in the figure, the first surrounding vehicle icon 152a is changed from a dotted line display to a solid line display, and a message is displayed.

[0080] Next, regarding the inquiry and response in the inquiry processing unit 78, the portion related to the human-machine interface will be described in further detail, and other examples will also be described. Figure 6 The following is an overview of the processing performed by the inquiry processing unit 78. In these processes, the central display 2b is displayed and the response operation is performed on the touch panel in the same manner as before.

[0081] Figure 6 (a) represents an image generated in the inquiry processing unit 78. The vehicle icon 150, the first surrounding vehicle icon 152a, and the second surrounding vehicle icon 152b are displayed as described above, and a message is also displayed. In addition, the path that the vehicle icon 150 should travel in order to cut in line is displayed with an arrow. This corresponds to the first path 110a. The occupant recognizes that it is possible to cut in line by confirming the image displayed on the central display 2b. When the occupant wishes to cut in line in front of the first surrounding vehicle 102a corresponding to the first surrounding vehicle icon 152a, the occupant selects the first surrounding vehicle icon 152a with a finger.

[0082] Figure 6 (b) indicates the continuation Figure 6 After the first surrounding vehicle icon 152a is selected, the passenger moves the finger in a manner of swiping the first surrounding vehicle icon 152a. As described above, this is equivalent to the input of the response operation. The input of the response operation is notified to the passenger by changing the display color of the first surrounding vehicle icon 152a. Figure 6 (c) indicates the continuation Figure 6 After the response operation is input, when the possibility of a collision with the first surrounding vehicle 102a corresponding to the first surrounding vehicle icon 152a is excluded from the judgment objects in the automatic driving control device 30, the first surrounding vehicle icon 152a is changed from a solid line display to a dotted line display in the image displayed on the central display 2b.

[0083] Figure 7 2 is a diagram showing an outline of another process of the inquiry processing unit 78. In these processes, a display is performed by the head-up display 2a and a response operation is performed by a gesture. Figure 7 (a) shows an image generated in the query processing unit 78. Figure 6 The passenger recognizes that the queue can be cut in by checking the image displayed on the head-up display 2a. When the passenger wishes to cut in front of the first surrounding vehicle 102a corresponding to the first surrounding vehicle icon 152a, the passenger raises his hand to the third operating unit 4c (not shown).

[0084] Figure 7 (b) indicates the continuation Figure 7After raising the hand, the passenger moves the hand in a manner of lightly sweeping the first surrounding vehicle icon 152a. The hand-sweeping gesture is detected by the third operating unit 4c. In addition, the gesture can be detected using a known technique, so the description is omitted here. This is equivalent to the input of the response operation. The input of the response operation is notified to the passenger by changing the display color of the first surrounding vehicle icon 152a. Figure 7 (c) indicates the continuation Figure 7 After the input response operation, when the possibility of a collision with the first surrounding vehicle 102a corresponding to the first surrounding vehicle icon 152a is excluded from the judgment objects in the automatic driving control device 30, the first surrounding vehicle icon 152a is changed from a solid line display to a dotted line display in the image displayed on the head-up display 2a.

[0085] Figure 8 2 is a diagram showing another outline of processing by the inquiry processing unit 78. In these processes, a display is performed on the head-up display 2a and a response operation is performed by pressing a button. Figure 8 (a) shows an image generated in the query processing unit 78. Figure 7 When the occupant wishes to cut in front of the first surrounding vehicle 102a corresponding to the first surrounding vehicle icon 152a, the occupant places a finger on the first operating unit 4a or taps the first operating unit 4a with a finger.

[0086] Figure 8 (b) indicates the continuation Figure 8 After placing the finger, the passenger presses or presses the first operating part 4a. In addition, Figure 8 The step (a) of FIG. 1 may be omitted. This corresponds to the input of the response operation. The input of the response operation is notified to the occupant by changing the display color of the first surrounding vehicle icon 152a. Figure 8 (c) indicates the continuation Figure 8 After the input response operation, when the possibility of a collision with the first surrounding vehicle 102a corresponding to the first surrounding vehicle icon 152a is excluded from the judgment objects in the automatic driving control device 30, the first surrounding vehicle icon 152a is changed from a solid line display to a dotted line display in the image displayed on the head-up display 2a.

[0087] The operation of the driving assistance device 40 having the above configuration will be described. Fig. 9: is a flowchart showing the instruction process of the control unit 41. The behavior information input unit 54 receives the stop behavior among the driving behaviors to be processed (S100). The determination unit 76 obtains the determination distance 120 and the speed relative to the obstacle (S102). When the determination distance 120 is greater than the first threshold value (S104: "Yes") and the speed is less than the second threshold value (S106: "Yes"), the inquiry processing unit 78 inquires via the image / sound output unit 51 whether to exclude the possibility of collision from the determination object (S108). When the inquiry processing unit 78 receives a response signal of exclusion via the operation signal input unit 50 (S110: "Yes"), the command processing unit 80 outputs an exclusion command via the command output unit 55 (S112). Next, the command processing unit 80 changes the display (S114). If the determination distance 120 is not greater than the first threshold (S104: No), or the speed is not less than the second threshold (S106: No), or the inquiry processing unit 78 does not receive an exclusion response signal via the operation signal input unit 50 (S110: No), the process ends.

[0088] Fig.10 is a flowchart showing another instruction process of the control unit 41. Fig. 9 The processing after the command processing unit 80 outputs the command of exclusion via the command output unit 55 in step 112 and the automatic driving control device 30 excludes the possibility of collision with the obstacle from the judgment object. When the driving behavior as the processing object is being continued by the automatic driving control device 30 (S150: "Yes"), the determination unit 76 obtains the judgment distance 120 and the speed relative to the obstacle (S152). When the judgment distance 120 is greater than the first threshold (S154: "Yes") and the speed is less than the second threshold (S156: "Yes"), the processing ends. When the judgment distance 120 is not greater than the first threshold (S154: "No") or the speed is not less than the second threshold (S156: "No"), the command processing unit 80 outputs a command to include the possibility of collision in the judgment object via the command output unit 55 (S158). The command processing unit 80 changes the display (S160). When the driving behavior as the processing object is not being continued by the automatic driving control device 30 (S150: "No"), the processing ends.

[0089] According to the present embodiment, when the distance related to the surrounding vehicles is above the first threshold and the speed of the surrounding vehicles is below the second threshold, it is inquired whether the possibility of collision with the surrounding vehicles is excluded from the judgment object. Thus, the intention of the occupant can be confirmed, the information obtained by the occupant through visual observation can be reflected in the driving behavior, and smoother driving can be achieved. In addition, if a response signal is obtained in response to the inquiry to exclude the possibility of collision with the surrounding vehicles from the judgment object, it is indicated to exclude the possibility of collision with the surrounding vehicles from the judgment object, so that the surrounding vehicles that give way can be cut in line. In addition, when the distance related to the surrounding vehicles is above the first threshold and the speed of the surrounding vehicles is below the second threshold, it is inquired whether the possibility of collision with the surrounding vehicles is excluded from the judgment object, so that eye contact can be achieved while automatically driving. In addition, the combination of inquiry and response signals is used to indicate the possibility of collision with the surrounding vehicles from the judgment object, so even if there are surrounding vehicles when cutting in line, it is possible to drive according to the situation.

[0090] In addition, after excluding the possibility of collision with surrounding vehicles from the judgment object, the judgment is continued. When the distance related to the surrounding vehicles is shorter than the first threshold (less than the first threshold) or the speed of the surrounding vehicles is higher than the second threshold, the possibility of collision with the surrounding vehicles is included in the judgment object. Thereby, the occurrence of collision with the surrounding vehicles can be suppressed. In addition, when the possibility of collision with the surrounding vehicles is included in the judgment object, the occupants are not asked, so the period until the possibility of collision with the surrounding vehicles is included in the judgment object can be shortened. The judgment on the first threshold and the second threshold varies depending on the value, and can also be less than the value, below the value, above the value, or greater than the value.

[0091] (Implementation Method 2)

[0092] Similar to Embodiment 1, Embodiment 2 relates to a driving assistance device mounted on a vehicle that performs automatic driving based on detected obstacles. In Embodiment 2, as a driving behavior, attention is paid to "left turn". A left turn occurs, for example, at an intersection. The vehicle is traveling on a first road, and at a position just before reaching an intersection with a second road, an automatic driving control device calculates the possibility of a collision with a person on a crosswalk that is set up in a manner to cross the second road after the left turn. If the collision possibility is greater than a specified value, the automatic driving control device stops the vehicle at a position just before reaching the intersection. In this situation, a left turn can be made if a person who wants to walk on the crosswalk next stops at a position just before reaching the crosswalk to give way to the vehicle.

[0093] In order to enable a left turn in this case, the driving assistance device of the present embodiment performs the following processing. The driving assistance device learns from the automatic driving control device the driving behavior of "stopping" that occurs during the driving behavior of "turning left". The driving assistance device determines the crossing end point of the second road based on the map information, and derives the distance between the crossing end point and the person as the judgment distance. In addition, the driving assistance device obtains the speed of the person. When the judgment distance is greater than the first threshold and the speed is less than the second threshold, the driving assistance device generates an image for asking the occupant whether to exclude the possibility of a collision between the person and the vehicle from the judgment object in the automatic driving control device, and displays the image on the monitor in the vehicle. When the driving assistance device receives a response operation of exclusion from the occupant in response to such a display, it generates a command for excluding the possibility of a collision between the person and the vehicle from the judgment object, and sends the command to the automatic driving control device. When receiving the command from the driving assistance device, the automatic driving control device excludes the possibility of a collision between the person and the vehicle from the judgment object, and if the collision possibility is less than a specified value, it starts the vehicle. The vehicle 100 involved in embodiment 2 is with Figure 1 , Figure 2 The control unit 41 is the same type as the vehicle Figure 4 Here, the difference from the first embodiment will be mainly described.

[0094] Before describing the processing performed by the driving assistance device 40 with respect to the driving behavior of “turn left”, the processing performed by the automatic driving control device 30 will be described. Fig.11 Indicates the processing outline. Fig.11 (a) indicates a left turn behavior determined in the control unit 31 of the automatic driving control device 30 and indicates a left turn behavior that will occur later. The first road 210 has a travel direction in the up-down direction, and the second road 212 has a travel direction in the left-right direction, and these roads intersect at an intersection. The first path 110a on which the vehicle 100 is scheduled to travel is set to travel upward on the first road 210, and enter the second road 212 after turning left at the intersection. In addition, there is a person 104 on the crosswalk set up in a manner to cross the second road 212 after the left turn. It is assumed that the person 104 is scheduled to cross the crosswalk of the second road 212. The control unit 31 determines the following based on the detection information from the detection unit 20. Fig.11 Such determination can be performed using a known technique, so the description is omitted here.

[0095] The control unit 31 sets the monitoring area 124 so as to surround the intersection that the vehicle 100 is approaching based on the map information and the position information of the vehicle 100. Here, the monitoring area 124 is set to be circular, but the shape of the monitoring area 124 is not limited to a circle. In addition, the control unit 31 determines whether the monitoring area 124 includes the person 104 based on the monitoring area 124 and the position information of the person 104 as the collision possibility. For example, if the monitoring area 124 includes the person 104, the control unit 31 calculates the collision possibility as being greater than a prescribed value, and if the monitoring area 124 does not include the person 104, the control unit 31 calculates the collision possibility as being less than a prescribed value. When the calculated collision possibility is greater than the prescribed value, the control unit 31 determines to stop the vehicle 100. The control unit 31 controls to stop the vehicle 100 when the stop behavior is determined. As a result, the vehicle 100 stops at a position about to reach the intersection although it is traveling on the first road 210. In addition, the control unit 31 sends information indicating the stop behavior to the behavior information input unit 54 via the I / O unit 33. At this time or before, the control unit 31 will indicate that Fig.11 The information of the left turn behavior as shown in (a) is sent to the behavior information input unit 54. Fig.11 (b)-(c).

[0096] Figure 4 The behavior information input unit 54 receives information from the control unit 31 indicating that Fig.11 In addition, the behavior information input unit 54 receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. When the behavior information input unit 54 is informed of the stopping behavior of the vehicle, the determination unit 76 of the control unit 41 starts the following processing. The determination unit 76 determines whether the vehicle is stopping according to the information indicating the left turning behavior. Fig.11 In addition, as described above, the determination unit 76 may grasp the left-turning behavior based on the detection information in the same manner as the control unit 31, without using the information indicating the left-turning behavior.

[0097] Fig.11 (b) shows the left turn behavior determined by the determination unit 76. Fig.11(b) shows the second path 110b predicted to be walked by the person 104. The second path 110b is generated based on the map information included in the detection information and the position information of the person 104, and the second path 110b is predetermined to be a path that crosses the second road 212 based on the crossing of the crosswalk. In addition, the determination unit 76 obtains the crossing end point 114 of the second road 212 based on the map information included in the detection information. The crossing end point 114 is the point where the person 104 ends the crossing after walking on the crosswalk from the current position. Therefore, the crossing end point 114 is set to a point on the second path 110b.

[0098] The determination unit 76 derives the distance from the crossing end point 114 to the person 104 as the determination distance 120. In addition, the determination unit 76 obtains the speed of the person 104. When the determination distance 120 is shorter than the first threshold or the speed of the person 104 is higher than the second threshold, the determination unit 76 determines it as a "first state". The first state is equivalent to a situation where the person 104 walks and does not give way to the vehicle 100. On the other hand, when the determination distance 120 is greater than the first threshold and the speed of the person 104 is less than the second threshold, the determination unit 76 determines it as a "second state". The second state is equivalent to a situation where the person 104 stops or walks at a speed less than the fourth threshold to give way to the vehicle 100. This will be described later. Fig.11 (c). Return to Figure 4 The determination unit 76 outputs the determination result to the inquiry processing unit 78. In addition, the determination unit 76 also outputs other information to the inquiry processing unit 78.

[0099] When the determination result from the determination unit 76 is the second state, the inquiry processing unit 78 performs processing for inquiring the occupant whether to exclude the possibility of collision between the person 104 and the vehicle 100 from the determination objects in the automatic driving control device 30. Fig.12 . Fig.12 Indicates an image displayed on the notification device 2. Fig.12 (a) shows an image generated by the inquiry processing unit 78 and displayed on the head-up display 2 a via the image / sound output unit 51 .

[0100] The inquiry processing unit 78 generates a current status indicating that a left turn has occurred, that is, a status information based on other information received from the determination unit 76. Fig.11An image of the situation shown in (a). Here, a vehicle icon 150 corresponding to the vehicle 100, a person icon 154 corresponding to the person 104, and a rectangular obstacle icon 156 surrounding the person icon 154 are shown. In addition, the inquiry processing unit 78 may also superimpose a message on the image for asking the occupant whether to exclude the possibility of a collision between the person 104 and the vehicle 100 from the judgment objects in the automatic driving control device 30. In addition, the various methods described above may also be used as the inquiry method. As described later Fig.12 (b)-(c). Return to Figure 4 .

[0101] The passenger checks the image displayed on the head-up display 2a and, for example, receives a gesture of giving way from the person, and recognizes that the vehicle can turn left. If the passenger wishes to turn left, the passenger presses the first operating unit 4a. The operation is not limited to this. Figure 1 The operation signal input unit 50 receives the action. The action is a response signal for excluding the possibility of collision between the person 104 and the vehicle 100 from the judgment object in response to the inquiry from the image / sound output unit 51. When the operation signal input unit 50 receives the response signal, it notifies the inquiry processing unit 78 that the response signal is accepted. When the inquiry processing unit 78 receives the acceptance notification, it instructs the command processing unit 80 to generate a command.

[0102] When the inquiry processing unit 78 instructs the command processing unit 80 to generate a command, the command processing unit 80 generates a command for instructing to exclude the possibility of a collision between the person 104 and the vehicle 100 from the judgment object. The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 calculates the possibility of a collision as before. However, the control unit 31 determines the driving behavior after excluding the possibility of a collision between the person 104 and the vehicle 100 from the judgment object. Fig.11 (c) of FIG. 1 shows the behavior of the vehicle 100 when the possibility of a collision between the person 104 and the vehicle 100 is excluded from the determination target. Fig.11 In (c), the vehicle 100 turns left from the first road 210 and drives on the second road 212. Figure 4 .

[0103] When the control unit 31 of the automatic driving control device 30 performs automatic driving after excluding the possibility of collision between the person 104 and the vehicle 100 from the judgment targets, the control unit 31 of the automatic driving control device 30 outputs the fact that the command has been executed or is continuing to be executed as behavior information to the driving assistance device 40. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates an image for making the occupant recognize that the possibility of collision between the person 104 and the vehicle 100 has been excluded from the judgment targets in the automatic driving control device 30. Fig.12 (b) shows an image displayed on the head-up display 2a when the possibility of collision between the person 104 and the vehicle 100 is excluded from the judgment object in the automatic driving control device 30. As shown in the figure, the obstacle icon 156 surrounding the person icon 154 changes from a solid line display to a dotted line display. Fig.12 (c). Return to Figure 4 .

[0104] Furthermore, after the command output unit 55 outputs the command, the determination unit 76 continues to determine whether it is the first state or the second state until the command output unit 55 outputs the command. Fig.11 until the left turn behavior as in (c) is completed. When the judgment result is the first state, the command processing unit 80 generates a command for instructing the automatic driving control device 30 to include the possibility of collision between the person 104 and the vehicle 100 in the judgment object. This is equivalent to the situation where the person 104 who has given way has started. The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision between the person 104 and the vehicle 100 in the judgment object. Thus, when the collision possibility is greater than the specified value, the control unit 31 stops the vehicle 100.

[0105] When the control unit 31 stops the vehicle 100 and the control unit 31 notifies the command processing unit 80 of the stop via the behavior information input unit 54 , the command processing unit 80 generates an image for notifying the occupant to stop the left turn. Fig.12 (c) shows an image displayed on the head-up display 2a when the left turn is canceled. As shown in the figure, the obstacle icon 156 surrounding the person icon 154 is changed from a dotted line display to a solid line display, and a message is displayed.

[0106] Previously, if Fig.11 As shown in (b) of FIG. 1 , a case where the person 104 may move downward is described. Here, a case where the person 104 may move in the reverse direction is described. Fig.13 Another outline of processing by the control unit 41 is shown. Fig.13(a) indicates a left turn determined by the control unit 31 of the automatic driving control device 30 and indicates a left turn to be performed later. Although there is a person 104 on the crosswalk arranged to cross the second road 212, Fig.11 Compared with (a), the person 104 exists on the opposite side across the second road 212. In this case, the control unit 31 also determines whether the person 104 is included in the monitoring area 124 as the possibility of collision.

[0107] exist Fig.13 (b) shows the second path 110b predicted to be taken by the person 104. The direction of the second path 110b is Fig.11 Therefore, the crossing end point 114 is arranged at the position opposite to the direction in (b). Fig.11 Specifically, it is arranged at a position different from the position in (b), and is arranged on the opposite side of the second road 212. The determination unit 76 derives the distance from the crossing end point 114 to the person 104 as the determination distance 120. The subsequent processing is the same as the previous processing, and therefore the description is omitted here.

[0108] Next, the description will Fig.11 (b) and Fig.13 (b) Processing when combined. Fig.14 Another processing outline of Implementation Method 2 is shown. Fig.14 In (a), there are a first person 104a and a second person 104b across a crosswalk. Fig.11 (b) Similarly, the first character 104a moves "downward" along the first character path 111a, Fig.13 (b) Similarly, the second person 104b moves "upward" along the second person path 111b. Here, the first person path 111a and the second person path 111b are equivalent to the second path 110b described above. In this case, the previous processing for the first person 104a and the previous processing for the second person 104b are respectively performed.

[0109] Fig.14 (b) shows another image displayed in the notification device 2. This image shows Fig.12(c) is an image displayed on the central display 2b under the same conditions as in (c). The vehicle icon 150 corresponding to the vehicle 100, the first person icon 154a corresponding to the first person 104a, and the rectangular first obstacle icon 156a surrounding the first person icon 154a are shown. In addition, the second person icon 154b corresponding to the second person 104b and the rectangular second obstacle icon 156b surrounding the second person icon 154b are also shown. Here, the possibility of collision with the first person 104a is excluded from the judgment object in the automatic driving control device 30, so the first obstacle icon 156a is displayed in dotted lines. On the other hand, for example, in the case where the second person 104b breaks into the intersection area from one end on the opposite side while the first person 104a is excluded, the possibility of collision with the second person 104b is included in the judgment object in the automatic driving control device 30, so the second obstacle icon 156b is displayed in solid lines. In this case, the possibility of collision with the second person 104 b is greater than a predetermined value, so the vehicle 100 does not make a left turn and the vehicle 100 stops.

[0110] According to the present embodiment, when the distance related to the person is greater than the first threshold and the speed of the person is less than the second threshold, an inquiry is made as to whether or not the possibility of collision with the person is excluded from the judgment object, thereby confirming the intention of the occupant. In addition, if a response signal is obtained in response to the inquiry to exclude the possibility of collision with the person from the judgment object, an instruction is given to exclude the possibility of collision with the person from the judgment object, thereby enabling the vehicle to make a left turn before the person who gives way. In addition, when the distance related to the person is greater than the first threshold and the speed of the person is less than the second threshold, an inquiry is made as to whether or not the possibility of collision with the person is excluded from the judgment object, thereby enabling eye contact while driving automatically. In addition, the combination of the inquiry and the response signal is used to indicate that the possibility of collision with the person is excluded from the judgment object, thereby enabling the vehicle to drive according to the situation even when there is a person when turning left.

[0111] In addition, after excluding the possibility of collision with a person from the judgment object, the judgment is continued. When the distance related to the person is shorter than the first threshold (less than the first threshold) or the speed of the person is higher than the second threshold, the possibility of collision with the person is included in the judgment object, thereby suppressing the occurrence of a collision with the person. In addition, when the possibility of collision with a person is included in the judgment object, the occupant is not asked, thereby shortening the period until the possibility of collision with a person is included in the judgment object. The judgment on the first threshold and the second threshold varies depending on the value, and can also be less than the value, below the value, above the value, or greater than the value.

[0112] (Implementation 3)

[0113] As before, embodiment 3 relates to a driving assistance device mounted on a vehicle that performs automatic driving based on detected obstacles. As in embodiment 2, in embodiment 3, "left turn" is also focused on as a driving behavior. Here, the following situation is particularly assumed: there are multiple people on a crosswalk set up in a manner to cross a second road to be entered by turning left from a first road. In this situation, when inquiries and responses are performed for each person as in embodiment 2, the period until all processing is completed becomes longer. If such a period becomes longer, a person who had originally stopped to make way for the vehicle may start to move.

[0114] In order to cope with this situation, when there are multiple people who are determined to be in the second state, the driving assistance device of this embodiment uniformly executes an inquiry as to whether to exclude the possibility of collision with these people from the judgment objects in the automatic driving control device. In addition, when the occupants uniformly respond to the unified inquiry, the driving assistance device causes the automatic driving control device to uniformly exclude the possibility of collision with multiple people from the judgment objects. That is, in order to exclude the possibility of collision with multiple people from the judgment objects in the automatic driving control device, one inquiry and one response operation are performed. The vehicle 100 involved in embodiment 3 is Figure 1 , Figure 2 The control unit 41 is the same type as the vehicle Figure 4 Here, the explanation will focus on the differences from before.

[0115] Fig.15 : indicates a processing outline, indicating a left turn behavior determined in the control unit 31 of the automatic driving control device 30 and the control unit 41 of the driving assistance device 40 and indicating a left turn behavior to be performed later. Fig.11 (a) similarly shows the first road 210, the second road 212, and the vehicle 100. In addition, there are a first person 104a, a second person 104b, and a third person 104c on the pedestrian crossing set up in a manner to cross the second road 212. The first person 104a, the second person 104b, and the third person 104c are scheduled to cross the second road 212. In addition, the number of people 104 is not limited to "3". The control unit 31 calculates the collision probability for the first person 104a, the second person 104b, and the third person 104c respectively. Here, when all the collision probabilities are greater than the specified value, the control unit 31 decides to stop the behavior.

[0116] Figure 4 The behavior information input unit 54 receives information from the control unit 31 indicating that Fig.15In addition, the behavior information input unit 54 receives information indicating a stop behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 derives the determination distance 120 for each of the plurality of persons 104a to 104c and acquires the speed. If the determination distance 120 corresponding to each of the plurality of persons 104a to 104c is greater than the first threshold value and the speed of each of the plurality of persons 104a to 104c is less than the second threshold value, the determination unit 76 determines that the plurality of persons 104a to 104c are all in the second state.

[0117] When the determination unit 76 determines that the plurality of persons 104a to 104c are all in the second state, the inquiry processing unit 78 performs processing for collectively inquiring the occupant whether to exclude the possibility of collision with the plurality of persons 104a to 104c from the determination objects in the automatic driving control device 30. Fig.16 . Fig.16 Indicates an image displayed on the notification device 2. Fig.16 (a) shows an image generated by the inquiry processing unit 78 and displayed on the head-up display 2 a via the image / sound output unit 51 .

[0118] The inquiry processing unit 78 generates a current status indicating that a left turn has occurred, that is, a status information based on other information received from the determination unit 76. Fig.15 An image of the situation shown (second inquiry information) is shown. Here, a vehicle icon 150 corresponding to the vehicle 100, a first person icon 154a corresponding to the first person 104a, a second person icon 154b corresponding to the second person 104b, and a third person icon 154c corresponding to the third person 104c are shown. A rectangular obstacle icon 156 surrounding the first person icon 154a to the third person icon 154c is also shown. In addition, the various methods described above can also be used as the inquiry method. As described later Fig.16 (b)-(c). Return to Figure 4 .

[0119] The passenger checks the image displayed on the head-up display 2a, and receives a message of mutual courtesy from all characters or a person who seems to be the leader among the plurality of characters, and recognizes that it is possible to turn left. When the passenger wishes to turn left, he presses the first operating unit 4a. In addition, the action is not limited to this. Figure 1The operation signal input unit 50 receives the action. This action is a unified response signal for excluding the possibility of collision with multiple people 104a to 104c from the judgment object in response to the unified inquiry from the image / sound output unit 51. When the operation signal input unit 50 receives the unified response signal, it notifies the inquiry processing unit 78 to accept the unified response signal. When the inquiry processing unit 78 receives the notification of unified acceptance, it instructs the command processing unit 80 to generate a command.

[0120] When the inquiry processing unit 78 instructs the command processing unit 80 to generate a command, the command processing unit 80 generates a command (second command) for instructing to exclude the possibility of collision with the plurality of persons 104a to 104c from the judgment object. The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 excludes the possibility of collision with the plurality of persons 104a to 104c from the judgment object.

[0121] When the control unit 31 of the automatic driving control device 30 performs automatic driving after eliminating the possibility of collision with the plurality of persons 104a to 104c from the judgment targets, the control unit 31 outputs the fact that the command has been executed or is continuing to be executed as behavior information to the driving assistance device 40. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates an image for making the occupant realize that the possibility of collision with the plurality of persons 104a to 104c has been eliminated from the judgment targets in the automatic driving control device 30. Fig.16 (b) shows an image displayed on the head-up display 2a when the possibility of collision with multiple people 104a to 104c is excluded from the judgment object in the automatic driving control device 30. As shown in the figure, the obstacle icon 156 surrounding the first person icon 154a, the second person icon 154b, and the third person icon 154c changes from a solid line display to a dotted line display. Fig.16 (c). Return to Figure 4 .

[0122] In addition, after the command processing unit 80 outputs the command, the determination unit 76 continues to determine whether the first state or the second state is respectively for the multiple characters 104a to 104c until the left turn behavior is completed. When the determination result obtained for any of the multiple characters 104a to 104c is the first state, the command processing unit 80 generates a command for instructing the automatic driving control device 30 to include the possibility of collision with the multiple characters 104a to 104c in the determination object. This is equivalent to including the possibility of collision with any of the characters 104a to 104c that meet the conditions for the determination object in the determination object. The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision with any of the characters 104a to 104c in the determination object. Since the possibility of collision with any of the persons 104 a to 104 c satisfying the determination target condition is included, the control unit 31 stops the vehicle 100 when the possibility of collision is greater than a predetermined value.

[0123] Furthermore, when the control unit 31 stops the vehicle 100 and the control unit 31 notifies the occupant of the stop through the behavior information input unit 54 , the command processing unit 80 generates an image for notifying the occupant to stop the left turn. Fig.16 (c) represents an image displayed on the head-up display 2a when the left turn is canceled. Here, it is assumed that the judgment object in the automatic driving control device 30 only includes the possibility of collision with the second person 104b. As shown in the figure, the first person icon 154a and the third person icon 154c are surrounded by the first obstacle icon 156a displayed by dotted lines. On the other hand, the second person icon 154b is surrounded by the second obstacle icon 156b displayed by solid lines. The processing for downward movement has been described above, but the processing obtained by combining Implementation Example 2 and Implementation Example 3 can also be performed for upward movement. In addition, for example, in the above-mentioned Fig.14 In the case where there is both downward movement and upward movement as in (a), a plurality of persons including a first person moving downward and a second person moving upward may be set as objects of a unified inquiry.

[0124] The operation of the driving assistance device 40 having the above configuration will be described. Fig.174 is a flowchart showing the instruction process of the control unit 41. The determination unit 76 obtains the determination distance 120 and the speed of each of the multiple persons 104a to 104c (S200). When all the persons 104a to 104c satisfy the conditions for exclusion (S202: "Yes"), the inquiry processing unit 78 collectively inquires via the image / sound output unit 51 whether to exclude the possibility of collision with the multiple persons 104a to 104c from the determination object (S204). When the inquiry processing unit 78 collectively receives the response signal of exclusion via the operation signal input unit 50 (S206: "Yes"), the command processing unit 80 outputs the exclusion command via the command output unit 55 (S208). Then, the command processing unit 80 changes the display (S210). When at least any one of the persons 104a to 104c does not satisfy the conditions for exclusion (S202: "No"), the processing ends. In this case, the same process as in Embodiment 1 may be performed for any person among the persons 104a to 104c that satisfy the exclusion condition. If the inquiry processing unit 78 does not receive the exclusion response signal through the operation signal input unit 50 (S206: No), the process ends.

[0125] Fig.18 is a flowchart showing another instruction process of the control unit 41. Fig.17 The processing after the command processing unit 80 outputs the exclusion command via the command output unit 55 in step 208 and the automatic driving control device 30 excludes the possibility of collision with the multiple persons 104a to 104c from the judgment object. In the case where the driving behavior as the processing object is continued by the automatic driving control device 30 (S250: "Yes"), the judgment unit 76 obtains the judgment distance 120 and speed relative to each of the multiple persons 104a to 104c (S252). In the case where at least one of the persons 104a to 104c satisfies the condition for the judgment object (S254: "Yes"), the command processing unit 80 outputs a command including the possibility of collision with any of the persons 104a to 104c that satisfies the condition for the judgment object in the judgment object via the command output unit 55 (S256). The command processing unit 80 changes the display (S258). When the driving behavior that is the processing target is not being continued by the automatic driving control device 30 (S250: No) or when all the characters 104a to 104c do not satisfy the conditions for judging the target (S254: No), the processing ends.

[0126] According to the present embodiment, since a unified inquiry is made as to whether the possibility of collision with multiple persons is excluded from the judgment object, the number of inquiries can be reduced. In addition, since a response signal is received for the unified inquiry, the processing by the occupant can be simplified. In addition, since the processing by the occupant is simplified, the period from inquiry to response can be shortened. In addition, in the case where the distance related to at least one person is shorter than the first threshold value or the speed of at least one person is higher than the second threshold value, the possibility of collision with the person is included in the judgment object, so that the occurrence of collision with the person can be suppressed.

[0127] (Implementation 4)

[0128] As before, this embodiment 4 relates to a driving assistance device mounted on a vehicle that performs automatic driving based on detected obstacles. In embodiment 4, as a driving behavior, attention is paid to "right turn". Like left turn, right turn occurs at an intersection. This vehicle is traveling on a first road, and at a position just before reaching an intersection intersecting with a second road, the automatic driving control device calculates the possibility of collision with a surrounding vehicle traveling in an opposite direction on the first road. If the collision possibility is greater than a specified value, the automatic driving control device stops the vehicle at a position just before reaching the intersection. In this situation, a right turn can be made if the surrounding vehicles in the opposite direction stop at a position just before reaching the intersection to give way to this vehicle.

[0129] In order to enable the right turn in this case, the driving assistance device of the present embodiment performs the following processing. The driving assistance device learns the driving behavior of "stopping" that occurs during the driving behavior of "turning right" from the automatic driving control device. The driving assistance device determines the intersection end point of the first road and the second road in the driving direction of the surrounding vehicles as oncoming vehicles in the scene where the first road and the second road intersect based on the map information, and derives the distance between the intersection end point and the surrounding vehicles as the determination distance. In addition, the driving assistance device obtains the speed of the surrounding vehicles. When the determination distance is greater than the first threshold and the speed is less than the second threshold, the driving assistance device generates an image for asking the occupant whether to exclude the possibility of collision between the surrounding vehicles and the vehicle from the determination object in the automatic driving control device, and displays the image on the monitor in the vehicle. When the driving assistance device receives the response operation of exclusion from the occupant in response to this display, it generates a command for excluding the possibility of collision between the surrounding vehicles and the vehicle from the determination object, and sends the command to the automatic driving control device. When the automatic driving control device receives the command from the driving assistance device, it excludes the possibility of collision between the surrounding vehicles and the vehicle from the determination object, and if the collision possibility is small, it starts the vehicle. The vehicle 100 according to the fourth embodiment is Figure 1 , Figure 2The control unit 41 is the same type as the vehicle Figure 4 Here, the difference from the first embodiment will be mainly described.

[0130] Before describing the processing performed by the driving assistance device 40 with respect to the driving behavior of “turn right”, the processing performed by the automatic driving control device 30 will be described. Fig.19 Indicates the processing outline. Fig.19 (a) indicates a right turn behavior determined in the control unit 31 of the automatic driving control device 30 and indicates a right turn behavior to be performed later. Fig.11 (a) similarly shows the first road 210 and the second road 212. The first path 110a that the vehicle 100 is scheduled to travel is set to travel upward on the first road 210, and enter the second road 212 after turning right at the intersection. In addition, on the first road 210, the first surrounding vehicle 102a and the second surrounding vehicle 102b are traveling downward, that is, traveling in the opposite direction of the vehicle 100. Here, the first surrounding vehicle 102a is traveling at a position just before reaching the intersection. It is assumed that the first surrounding vehicle 102a and the vehicle 100 are traveling in the opposite direction and are scheduled to cross each other when the vehicle 100 turns right. The control unit 31 determines based on the detection information from the detection unit 20. Fig.19 Such determination is performed using a known technique, so the description is omitted here.

[0131] The control unit 31 calculates the TTC of collision with the first surrounding vehicle 102a based on the inter-vehicle distance 122 between the vehicle 100 and the first surrounding vehicle 102a, the speed of the vehicle 100, and the speed of the first surrounding vehicle 102a as the collision possibility. In addition, in the present embodiment, the inter-vehicle distance 122 is a distance obtained by adding the distance from the position of the vehicle 100 on the first path 110a to the point where the first path 110a and the second path 110b intersect, and the distance from the position of the first surrounding vehicle 102a on the second path 110b to the point where the intersection is obtained. However, it can also be approximated as the straight-line distance between the front of the vehicle 100 and the front of the first surrounding vehicle 102a. Here, an approximate value of the straight-line distance between the front of the vehicle 100 and the front of the first surrounding vehicle 102a is used. When the calculated collision possibility is greater than a specified value, the control unit 31 determines a stop behavior. The control unit 31 controls so that the vehicle 100 stops when the stop behavior is determined. As a result, the vehicle 100 stops at a position just before the intersection, although traveling on the first road 210. In addition, the control unit 31 sends information indicating the stopping behavior to the behavior information input unit 54 via the I / O unit 33. At this time, or before this, the control unit 31 indicates that Fig.19The information of the right turn behavior as shown in (a) is sent to the behavior information input unit 54. Fig.19 (b)-(c).

[0132] Figure 4 The behavior information input unit 54 receives information from the control unit 31 indicating Fig.19 In addition, the behavior information input unit 54 receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. When the behavior information input unit 54 is informed of the stopping behavior of the vehicle, the determination unit 76 of the control unit 41 starts the following processing. The determination unit 76 determines whether the vehicle is stopping according to the information indicating the right turning behavior. Fig.19 In addition, as described above, the determination unit 76 may grasp the right turning behavior based on the detection information in the same manner as the control unit 31, without using the information indicating the right turning behavior.

[0133] Fig.19 (b) shows the right turn behavior determined by the determination unit 76. Fig.19 (b) shows the second path 110b predicted to be traveled by the first surrounding vehicle 102a. The second path 110b is generated based on the map information included in the detection information and the position information of the first surrounding vehicle 102a, and is predetermined to be a path that goes straight down on the first road 210. In addition, the determination unit 76 obtains the intersection end point 112 where the intersection of the first road 210 and the second road 212 ends in the travel direction of the first surrounding vehicle 102a based on the map information included in the detection information. The intersection end point 112 is the point where the first surrounding vehicle 102a traveling on the first road 210 finally arrives in the overlapping portion of the first road 210 and the second road 212. That is, the end point (line) of the intersection reached by the first surrounding vehicle 102a traveling along the first road 210 is used as the intersection completion point.

[0134] The determination unit 76 derives the distance from the intersection end point 112 to the first surrounding vehicle 102a as the determination distance 120. In addition, when the rear end of the second surrounding vehicle 102b is present between the intersection end point 112 and the first surrounding vehicle 102a, the distance from the rear end of the second surrounding vehicle 102b to the first surrounding vehicle 102a may be set as the determination distance 120. In addition, the determination unit 76 obtains the speed of the first surrounding vehicle 102a. When the determination distance 120 is shorter than the first threshold value or the speed of the first surrounding vehicle 102a is higher than the second threshold value, the determination unit 76 determines it as a "first state". On the other hand, when the determination distance 120 is greater than the first threshold value and the speed of the first surrounding vehicle 102a is less than the second threshold value, the determination unit 76 determines it as a "second state". This will be described later. Fig.19 (c). Return to Figure 4 The determination unit 76 outputs the determination result to the inquiry processing unit 78. In addition, the determination unit 76 also outputs other information to the inquiry processing unit 78.

[0135] When the determination result from the determination unit 76 is the second state, the inquiry processing unit 78 performs processing for inquiring the occupant whether to exclude the possibility of collision between the first surrounding vehicle 102a and the vehicle 100 from the determination objects in the automatic driving control device 30. Fig. 20 . Fig. 20 Indicates an image displayed on the notification device 2. Fig. 20 (a) shows an image generated by the inquiry processing unit 78 and displayed on the head-up display 2 a via the image / sound output unit 51 .

[0136] The inquiry processing unit 78 generates a current status indicating that a right turn has occurred, that is, a status information based on other information received from the determination unit 76. Fig.19 An image of the condition shown in (a). Here, a vehicle icon 150 corresponding to the vehicle 100, a first surrounding vehicle icon 152a corresponding to the first surrounding vehicle 102a, and a second surrounding vehicle icon 152b corresponding to the second surrounding vehicle 102b are shown. In addition, a rectangular obstacle icon 156 surrounding the first surrounding vehicle icon 152a is also shown. In addition, the inquiry processing unit 78 may also superimpose a message on the image for asking the occupant whether to exclude the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment objects in the automatic driving control device 30. In addition, the various methods described above may also be used as a method of inquiry. Described later Fig. 20 (b)-(c). Return to Figure 4 .

[0137] The occupant checks the image displayed on the head-up display 2a and receives, for example, a polite eye contact from the occupant of the first surrounding vehicle 102a, thereby recognizing that it is possible to turn right. When the occupant wishes to turn right, the occupant performs a swipe gesture. This action is detected by the third operating unit 4c. In addition, the action is not limited to this. Figure 1 The operation signal input unit 50 receives the action. The action is a response signal for excluding the possibility of collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment object in response to the inquiry from the image / sound output unit 51. When the operation signal input unit 50 receives the response signal, it notifies the inquiry processing unit 78 that the response signal is accepted. When the inquiry processing unit 78 receives the notification of acceptance, it instructs the command processing unit 80 to generate a command.

[0138] When the inquiry processing unit 78 instructs the command processing unit 80 to generate a command, the command processing unit 80 generates a command for instructing to exclude the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment object. The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 calculates the possibility of a collision as before. However, the control unit 31 determines the driving behavior after excluding the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment object. Fig.19 (c) of FIG. 1 shows the behavior of the vehicle 100 when the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 is excluded from the determination target. Fig.19 In (c), the vehicle 100 turns right from the first road 210 and drives on the second road 212. Figure 4 .

[0139] When the control unit 31 of the automatic driving control device 30 performs automatic driving after eliminating the possibility of collision between the first surrounding vehicle 102a and the vehicle 100 from the judgment targets, the control unit 31 outputs the fact that the command has been executed or is being continuously executed to the driving assistance device 40 as behavior information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates an image for making the occupant recognize that the possibility of collision between the first surrounding vehicle 102a and the vehicle 100 has been eliminated from the judgment targets in the automatic driving control device 30. Fig. 20 (b) shows an image displayed on the head-up display 2a when the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 is excluded from the judgment object in the automatic driving control device 30. As shown in the figure, the obstacle icon 156 surrounding the first surrounding vehicle icon 152a changes from a solid line display to a dotted line display. Fig. 20 (c) of the statement. Return to Figure 4.

[0140] Furthermore, after the command output unit 55 outputs the command, the determination unit 76 continues to determine whether it is the first state or the second state until the command output unit 55 outputs the command. Fig.19 The right turn behavior as in (c) is completed. When the judgment result is the first state, the command processing unit 80 generates a command for instructing the automatic driving control device 30 to include the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 in the judgment object. This is equivalent to the situation where the first surrounding vehicle 102a starts to move after being identified as giving way. The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of a collision between the first surrounding vehicle 102a and the vehicle 100 in the judgment object. Thus, when the collision possibility is greater than the specified value, the control unit 31 stops the vehicle 100.

[0141] Furthermore, when the control unit 31 stops the vehicle 100 and the command processing unit 80 learns of the stop from the control unit 31 via the behavior information input unit 54 , the command processing unit 80 generates an image for notifying the occupant to stop the right turn. Fig. 20 (c) shows an image displayed on the head-up display 2a when the right turn is canceled. As shown in the figure, the obstacle icon 156 surrounding the first surrounding vehicle icon 152a is changed from a dotted line display to a solid line display, and a message is displayed.

[0142] In the case of a right turn, there may be a person on the crosswalk arranged so as to cross the second road 212 that the vehicle 100 has just turned right into. Therefore, as in the case of a left turn, mutual courtesy with the person may also occur in the right turn. The following describes the processing for this situation. Fig.21 Another outline of processing by the control unit 41 is shown. Fig.21 (a) indicates a right turn determined in the control unit 31 of the automatic driving control device 30 and indicates a right turn to be made later. The first path 110a on which the vehicle 100 is scheduled to travel is set as: traveling upward on the first road 210, turning right at the intersection and entering the second road 212. In addition, there is a person 104 on the crosswalk set up in a manner to cross the second road 212 after the right turn. Fig.11 Similar to (a), the control unit 31 performs the same processing as that in the case of the left turn behavior.

[0143] Figure 4 The behavior information input unit 54 receives information from the control unit 31 indicating that Fig.21In addition, the behavior information input unit 54 receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. When the behavior information input unit 54 is informed of the stopping behavior of the vehicle, the determination unit 76 of the control unit 41 starts the following processing. The determination unit 76 determines whether the vehicle is stopping according to the information indicating the right turning behavior. Fig.21 In addition, as described above, the determination unit 76 may grasp the right turning behavior based on the detection information in the same manner as the control unit 31, without using the information indicating the right turning behavior.

[0144] Fig.21 (b) shows the right turn behavior grasped by the determination unit 76 of the automatic driving control device 30. The third path 110c that the person 104 is predicted to walk on is shown, and the crossing end point 114 of the second road 212 is shown. Fig.11 (b) of FIG. 1 shows these scenes in the same manner. Therefore, the automatic driving control device 30 performs the same processing as that in the case of the left turn behavior. As a result, Fig.21 As in (c) of FIG. 1 , the vehicle 100 may turn right from the first road 210 and then travel on the second road 212. In addition, since the subsequent processing is the same as the previous processing, the description is omitted here.

[0145] exist Fig.21 , the person 104 moves downward, but the same process is performed when the person 104 moves upward. In addition, there may be a plurality of surrounding vehicles 102 that are scheduled to intersect when the vehicle 100 turns right, or there may be a plurality of people 104 that are scheduled to intersect when the vehicle 100 turns right. In this case, the same process as in Embodiment 3 may be performed.

[0146] According to the present embodiment, when the distance related to the surrounding vehicles is greater than the first threshold and the speed of the surrounding vehicles is less than the second threshold, an inquiry is made as to whether or not the possibility of collision with the surrounding vehicles is excluded from the judgment object, thereby confirming the intention of the occupant. In addition, if a response signal is obtained in response to the inquiry to exclude the possibility of collision with the surrounding vehicles from the judgment object, an instruction is given to exclude the possibility of collision with the surrounding vehicles from the judgment object, thereby enabling the vehicle to make a right turn before the surrounding vehicles that give way. In addition, when the distance related to the surrounding vehicles is greater than the first threshold and the speed of the surrounding vehicles is less than the second threshold, an inquiry is made as to whether or not the possibility of collision with the surrounding vehicles is excluded from the judgment object, thereby enabling eye contact while driving automatically. In addition, the combination of the inquiry and the response signal is used to indicate that the possibility of collision with the surrounding vehicles is excluded from the judgment object, thereby enabling the vehicle to travel according to the situation even when there are surrounding vehicles when turning right.

[0147] In addition, after the possibility of collision with surrounding vehicles is excluded from the judgment object, the judgment is continued. When the distance related to the surrounding vehicles is shorter than the first threshold value or the speed of the person is higher than the second threshold value, the possibility of collision with the surrounding vehicles is included in the judgment object, thereby suppressing the occurrence of collision with the surrounding vehicles. In addition, when the possibility of collision with the surrounding vehicles is included in the judgment object, the occupant is not asked, thereby shortening the period until the possibility of collision with the surrounding vehicles is included in the judgment object.

[0148] In addition, when the distance related to the person is above the third threshold and the speed of the person is below the fourth threshold, it is inquired whether to exclude the possibility of collision with the person from the judgment object, so that the intention of the occupant can be confirmed. In addition, if a response signal is obtained for the inquiry to exclude the possibility of collision with the person from the judgment object, it is indicated to exclude the possibility of collision with the person from the judgment object, so that the right turn can be made before the person who gives way. In addition, when the distance related to the person is above the third threshold and the speed of the person is below the fourth threshold, it is inquired whether to exclude the possibility of collision with the person from the judgment object, so that eye contact can be achieved while automatically driving. In addition, the possibility of collision with the person is excluded from the judgment object by a combination of inquiry and response signals, so that even if there is a person when turning right, it is possible to drive according to the situation. In addition, when the distance related to the person is shorter than the third threshold or the speed of the person is higher than the fourth threshold, the possibility of collision with the person is included in the judgment object, so that the collision with the person can be suppressed.

[0149] In addition, since the unified inquiry is made whether the possibility of collision with multiple surrounding vehicles is excluded from the judgment object, the number of inquiries can be reduced. In addition, since the response signal to the unified inquiry is received, the processing by the occupant can be simplified. In addition, since the processing by the occupant is simplified, the period from inquiry to response can be shortened. In addition, in the case where the distance related to at least one surrounding vehicle is shorter than the first threshold or the speed of at least one surrounding vehicle is higher than the second threshold, the possibility of collision with the surrounding vehicles is included in the judgment object, so that the collision with the surrounding vehicles can be suppressed. In addition, since the unified inquiry is made whether the possibility of collision with multiple people is excluded from the judgment object, the number of inquiries can be reduced. In addition, in the case where the distance related to at least one person is shorter than the third threshold or the speed of at least one person is higher than the fourth threshold, the possibility of collision with the person is included in the judgment object, so that the collision with the person can be suppressed.

[0150] (Implementation method 5)

[0151] As before, this embodiment 5 relates to a driving assistance device mounted on a vehicle that performs automatic driving based on detected obstacles. In the embodiment 5, as in the embodiment 4, the focus is also on "right turn" as a driving behavior. As described above, in a right turn, there are situations where surrounding vehicles become obstacles, and there are also situations where people become obstacles. Here, it is particularly assumed that surrounding vehicles and people become obstacles. In this situation, when inquiry and response operations are performed on surrounding vehicles and people respectively as in the embodiment 4, the period until all processing is completed becomes longer. If such a period becomes longer, the surrounding vehicles and people that had originally stopped to make way for the vehicle may start to move.

[0152] In order to cope with this situation, when there are surrounding vehicles and people that are determined to be in the second state, the driving assistance device of this embodiment uniformly executes an inquiry as to whether to exclude the possibility of collision with surrounding vehicles and people from the judgment objects in the automatic driving control device. In addition, when the occupants uniformly respond to the unified inquiry, the driving assistance device causes the automatic driving control device to exclude the possibility of collision with surrounding vehicles and people from the judgment objects. That is, in order to exclude the possibility of collision with surrounding vehicles and people from the judgment objects in the automatic driving control device, one inquiry and one response operation are performed. The vehicle 100 involved in embodiment 5 is Figure 1 , Figure 2 The control unit 41 is the same type as the vehicle Figure 4 Here, the explanation will focus on the differences from before.

[0153] Fig. 22 : indicates a processing outline, indicating a right turn behavior determined in the control unit 31 of the automatic driving control device 30 and the control unit 41 of the driving assistance device 40 and indicating a right turn behavior to be performed later. Fig.19 (a) of FIG. 1 shows the first road 210, the second road 212, the vehicle 100, the first surrounding vehicle 102a, and the second surrounding vehicle 102b. Fig.21 (a) of FIG. 1 shows a person 104 in the same manner. The control unit 31 calculates the collision possibility for each of the first surrounding vehicle 102a and the person 104. Here, when the collision possibility is greater than a predetermined value, the control unit 31 determines a stop action.

[0154] Figure 4 The behavior information input unit 54 receives information from the control unit 31 indicating that Fig. 22In addition, the behavior information input unit 54 receives information indicating a stop behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 performs the same processing as before for the first surrounding vehicle 102a, and performs the same processing as before for the person 104. That is, the determination unit 76 determines whether the first surrounding vehicle 102a is in the first state or the second state, and determines whether the person 104 is in the first state or the second state.

[0155] When the determination unit 76 determines that the first surrounding vehicle 102a and the person 104 are in the second state, the inquiry processing unit 78 performs processing for uniformly inquiring the occupant whether to exclude the possibility of collision with the first surrounding vehicle 102a and the person 104 from the determination objects in the automatic driving control device 30. In order to specifically explain the inquiry processing, Fig.23 . Fig.23 Indicates an image displayed on the notification device 2. Fig.23 (a) shows an image generated by the inquiry processing unit 78 and displayed on the head-up display 2 a via the image / sound output unit 51 .

[0156] The inquiry processing unit 78 generates a current status indicating that a right turn has occurred, that is, a status information based on other information received from the determination unit 76. Fig. 22 Here, a vehicle icon 150 corresponding to the vehicle 100, a first surrounding vehicle icon 152a corresponding to the first surrounding vehicle 102a, a second surrounding vehicle icon 152b corresponding to the second surrounding vehicle 102b, and a person icon 154 corresponding to the person 104 are shown. A rectangular obstacle icon 156 surrounding the first surrounding vehicle icon 152a and the person icon 154 is also shown. In addition, the various methods described above can also be used as the inquiry method. Fig.23 (b)-(c). Return to Figure 4 .

[0157] The passenger confirms the image displayed on the head-up display 2a, and receives a mutual polite eye contact from the passenger of the first surrounding vehicle 102a and the person 104, for example, and recognizes that it is possible to turn right. When the passenger wishes to turn right, he performs a gesture of swiping his hand. This action is detected by the third operating unit 4c. In addition, the action is not limited to this. Figure 1The operation signal input unit 50 receives the action. This action is a unified response signal for excluding the possibility of collision with the first surrounding vehicle 102a and the person 104 from the judgment object in response to the unified inquiry from the image / sound output unit 51. When the operation signal input unit 50 receives the unified response signal, it notifies the inquiry processing unit 78 to accept the unified response signal. When the inquiry processing unit 78 receives the unified acceptance notification, it instructs the command processing unit 80 to generate a command.

[0158] When the inquiry processing unit 78 instructs the command processing unit 80 to generate a command, the command processing unit 80 generates a command for instructing to exclude the possibility of collision with the first surrounding vehicle 102a and the person 104 from the judgment object. The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 excludes the possibility of collision with the first surrounding vehicle 102a and the person 104 from the judgment object.

[0159] When the control unit 31 of the automatic driving control device 30 performs automatic driving after excluding the possibility of collision with the first surrounding vehicle 102a and the person 104 from the judgment targets, it outputs the fact that the command has been executed or is being continuously executed to the driving assistance device 40 as behavior information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates an image for making the occupant realize that the possibility of collision with the first surrounding vehicle 102a and the person 104 has been excluded from the judgment targets in the automatic driving control device 30. Fig.23 (b) shows an image displayed on the head-up display 2a when the possibility of collision with the first surrounding vehicle 102a and the person 104 is excluded from the judgment object in the automatic driving control device 30. As shown in the figure, the obstacle icon 156 surrounded by the first surrounding vehicle icon 152a and the person icon 154 is changed from solid line display to dotted line display. Fig.23 (c). Return to Figure 4 .

[0160] In addition, after the command processing unit 80 outputs the command, the determination unit 76 continues to determine whether the first surrounding vehicle 102a and the person 104 are in the first state or the second state respectively until the right turn behavior is completed. In the case where the determination result obtained for the first surrounding vehicle 102a is the first state, the command processing unit 80 generates a command for instructing the automatic driving control device 30 to include the possibility of collision with the first surrounding vehicle 102a in the determination object. This is equivalent to including the possibility of collision with the first surrounding vehicle 102a that satisfies the conditions for the determination object in the determination object. On the other hand, in the case where the determination result obtained for the person 104 is the first state, the command processing unit 80 generates a command for instructing the automatic driving control device 30 to include the possibility of collision with the person 104 in the determination object. This is equivalent to including the possibility of collision with the person 104 that satisfies the conditions for the determination object in the determination object.

[0161] The command output unit 55 outputs the command generated in the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision with the first surrounding vehicle 102a or the person 104 that satisfies the condition for the judgment object in the judgment object. Thus, when the collision possibility is greater than a predetermined value, the control unit 31 stops the vehicle 100.

[0162] Furthermore, when the control unit 31 stops the vehicle 100 and the control unit 31 is informed of the stop via the behavior information input unit 54 , the command processing unit 80 generates an image for notifying the occupant of the stop of the right turn. Fig.23 (c) shows an image displayed on the head-up display 2a when the right turn is canceled. Here, it is assumed that the determination object in the automatic driving control device 30 includes the possibility of collision with the first surrounding vehicle 102a. As shown in the figure, the person icon 154 is surrounded by the first obstacle icon 156a displayed in dotted lines. On the other hand, the first surrounding vehicle icon 152a is surrounded by the second obstacle icon 156b displayed in solid lines.

[0163] According to the present embodiment, since a unified inquiry is made as to whether or not the possibility of collision with surrounding vehicles and persons of different types is excluded from the judgment object, the number of inquiries can be reduced. In addition, since a response signal is received for the unified inquiry, the processing by the occupant can be simplified. In addition, since the processing by the occupant is simplified, the period from inquiry to response can be shortened. In addition, in the case where the distance to any one of the surrounding vehicles and persons becomes shorter or the speed becomes faster, the possibility of collision with the surrounding vehicles or persons is included in the judgment object, so that the occurrence of collision with the surrounding vehicles or persons can be suppressed.

[0164] The above detailed description of the embodiments of the present disclosure refers to the accompanying drawings, but the functions of the above-mentioned devices and each processing unit can be realized by a computer program. The computer that realizes the above-mentioned functions by a program has: input devices such as a keyboard, a mouse, and a touch panel; output devices such as a display and a speaker; a CPU (Central Processing Unit); a reading device that reads information from a storage device such as a ROM, a RAM, a hard disk device, an SSD (Solid State Drive), a DVD-ROM (Digital Versatile Disk Read Only Memory), a USB (Universal Serial Bus) memory, and other recording media; a network card that communicates via a network, etc., and each unit is connected through a bus.

[0165] In addition, the reading device reads the program from a recording medium having the above-mentioned program recorded thereon, and stores the program in a storage device. Alternatively, the network card communicates with a server device connected to the network, so that the program downloaded from the server device for realizing the functions of the above-mentioned devices is stored in the storage device. In addition, the CPU copies the program stored in the storage device to the RAM, and realizes the functions of the above-mentioned devices by sequentially reading out the commands contained in the program from the RAM and executing the commands. In addition, other road users may also be included as obstacles. For example, motorcycles (two-wheeled vehicles) and bicycles (ridden by people) may also be regarded as surrounding vehicles, and people riding bicycles and people on skateboards may also be regarded as pedestrians.

[0166] An outline of one embodiment of the present disclosure is as follows.

[0167] (Item 1-1)

[0168] A driving assistance device is mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value, the driving assistance device comprising:

[0169] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0170] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the determination objects in the automatic driving control device if the distance from a point on the predicted moving path of the obstacle to the obstacle is greater than or equal to a first threshold value and the speed of the obstacle is less than or equal to a second threshold value to a notification device;

[0171] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device is input, the response operation being an operation of eliminating the possibility of a collision between the obstacle and the vehicle from the determination object; and

[0172] A command output unit, which outputs a command to the automatic driving control device to eliminate the possibility of collision between the obstacle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0173] According to this method, if the distance related to the obstacle is greater than the first threshold and the speed of the obstacle is less than the second threshold, and a response signal is obtained to exclude the possibility of collision with the obstacle from the judgment object, an instruction to eliminate the obstacle is given, so that driving can be carried out according to the situation when the obstacle exists.

[0174] (Item 1-2)

[0175] The driving assistance device according to item 1-1 is characterized in that:

[0176] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the obstacle and the vehicle from the judgment object, when the distance from a point on the predicted moving path of the obstacle to the obstacle is shorter than the first threshold or the speed of the obstacle is higher than the second threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of a collision between the obstacle and the vehicle in the judgment object.

[0177] In this case, when the distance to the obstacle is shorter than the first threshold or the speed of the obstacle is higher than the second threshold, the possibility of collision with the obstacle is included in the determination target, thereby suppressing the occurrence of collision with the obstacle.

[0178] (Items 1-3)

[0179] The driving assistance device according to item 1-1 is characterized in that:

[0180] In the automatic driving control device, the possibility of collision with a plurality of obstacles including the obstacle is greater than a prescribed value, whereby the stopping behavior information of the vehicle is input from the automatic driving control device to the behavior information input unit,

[0181] When the stopping behavior information of the vehicle is input from the behavior information input unit to the inquiry output unit, if the distance from a point on the predicted moving path of the multiple obstacles to each of the multiple obstacles is greater than the first threshold value and the speed of each of the multiple obstacles is less than the second threshold value, the inquiry output unit outputs inquiry information for uniformly asking the occupants whether to exclude the possibility of collision with the multiple obstacles from the judgment objects in the automatic driving control device to the notification device,

[0182] inputting into the operation signal input unit a response signal for collectively excluding the possibility of collision with the plurality of obstacles from the determination targets in response to the inquiry notified from the notification device,

[0183] When the response signal is input to the operation signal input unit, the command output unit outputs a command to exclude the possibility of collision with the plurality of obstacles from the determination targets to the automatic driving control device.

[0184] In this case, whether or not to exclude the possibility of collision with a plurality of obstacles from the determination targets is collectively inquired and a response signal is received, so that the processing can be simplified.

[0185] (Items 1-4)

[0186] The driving assistance device according to item 1-3 is characterized in that:

[0187] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of collision with the multiple obstacles from the judgment object, when at least one of the distances from a point on the predicted moving path of the multiple obstacles to each of the multiple obstacles is shorter than the first threshold or at least one of the speeds of each of the multiple obstacles is higher than the second threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of collision with the obstacle that meets the conditions in the judgment object.

[0188] In this case, when the distance to at least one obstacle is shorter than the first threshold or the speed of at least one obstacle is higher than the second threshold, the possibility of collision with the obstacle is included in the determination target, thereby preventing the occurrence of collision with the obstacle.

[0189] (Items 1-5)

[0190] An automatic driving control device is mounted on a vehicle, the automatic driving control device comprising:

[0191] an automatic driving control unit that calculates a collision probability between the detected obstacle and the vehicle, controls the automatic driving of the vehicle using the calculated collision probability as a judgment object, and stops the vehicle when the collision probability is greater than a specified value;

[0192] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control unit is input;

[0193] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the determination objects in the automatic driving control device if the distance from a point on the predicted moving path of the obstacle to the obstacle is greater than or equal to a first threshold value and the speed of the obstacle is less than or equal to a second threshold value to a notification device;

[0194] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device is input, the response operation being an operation of eliminating the possibility of a collision between the obstacle and the vehicle from the determination object; and

[0195] A command output unit outputs a command to the automatic driving control unit to exclude the possibility of a collision between the obstacle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0196] (Items 1-6)

[0197] A vehicle comprising an automatic driving control device and a driving assistance device, wherein the automatic driving control device calculates the collision probability between a detected obstacle and the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value.

[0198] Wherein, the driving assistance device comprises:

[0199] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0200] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the determination objects in the automatic driving control device if the distance from a point on the predicted moving path of the obstacle to the obstacle is greater than or equal to a first threshold value and the speed of the obstacle is less than or equal to a second threshold value to a notification device;

[0201] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device is input, the response operation being an operation of eliminating the possibility of a collision between the obstacle and the vehicle from the determination object; and

[0202] A command output unit, which outputs a command to the automatic driving control device for eliminating the possibility of a collision between the obstacle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0203] (Items 1-7)

[0204] A driving assistance method is a driving assistance method used by a driving assistance device mounted on a vehicle equipped with an automatic driving control device, wherein the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value, the driving assistance method comprising the following steps:

[0205] inputting the stopping behavior information of the vehicle from the automatic driving control device;

[0206] outputting inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the determination object in the automatic driving control device to a notification device when the stopping behavior information of the vehicle is input, if the distance from a point on the predicted moving path of the obstacle to the obstacle is greater than or equal to a first threshold value and the speed of the obstacle is less than or equal to a second threshold value;

[0207] inputting a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation of eliminating the possibility of a collision between the obstacle and the vehicle from the determination object; and

[0208] When the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the obstacle and the vehicle from the determination objects.

[0209] (Items 1-8)

[0210] A program is a program for a driving assistance device mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value, the program is used to cause a computer to execute the following steps:

[0211] inputting the stopping behavior information of the vehicle from the automatic driving control device;

[0212] outputting inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the determination object in the automatic driving control device to a notification device when the stopping behavior information of the vehicle is input, if the distance from a point on the predicted moving path of the obstacle to the obstacle is greater than or equal to a first threshold value and the speed of the obstacle is less than or equal to a second threshold value;

[0213] inputting a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation of eliminating the possibility of a collision between the obstacle and the vehicle from the determination object; and

[0214] When the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the obstacle and the vehicle from the determination objects.

[0215] (Items 1-9)

[0216] A driving assistance system is mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value, the driving assistance system comprising:

[0217] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0218] a notification device for notifying, when the stopping behavior information of the vehicle from the behavior information input unit is input, inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the determination object in the automatic driving control device if the distance from a point on the predicted moving path of the obstacle to the obstacle is greater than or equal to a first threshold value and the speed of the obstacle is less than or equal to a second threshold value;

[0219] an input device that receives a response operation by an occupant to the inquiry notified by the notification device, the response operation being an operation of eliminating the possibility of a collision between the obstacle and the vehicle from the determination object; and

[0220] A command output unit outputs a command to the automatic driving control device to exclude the possibility of collision between the obstacle and the vehicle from the judgment objects when the input device receives the response operation.

[0221] (Item 2-1)

[0222] A driving assistance device is mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability of the vehicle colliding with the other vehicle when the vehicle cuts in front of another vehicle is greater than a specified value, the driving assistance device comprising:

[0223] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0224] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device if the distance from the point where the other vehicle is predicted to end crossing on the road where the vehicle is traveling to the other vehicle is greater than or equal to a first threshold value and the speed of the other vehicle is less than or equal to a second threshold value;

[0225] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device is input, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0226] A command output unit, which outputs a command to the automatic driving control device to exclude the possibility of collision between the other vehicle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0227] According to this method, if the distance related to the surrounding vehicles is greater than a first threshold and the speed of the surrounding vehicles is less than a second threshold, and a response signal is obtained to exclude the possibility of collision with the surrounding vehicles from the judgment object, an instruction to exclude the surrounding vehicles is given, so that driving can be carried out according to the situation in the presence of surrounding vehicles.

[0228] (Item 2-2)

[0229] The driving assistance device according to item 2-1 is characterized in that:

[0230] When another other vehicle is present between the other vehicle and a point where the intersection with the other vehicle on the road on which the vehicle is traveling is predicted to end, the inquiry output unit compares the distance from the other other vehicle to the other vehicle with the first threshold value.

[0231] In this case, since the distance from another other vehicle to another vehicle is compared with the first threshold value, various situations can be dealt with. When another other vehicle exists, control can be performed more safely.

[0232] (Item 2-3)

[0233] The driving assistance device according to item 2-1 or 2-2 is characterized in that:

[0234] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object, when the distance from the point where the intersection with the other vehicle on the road where the vehicle is predicted to end to the other vehicle is shorter than the first threshold or the speed of the other vehicle is higher than the second threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of a collision between the other vehicle and the vehicle in the judgment object.

[0235] In this case, when the distance to the surrounding vehicle is shorter than the first threshold or the speed of the surrounding vehicle is higher than the second threshold, the possibility of collision with the surrounding vehicle is included in the determination target, thereby suppressing the occurrence of collision with the surrounding vehicle.

[0236] (Items 2-4)

[0237] An automatic driving control device is mounted on a vehicle, the automatic driving control device comprising:

[0238] an automatic driving control unit that calculates a collision probability between the detected obstacle and the vehicle, controls the automatic driving of the vehicle using the calculated collision probability as a judgment object, and stops the vehicle when the calculated collision probability with the other vehicle when the vehicle cuts in front of the other vehicle is greater than a specified value;

[0239] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control unit is input;

[0240] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination target in the automatic driving control unit if the distance from the point where the intersection with the other vehicle on the road where the vehicle is traveling is predicted to end to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value to a notification device;

[0241] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device is input, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0242] A command output unit outputs a command to the automatic driving control unit to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0243] (Items 2-5)

[0244] A vehicle comprising an automatic driving control device and a driving assistance device, wherein the automatic driving control device calculates a collision probability between a detected obstacle and the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability with the other vehicle is greater than a specified value when the vehicle cuts in front of another vehicle,

[0245] Wherein, the driving assistance device comprises:

[0246] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0247] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device if the distance from the point where the intersection with the other vehicle on the road where the vehicle is traveling is predicted to end to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value to a notification device;

[0248] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device is input, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0249] A command output unit, which outputs a command to the automatic driving control device to exclude the possibility of collision between the other vehicle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0250] (Items 2-6)

[0251] A driving assistance method is a driving assistance method used by a driving assistance device mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability of the vehicle colliding with the other vehicle when the vehicle cuts in front of another vehicle is greater than a specified value, the driving assistance method comprising the following steps:

[0252] inputting the stopping behavior information of the vehicle from the automatic driving control device;

[0253] When the stopping behavior information of the vehicle is input, if the distance from the point where the intersection with the other vehicle on the road where the vehicle is traveling is predicted to end to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value, outputting inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device to the notification device;

[0254] inputting a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0255] When the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the determination targets.

[0256] (Items 2-7)

[0257] A program is a program for a driving assistance device mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability of the vehicle colliding with the other vehicle when the vehicle cuts in front of another vehicle is greater than a specified value, the program is used to cause a computer to execute the following steps:

[0258] inputting the stopping behavior information of the vehicle from the automatic driving control device;

[0259] When the stopping behavior information of the vehicle is input, if the distance from the point where the intersection with the other vehicle on the road where the vehicle is traveling is predicted to end to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value, outputting inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device to the notification device;

[0260] inputting a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0261] When the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the determination targets.

[0262] (Items 2-8)

[0263] A driving assistance system is mounted on a vehicle having an automatic driving control device, the automatic driving control device calculating the collision probability between a detected obstacle and the vehicle, using the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stopping the vehicle when the calculated collision probability with the other vehicle when the vehicle cuts in front of another vehicle is greater than a prescribed value, the driving assistance system comprising:

[0264] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0265] a notification device for notifying, when the stopping behavior information of the vehicle from the behavior information input unit is input, inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device if the distance from the point where the intersection with the other vehicle on the road where the vehicle is traveling is predicted to end to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value;

[0266] an input device that receives a response operation by an occupant to the inquiry notified by the notification device, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0267] A command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment objects when the input device receives the response operation.

[0268] (Item 3-1)

[0269] A driving assistance device is mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability when the vehicle makes a left turn and the collision probability of a person crossing a road that makes the left turn is greater than a specified value, the driving assistance device comprising:

[0270] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0271] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring the occupant whether to exclude the possibility of a collision between the person and the vehicle from the determination objects in the automatic driving control device if the distance from the location where the crossing of the person is predicted to end to the person is greater than a first threshold and the speed of the person is less than a second threshold to a notification device;

[0272] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device is input, the response operation being an operation of excluding the possibility of a collision between the person and the vehicle from the determination object; and

[0273] A command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the person and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0274] According to this method, if the distance related to a person is above a first threshold and the speed of the person is below a second threshold, and a response signal is obtained to exclude the possibility of a collision with the person from the judgment object, an instruction to exclude the person is given, so that driving can be carried out according to the situation when a person exists.

[0275] (Item 3-2)

[0276] The driving assistance device according to item 3-1 is characterized in that:

[0277] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the person and the vehicle from the judgment object, when the distance from the location where the person's crossing is predicted to end to the person is shorter than the first threshold or the person's speed is higher than the second threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of a collision between the person and the vehicle in the judgment object.

[0278] In this case, when the distance to the person is shorter than the first threshold or the speed of the person is higher than the second threshold, the possibility of collision with the person is included in the determination target, thereby preventing the occurrence of collision with the person.

[0279] (Item 3-3)

[0280] The driving assistance device according to item 3-1 is characterized in that:

[0281] In the automatic driving control device, the possibility of collision with a plurality of persons including the person is greater than the prescribed value, whereby the stopping behavior information of the vehicle is input from the automatic driving control device to the behavior information input unit,

[0282] When the stopping behavior information of the vehicle from the behavior information input unit is input, the inquiry output unit outputs inquiry information for uniformly asking the occupants whether to exclude the possibility of collision with the multiple persons from the judgment objects in the automatic driving control device if the distances from the locations predicted to be the end of the crossing of the multiple persons to each of the multiple persons are all above the first threshold value and the speeds of the multiple persons are all below the second threshold value.

[0283] The operation signal input unit receives an input of a response signal for collectively excluding the possibility of collision with the plurality of persons from the determination targets in response to the inquiry notified by the notification device.

[0284] When the response signal is input to the operation signal input unit, the command output unit outputs a command to exclude the possibility of collision with the plurality of persons from the determination targets to the automatic driving control device.

[0285] In this case, the processing can be simplified by collectively asking whether the possibility of collision with a plurality of persons is excluded from the determination targets and receiving a response signal.

[0286] (Item 3-4)

[0287] The driving assistance device according to item 3-3 is characterized in that:

[0288] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of collision with the multiple characters from the judgment object, when at least one of the distances from the location predicted to end the crossing of the multiple characters to each of the multiple characters is shorter than the first threshold or at least one of the speeds of each of the multiple characters is higher than the second threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of collision with the characters that meet the conditions in the judgment object.

[0289] In this case, when the distance related to at least one person is shorter than the first threshold or the speed of at least one person is higher than the second threshold, the possibility of collision with the person is included in the judgment object, thereby preventing the occurrence of collision with the person.

[0290] (Items 3-5)

[0291] An automatic driving control device is mounted on a vehicle, the automatic driving control device comprising:

[0292] an automatic driving control unit that calculates a collision probability between the detected obstacle and the vehicle, controls the automatic driving of the vehicle using the calculated collision probability as a judgment object, and stops the vehicle when the calculated collision probability when the vehicle makes a left turn and the collision probability with a person crossing the road for the left turn is greater than a specified value;

[0293] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control unit is input;

[0294] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the person and the vehicle from the determination object in the automatic driving control unit if the distance from the location where the crossing of the person is predicted to end to the person is greater than or equal to a first threshold value and the speed of the person is less than or equal to a second threshold value to a notification device;

[0295] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device is input, the response operation being an operation of excluding the possibility of a collision between the person and the vehicle from the determination object; and

[0296] A command output unit outputs a command to the automatic driving control unit to exclude the possibility of a collision between the person and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0297] (Items 3-6)

[0298] A vehicle comprising an automatic driving control device and a driving assistance device, wherein the automatic driving control device calculates a collision probability between a detected obstacle and the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability when the vehicle makes a left turn and the collision probability with a person crossing a road that makes the left turn is greater than a specified value,

[0299] Wherein, the driving assistance device comprises:

[0300] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0301] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring the occupant whether to exclude the possibility of a collision between the person and the vehicle from the determination objects in the automatic driving control device if the distance from the location where the crossing of the person is predicted to end to the person is greater than a first threshold and the speed of the person is less than a second threshold to a notification device;

[0302] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device is input, the response operation being an operation of excluding the possibility of a collision between the person and the vehicle from the determination object; and

[0303] A command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the person and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0304] (Items 3-7)

[0305] A driving assistance method is a driving assistance method used by a driving assistance device mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability when the vehicle makes a left turn and the collision probability of a person crossing a road for the left turn is greater than a specified value, the driving assistance method comprising the following steps:

[0306] inputting the stopping behavior information of the vehicle from the automatic driving control device;

[0307] When the stopping behavior information of the vehicle is input, if the distance from the location where the crossing of the person is predicted to end to the person is greater than a first threshold and the speed of the person is less than a second threshold, outputting inquiry information for inquiring the occupant whether to exclude the possibility of the collision between the person and the vehicle from the determination objects in the automatic driving control device to the notification device;

[0308] inputting a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation of excluding the possibility of a collision between the person and the vehicle from the determination object; and

[0309] When the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the person and the vehicle from the determination targets.

[0310] (Items 3-8)

[0311] A program is a program for a driving assistance device mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability when the vehicle makes a left turn and the collision probability of a person crossing the road for the left turn is greater than a specified value, the program is used to cause a computer to execute the following steps:

[0312] inputting the stopping behavior information of the vehicle from the automatic driving control device;

[0313] When the stopping behavior information of the vehicle is input, if the distance from the location where the crossing of the person is predicted to end to the person is greater than a first threshold and the speed of the person is less than a second threshold, outputting inquiry information for inquiring the occupant whether to exclude the possibility of the collision between the person and the vehicle from the determination objects in the automatic driving control device to the notification device;

[0314] inputting a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation of excluding the possibility of a collision between the person and the vehicle from the determination object; and

[0315] When the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the person and the vehicle from the determination targets.

[0316] (Items 3-9)

[0317] A driving assistance system is mounted on a vehicle having an automatic driving control device, the automatic driving control device calculating the collision probability of a detected obstacle colliding with the vehicle, using the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stopping the vehicle when the calculated collision probability when the vehicle makes a left turn and the collision probability of a person crossing a road for the left turn is greater than a prescribed value, the driving assistance system comprising:

[0318] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0319] a notification device for notifying, when the stopping behavior information of the vehicle from the behavior information input unit is input, inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the person and the vehicle from the determination object in the automatic driving control device if the distance from the location where the crossing of the person is predicted to end to the person is greater than or equal to a first threshold value and the speed of the person is less than or equal to a second threshold value;

[0320] an input device that receives a response operation performed by an occupant to the inquiry notified by the notification device, the response operation being an operation of excluding the possibility of a collision between the person and the vehicle from the determination object; and

[0321] A command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the person and the vehicle from the judgment objects when the input device receives the response operation.

[0322] (Item 4-1)

[0323] A driving assistance device is mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability when the vehicle makes a right turn and the collision probability with other vehicles that cross the vehicle while traveling in the opposite direction to the vehicle are greater than a prescribed value, the driving assistance device comprising:

[0324] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0325] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device if the distance from the location where the crossing of the other vehicle is predicted to end to the other vehicle is greater than or equal to a first threshold value and the speed of the other vehicle is less than or equal to a second threshold value to a notification device;

[0326] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device is input, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0327] A command output unit, which outputs a command to the automatic driving control device to exclude the possibility of collision between the other vehicle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0328] According to this method, if the distance related to the surrounding vehicles is greater than a first threshold and the speed of the surrounding vehicles is less than a second threshold, and a response signal is obtained to exclude the possibility of collision with the surrounding vehicles from the judgment object, an instruction to exclude the surrounding vehicles is given, so that driving can be carried out according to the situation in the presence of surrounding vehicles.

[0329] (Item 4-2)

[0330] The driving assistance device according to item 4-1 is characterized in that:

[0331] When there is another other vehicle between the other vehicle and the point where the intersection with the other vehicle is predicted to end, the inquiry output unit compares the distance from the other other vehicle to the other vehicle with the first threshold value.

[0332] In this case, since the distance from another other vehicle to another vehicle is compared with the first threshold value, various situations can be dealt with. In the case where another other vehicle exists, control can be performed more safely.

[0333] (Item 4-3)

[0334] The driving assistance device according to item 4-1 or 4-2 is characterized in that:

[0335] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object, when the distance from the point where the intersection with the other vehicle is predicted to end to the other vehicle is shorter than the first threshold or the speed of the other vehicle is higher than the second threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of a collision between the other vehicle and the vehicle in the judgment object.

[0336] In this case, when the distance to the surrounding vehicle is shorter than the first threshold or the speed of the surrounding vehicle is higher than the second threshold, the possibility of collision with the surrounding vehicle is included in the determination target, thereby suppressing the occurrence of collision with the surrounding vehicle.

[0337] (Item 4-4)

[0338] The driving assistance device according to any one of items 4-1 to 4-3 is characterized in that

[0339] In the automatic driving control device, when the calculated collision possibility when the vehicle makes a right turn and the collision possibility with a person crossing the road of the right turn is greater than the specified value, the stopping behavior information of the vehicle is input from the automatic driving control device to the behavior information input unit,

[0340] The inquiry output unit, when receiving the stop behavior information of the vehicle from the behavior information input unit, outputs inquiry information for asking the occupant whether to exclude the possibility of a collision between the person and the vehicle from the judgment object in the automatic driving control device if the distance from the location where the crossing of the person is predicted to end to the person is greater than a third threshold value and the speed of the person is less than a fourth threshold value,

[0341] The operation signal input unit is input with a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device, wherein the response operation is an operation of eliminating the possibility of a collision between the person and the vehicle from the judgment object.

[0342] When the response signal is input to the operation signal input unit, the command output unit outputs a command to exclude the possibility of a collision between the person and the vehicle from the judgment objects to the automatic driving control device.

[0343] According to this method, if the distance related to a person is above the third threshold and the speed of the person is below the fourth threshold, and a response signal is obtained to exclude the possibility of a collision with the person from the judgment object, an instruction to exclude the person is given, so that driving can be carried out according to the situation when a person exists.

[0344] (Items 4-5)

[0345] The driving assistance device according to item 4-4 is characterized in that:

[0346] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the person and the vehicle from the judgment object, when the distance from the location where the person's crossing is predicted to end to the person is shorter than the third threshold or the speed of the person is higher than the fourth threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of a collision between the person and the vehicle in the judgment object.

[0347] In this case, when the distance to the person is shorter than the third threshold or the speed of the person is higher than the fourth threshold, the possibility of collision with the person is included in the determination target, thereby preventing the occurrence of collision with the person.

[0348] (Items 4-6)

[0349] The driving assistance device according to item 4-1 or 4-2 is characterized in that:

[0350] In the automatic driving control device, the possibility of collision with a plurality of other vehicles including the other vehicle is greater than the prescribed value, whereby the stopping behavior information of the vehicle is input from the automatic driving control device to the behavior information input unit,

[0351] When the inquiry output unit receives the stopping behavior information of the vehicle from the behavior information input unit, if the distances from the location where the intersection with the multiple other vehicles is predicted to end to each of the multiple other vehicles are all greater than the first threshold value and the speeds of the multiple other vehicles are all less than the second threshold value, the inquiry output unit outputs inquiry information for uniformly inquiring the occupants whether to exclude the possibility of collision with the multiple other vehicles from the judgment objects in the automatic driving control device to the notification device,

[0352] The operation signal input unit receives an input of a response signal for collectively excluding the possibility of collision with the plurality of other vehicles from the determination targets in response to the inquiry notified from the notification device.

[0353] When the response signal is input to the operation signal input unit, the command output unit outputs a command to exclude the possibility of collision with the plurality of other vehicles from the determination targets to the automatic driving control device.

[0354] In this case, the process can be simplified by collectively inquiring whether or not to exclude the possibility of collision with a plurality of surrounding vehicles from the determination targets and receiving a response signal.

[0355] (Items 4-7)

[0356] The driving assistance device according to item 4-6 is characterized in that:

[0357] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of collision with the multiple other vehicles from the judgment object, when at least one of the distances from the location where the intersection with the multiple other vehicles is predicted to end to each of the multiple other vehicles is shorter than the first threshold or at least one of the speeds of each of the multiple other vehicles is higher than the second threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of collision with other vehicles that meet the conditions in the judgment object.

[0358] In this case, when the distance related to at least one surrounding vehicle is shorter than the first threshold or the speed of at least one surrounding vehicle is higher than the second threshold, the possibility of collision with the surrounding vehicles is included in the judgment object, thereby preventing the occurrence of collision with the surrounding vehicles.

[0359] (Items 4-8)

[0360] The driving assistance device according to item 4-4 is characterized in that:

[0361] In the automatic driving control device, the possibility of collision with a plurality of persons including the person is greater than the prescribed value, whereby the stopping behavior information of the vehicle is input from the automatic driving control device to the behavior information input unit,

[0362] When the stopping behavior information of the vehicle from the behavior information input unit is input, the inquiry output unit outputs inquiry information for uniformly asking the occupants whether to exclude the possibility of collision with the multiple persons from the judgment objects in the automatic driving control device if the distances from the locations where the multiple persons are predicted to end their crossing to each of the multiple persons are all above the third threshold and the speeds of the multiple persons are all below the fourth threshold,

[0363] The operation signal input unit receives an input of a response signal for collectively excluding the possibility of collision with the plurality of persons from the determination targets in response to the inquiry notified by the notification device.

[0364] When the response signal is input to the operation signal input unit, the command output unit outputs a command to exclude the possibility of collision with the plurality of persons from the determination targets to the automatic driving control device.

[0365] In this case, the processing can be simplified by collectively asking whether the possibility of collision with a plurality of persons is excluded from the determination targets and receiving a response signal.

[0366] (Items 4-9)

[0367] The driving assistance device according to item 4-8 is characterized in that:

[0368] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of collision with the multiple characters from the judgment object, when at least one of the distances from the location predicted to end the crossing of the multiple characters to each of the multiple characters is shorter than the third threshold or at least one of the speeds of each of the multiple characters is higher than the fourth threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of collision with the characters that meet the conditions in the judgment object.

[0369] In this case, when the distance related to at least one person is shorter than the third threshold or the speed of at least one person is higher than the fourth threshold, the possibility of collision with the person is included in the judgment object, thereby preventing the occurrence of collision with the person.

[0370] (Items 4-10)

[0371] The driving assistance device according to item 4-4 is characterized in that:

[0372] When the inquiry output unit receives the stopping behavior information of the vehicle from the behavior information input unit, if the distance from the location where the crossing of the other vehicle is predicted to end to the other vehicle is greater than the first threshold and the speed of the other vehicle is less than the second threshold, and the distance from the location where the crossing of the person is predicted to end to the person is greater than the third threshold and the speed of the person is less than the fourth threshold, the inquiry output unit outputs inquiry information to the notification device for uniformly inquiring the occupants whether to exclude the possibility of collision with the other vehicles and the person from the judgment objects in the automatic driving control device,

[0373] The operation signal input unit receives an input of a response signal for collectively excluding the possibility of collision with the other vehicle and the person from the determination object in response to the inquiry notified by the notification device.

[0374] When the response signal is input to the operation signal input unit, the command output unit outputs a command to exclude the possibility of collision with the other vehicle and the person from the determination targets to the automatic driving control device.

[0375] In this case, the processing can be simplified by collectively asking whether the possibility of collision with surrounding vehicles and persons is excluded from the determination targets and receiving a response signal.

[0376] (Items 4-11)

[0377] The driving assistance device according to item 4-10 is characterized in that:

[0378] After the command output unit outputs a command to the automatic driving control device to exclude the possibility of collision with the other vehicles and the person from the judgment object, the command output unit outputs a command to the automatic driving control device to include the possibility of collision with the other vehicles that meet the conditions in the judgment object when (1) the distance from the location where the crossing of the other vehicle is predicted to end to the other vehicle is shorter than the first threshold value or the speed of the other vehicle is higher than the second threshold value; and (2) the distance from the location where the crossing of the person is predicted to end to the person is shorter than the third threshold value or the speed of the person is higher than the fourth threshold value, the command output unit outputs a command to the automatic driving control device to include the possibility of collision with the person that meets the conditions in the judgment object.

[0379] In this case, when the distance to any of the surrounding vehicles and people becomes shorter or the speed becomes faster, the possibility of collision with the surrounding vehicles or people is included in the determination target, thereby preventing the occurrence of collision with the surrounding vehicles or people.

[0380] (Items 4-12)

[0381] An automatic driving control device is mounted on a vehicle, the automatic driving control device comprising:

[0382] an automatic driving control unit that calculates a collision probability of a detected obstacle colliding with the vehicle, controls the automatic driving of the vehicle using the calculated collision probability as a judgment object, and stops the vehicle when the calculated collision probability when the vehicle makes a right turn and the collision probability with another vehicle that crosses the vehicle while traveling in the opposite direction to the vehicle is greater than a prescribed value;

[0383] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control unit is input;

[0384] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device if the distance from the location where the crossing of the other vehicle is predicted to end to the other vehicle is greater than or equal to a first threshold value and the speed of the other vehicle is less than or equal to a second threshold value to a notification device;

[0385] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device is input, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0386] A command output unit outputs a command to the automatic driving control unit to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0387] (Items 4-13)

[0388] A vehicle comprising an automatic driving control device and a driving assistance device, wherein the automatic driving control device calculates a collision probability between a detected obstacle and the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability when the vehicle makes a right turn and the collision probability with other vehicles that cross the vehicle while traveling in the opposite direction to the vehicle are greater than a prescribed value,

[0389] Wherein, the driving assistance device comprises:

[0390] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0391] an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device if the distance from the location where the crossing of the other vehicle is predicted to end to the other vehicle is greater than or equal to a first threshold value and the speed of the other vehicle is less than or equal to a second threshold value to a notification device;

[0392] an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device is input, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0393] A command output unit, which outputs a command to the automatic driving control device to exclude the possibility of collision between the other vehicle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

[0394] (Items 4-14)

[0395] A driving assistance method is a driving assistance method used by a driving assistance device installed in a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability when the vehicle makes a right turn and the collision probability with other vehicles that cross the vehicle while traveling in the opposite direction to the vehicle are greater than a specified value, the driving assistance method comprising the following steps:

[0396] inputting the stopping behavior information of the vehicle from the automatic driving control device;

[0397] When the stopping behavior information of the vehicle is input, if the distance from the location where the crossing of the other vehicle is predicted to end to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value, outputting inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device to the notification device;

[0398] inputting a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0399] When the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the determination targets.

[0400] (Items 4-15)

[0401] A program is a program for a driving assistance device mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculates the collision probability of a detected obstacle colliding with the vehicle, uses the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stops the vehicle when the calculated collision probability when the vehicle makes a right turn and the collision probability with other vehicles that cross the vehicle while traveling in the opposite direction to the vehicle are greater than a specified value, the program is used to cause a computer to execute the following steps:

[0402] inputting the stopping behavior information of the vehicle from the automatic driving control device;

[0403] When the stopping behavior information of the vehicle is input, if the distance from the location where the intersection with the other vehicle is predicted to end to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value, outputting inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device to the notification device;

[0404] inputting a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0405] When the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the determination targets.

[0406] (Items 4-16)

[0407] A driving assistance system is mounted on a vehicle having an automatic driving control device, the automatic driving control device calculating the collision probability of a detected obstacle colliding with the vehicle, using the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stopping the vehicle when the calculated collision probability when the vehicle makes a right turn and the collision probability with another vehicle that crosses the vehicle while traveling in the opposite direction to the vehicle are greater than a predetermined value, the driving assistance system comprising:

[0408] a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input;

[0409] a notification device for notifying, when the stopping behavior information of the vehicle from the behavior information input unit is input, inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device if the distance from the location where the crossing of the other vehicle is predicted to end to the other vehicle is greater than or equal to a first threshold value and the speed of the other vehicle is less than or equal to a second threshold value;

[0410] an input device that receives a response operation by an occupant to the inquiry notified by the notification device, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and

[0411] A command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment objects when the input device receives the response operation.

[0412] (Item 5-1)

[0413] A driving assistance system comprises: a detection unit that detects at least one of the speed of an obstacle around a vehicle and the distance from the vehicle; an automatic driving control device that calculates the collision probability between the obstacle detected by the detection unit and the vehicle, uses the calculated collision probability as a judgment parameter to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value; a notification device that notifies at least information related to the control of the automatic driving control device; and a driving assistance device that assists the notification.

[0414] wherein, when the stopping behavior information of the vehicle from the automatic driving control device is input, the driving assistance device outputs first inquiry information for inquiring an occupant of the vehicle whether to exclude the possibility of a collision between the obstacle and the vehicle from the judgment parameters, if a distance from a first location where a predicted moving path of the vehicle intersects a predicted moving path of the obstacle based on detection by the detection unit to the obstacle is greater than a first threshold value, and a speed of the obstacle detected by the detection unit is less than a second threshold value, to the notification device;

[0415] When the driving assistance device receives a response signal of the occupant's exclusion response operation in response to the first inquiry information notified from the notification device, it outputs a first command to the automatic driving control device to eliminate the possibility of collision between the obstacle and the vehicle from the judgment parameters.

[0416] (Item 5-2)

[0417] The driving assistance system according to item 5-1 is characterized in that:

[0418] After outputting the first command to the automatic driving control device, the driving assistance device outputs a command to the automatic driving control device to include the possibility of a collision between the obstacle and the vehicle in the judgment parameters when the distance from the first location to the obstacle is less than the first threshold or the speed of the obstacle is higher than the second threshold.

[0419] (Item 5-3)

[0420] The driving assistance system according to item 5-1 is characterized in that:

[0421] When the driving assistance device receives the stopping behavior information of the vehicle from the automatic driving control device when the possibility of collision with multiple obstacles including the obstacle is greater than the specified value, if the distance from each point where the predicted moving path of the vehicle intersects the predicted moving path of each of the multiple obstacles based on the detection performed by the detection unit to each of the multiple obstacles is greater than the first threshold value, and the speed of each of the multiple obstacles is less than the second threshold value, then second inquiry information for uniformly inquiring the occupants of the vehicle whether to exclude the possibility of collision with the multiple obstacles from the judgment parameters is output to the notification device,

[0422] When a response signal for collective exclusion of the second inquiry information notified from the notification device is input, a second command for excluding the possibility of collision with the plurality of obstacles from the judgment parameters is output to the automatic driving control device.

[0423] (Item 5-4)

[0424] The driving assistance system according to item 5-3 is characterized in that:

[0425] After the driving assistance device outputs the second command to the automatic driving control device, when at least one of the distances from the respective locations to each of the multiple obstacles is less than the first threshold or at least one of the speeds of each of the multiple obstacles is higher than the second threshold, the automatic driving control device outputs a command to include the possibility of collision with an obstacle that satisfies the conditions in the judgment parameter.

[0426] (Item 5-5)

[0427] A driving assistance device is mounted on a vehicle, the vehicle comprising: a detection unit that detects at least one of the speed of an obstacle around the vehicle and the distance from the vehicle; an automatic driving control device that calculates the collision probability of the obstacle detected by the detection unit and the vehicle, uses the calculated collision probability as a judgment parameter to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value; and a notification device that notifies at least information related to the control of the automatic driving control device.

[0428] wherein, when the stopping behavior information of the vehicle from the automatic driving control device is input, the driving assistance device outputs first inquiry information for inquiring an occupant of the vehicle whether to exclude the possibility of a collision between the obstacle and the vehicle from the judgment parameters, if a distance from a first location where a predicted moving path of the vehicle intersects a predicted moving path of the obstacle based on detection by the detection unit to the obstacle is greater than a first threshold value, and a speed of the obstacle detected by the detection unit is less than a second threshold value, to the notification device;

[0429] When the driving assistance device receives a response signal of the occupant's exclusion response operation in response to the first inquiry information notified from the notification device, it outputs a first command to the automatic driving control device to eliminate the possibility of collision between the obstacle and the vehicle from the judgment parameters.

[0430] (Items 5-6)

[0431] A driving assistance method is a driving assistance method used in a vehicle driving assistance device, the vehicle comprising: a detection unit that detects at least one of the speed of an obstacle around the vehicle and the distance from the vehicle; an automatic driving control device that calculates the collision probability of the obstacle detected by the detection unit colliding with the vehicle, uses the calculated collision probability as a judgment parameter to control the automatic driving of the vehicle, and stops the vehicle when the collision probability is greater than a specified value; and a notification device that notifies at least information related to the control of the automatic driving control device, the driving assistance method comprising the following steps:

[0432] outputting, to the notification device, first inquiry information for inquiring an occupant of the vehicle whether to exclude the possibility of a collision between the obstacle and the vehicle from the judgment parameter, if a distance from a first point where a predicted movement path of the vehicle intersects a predicted movement path of the obstacle based on detection by the detection unit to the obstacle is greater than a first threshold value and a speed of the obstacle detected by the detection unit is less than a second threshold value, in a case where the stopping behavior information of the vehicle is input from the automatic driving control device; and

[0433] When a response signal of the occupant's exclusion response operation to the first inquiry information notified from the notification device is input, a first command is output to the automatic driving control device to eliminate the possibility of collision between the obstacle and the vehicle from the judgment parameters.

[0434] The present disclosure has been described above based on the embodiments. These embodiments are illustrative, and it is understood by those skilled in the art that various modifications may be included in the combination of these components and processing procedures, and these modifications also belong to the scope of the present disclosure.

[0435] In the first to fifth embodiments, the case where the vehicle 100 is traveling on the left side is described. However, the present invention is not limited thereto, and may be, for example, a case where the vehicle 100 is traveling on the right side. In this case, the description of the left turn behavior and the right turn behavior is opposite to that of the first to fifth embodiments. According to this modification, the scope of application can be expanded.

[0436] In Embodiments 1 to 5, the predicted moving path of the obstacle is described with reference to the road on which the vehicle 100 and surrounding vehicles are traveling. However, this is not limited to this, and for example, a specific lane on the road may be calculated. In this case, by replacing the road with the lane, the predicted moving path of the obstacle can be calculated more accurately, and the control of the vehicle can be performed more accurately. According to this variation, the scope of application can be expanded.

[0437] In the first to fifth embodiments, the merging behavior, the left turn behavior, and the right turn behavior are described as driving behaviors. However, the present invention is not limited thereto, and other driving behaviors may be used. The determination distance 120 may be determined based on the driving behavior. According to this modification, the scope of application can be expanded.

[0438] In embodiments 1 to 5, when the control unit 31 determines a stop behavior, the control unit 31 stops the vehicle 100 and sends information indicating the stop behavior. Therefore, after the behavior information input unit 54 receives the stop behavior, the control unit 41 executes a process for determining whether to exclude the possibility of a collision with an obstacle from the judgment object when the vehicle 100 is stopped. However, this is not limited to this. For example, the behavior information input unit 54 may receive the stop behavior before the vehicle 100 stops, and the control unit 41 executes a process for determining whether to exclude the possibility of a collision with an obstacle from the judgment object when the vehicle 100 is traveling. According to this variant, the vehicle 100 does not stop, so that traffic can be made smoother.

[0439] In the fourth embodiment, the control unit 41 performs processing for the first surrounding vehicle 102a when turning right, and performs processing for the person 104. However, the present invention is not limited thereto, and for example, the control unit 41 may not perform processing for the first surrounding vehicle 102a when turning right, and only perform processing for the person 104. In this case, the third threshold and the fourth threshold correspond to the first threshold and the second threshold, respectively. According to this variation, the scope of application can be expanded.

[0440] Industrial Applicability

[0441] According to the present disclosure, it is useful for automatic driving of a vehicle that can travel according to the situation even when there is an obstacle.

[0442] Description of Reference Numerals

[0443] 2: Notification device; 2a: Head-up display; 2b: Central display; 4: Input device; 4a, 4b: Operation unit; 4c: Operation unit; 6: Speaker; 8: Wireless device; 10: Driving operation unit; 11: Steering gear; 12: Brake pedal; 13: Accelerator pedal; 14: Turn signal switch; 20: Detection unit; 21: Position information acquisition unit; 22: Sensor; 23: Speed ​​information acquisition unit; 24: Map information acquisition unit; 30: Automatic driving control device; 31: Control unit; 32: Storage unit; 33: I / O unit; 40: Driving assistance device; 41: Control unit; 42: Storage unit; 43: I / O unit; 50: Operation signal input unit; 51: Image / sound output unit; 52: Detection information input unit; 54: Behavior information input unit; 55: command output unit; 76: judgment unit; 78: inquiry processing unit; 80: command processing unit; 100: vehicle; 102a, 102b: surrounding vehicles; 104, 104a, 104b, 104c: people; 110a, 110b, 110c: paths; 111a, 111b: person paths; 112: intersection end point; 114: crossing end point; 120: judgment distance; 122: vehicle distance; 124: monitoring area; 150: own vehicle icon; 152a, 152b: surrounding vehicle icons; 154, 154a, 154b, 154c: person icons; 156, 156a, 156b: obstacle icons; 200: merging road; 202: merged road; 210, 212: road.

Claims

1. A driving assistance device, mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculating the collision probability of a detected obstacle colliding with the vehicle, using the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stopping the vehicle when the calculated collision probability of the vehicle colliding with the other vehicle when the vehicle cuts in front of another vehicle is greater than a prescribed value, the driving assistance device comprising: a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input; an inquiry output unit that, when the stopping behavior information of the vehicle from the behavior information input unit is input, outputs inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device if the distance from the point where the other vehicle is predicted to end crossing on the road where the vehicle is traveling to the other vehicle is greater than or equal to a first threshold value and the speed of the other vehicle is less than or equal to a second threshold value; an operation signal input unit to which a response signal of a response operation performed by the occupant in response to the inquiry notified by the notification device is input, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; as well as A command output unit, which outputs a command to the automatic driving control device to exclude the possibility of collision between the other vehicle and the vehicle from the judgment objects when the response signal is input to the operation signal input unit.

2. The driving assistance device according to claim 1, characterized in that: When another other vehicle is present between the other vehicle and a point where the intersection with the other vehicle on the road on which the vehicle is traveling is predicted to end, the inquiry output unit compares the distance from the other other vehicle to the other vehicle with the first threshold value.

3. The driving assistance device according to claim 1 or 2, characterized in that: After the command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment object, when the distance from the point where the intersection with the other vehicle on the road where the vehicle is predicted to end to the other vehicle is shorter than the first threshold or the speed of the other vehicle is higher than the second threshold, the command output unit outputs a command to the automatic driving control device to include the possibility of a collision between the other vehicle and the vehicle in the judgment object.

4. A driving assistance method, a driving assistance method used by a driving assistance device mounted on a vehicle equipped with an automatic driving control device, the automatic driving control device calculating the collision probability of a detected obstacle colliding with the vehicle, using the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stopping the vehicle when the calculated collision probability of the vehicle colliding with the other vehicle when the vehicle cuts in front of another vehicle is greater than a specified value, the driving assistance method comprising the following steps: inputting the stopping behavior information of the vehicle from the automatic driving control device; When the stopping behavior information of the vehicle is input, if the distance from the point where the intersection with the other vehicle on the road where the vehicle is traveling is predicted to end to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value, outputting inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device to the notification device; inputting a response signal of a response operation performed by the occupant in response to the inquiry notified from the notification device, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; and When the response signal is input, a command is output to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the determination targets.

5. A driving assistance system, mounted on a vehicle having an automatic driving control device, the automatic driving control device calculating the collision probability between a detected obstacle and the vehicle, using the calculated collision probability as a judgment object to control the automatic driving of the vehicle, and stopping the vehicle when the calculated collision probability with the other vehicle when the vehicle cuts in front of another vehicle is greater than a prescribed value, the driving assistance system comprising: a behavior information input unit to which the stopping behavior information of the vehicle from the automatic driving control device is input; a notification device for notifying, when the stopping behavior information of the vehicle from the behavior information input unit is input, inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the other vehicle and the vehicle from the determination object in the automatic driving control device if the distance from the point where the intersection with the other vehicle on the road where the vehicle is traveling is predicted to end to the other vehicle is greater than a first threshold value and the speed of the other vehicle is less than a second threshold value; an input device for receiving a response operation performed by an occupant in response to the inquiry notified by the notification device, the response operation being an operation of excluding the possibility of a collision between the other vehicle and the vehicle from the determination object; as well as A command output unit outputs a command to the automatic driving control device to exclude the possibility of a collision between the other vehicle and the vehicle from the judgment objects when the input device receives the response operation.

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