Driving assistance system for a vehicle

Abstract

The present application relates to a driving assistance system for a vehicle, comprising: an external information receiving section configured to acquire information including position information of an obstacle that becomes an obstacle to traffic; and a processor configured to notify a driver of the presence of the obstacle based on the surrounding information of the vehicle when the obstacle exists within a predetermined range from the vehicle, and configured to control in such a manner that, when the obstacle exists within the predetermined range, it is determined whether an obstacle distance between a first obstacle closest to the vehicle among a plurality of obstacles and a second obstacle other than the first obstacle is less than a first predetermined distance L4 decided in advance, and the notification of the presence of the second obstacle to the driver is limited when the obstacle distance is less than the first predetermined distance.

Description

Technical Field

[0001] This invention relates to a vehicle driver assistance system that utilizes communication technology, and particularly to a vehicle driver assistance system that assists driving by notifying the driver of surrounding information obtained through vehicle-to-vehicle communication, road-to-road communication, etc. Background Technology

[0002] Japanese Patent Application Publication No. 2001-347853 discloses a display device configured to obtain information on the driving environment ahead of the vehicle (direction of travel), such as traffic congestion and icy road conditions, as well as information on road obstacles, via inter-vehicle communication, and notify the driver and passengers to assist driving. In this display device, it determines whether the vehicle is driving in specific environments where the driver needs to observe directions opposite to the vehicle's direction of travel (left, right, etc.) for safety checks, such as at traffic light locations or intersections with poor visibility. Furthermore, it is configured to limit the display of driving environment and obstacle information on the information display if it determines that the vehicle is driving in a specific environment. Additionally, in the device described in Japanese Patent Application Publication No. 2001-347853, the driving environment and obstacle information are configured to be displayed to the driver on an information display mounted on the upper part of the vehicle's dashboard or by issuing an alarm device when the information is within a set or prescribed distance from the vehicle.

[0003] However, the aforementioned changes in the driving environment and road obstacles arise irregularly and sometimes continuously. In such cases, devices like those described in Japanese Patent Application Publication No. 2001-347853, which indiscriminately notify the driver based on the distance between the vehicle and obstacles, report to the driver whenever an obstacle enters within a predetermined distance of the vehicle. Furthermore, in the device described in Japanese Patent Application Publication No. 2001-347853, when the vehicle is traveling in the aforementioned specific environment, the display of information about the driving environment and obstacles is restricted, or only a warning is issued based on the driving environment and the distance to obstacles. Therefore, if information related to the driving environment and obstacles is mixed together or continuous on the road, or if the vehicle is traveling or passing through a specific environment, there is a possibility that notifications related to the driving environment and obstacles may be issued in a complex manner, or that notifications related to the driving environment and obstacles may be restricted. In such cases, there are concerns that the driver may be annoyed by the reports, or that the driver may not receive accurate information, leading to confusion. Summary of the Invention

[0004] This invention provides a driver assistance system for vehicles that enables drivers to properly recognize surrounding information without feeling uncomfortable.

[0005] A vehicle driver assistance system according to a certain aspect of the present invention includes: an external information receiving unit configured to acquire information including location information of obstacles that become traffic obstacles; and a processor configured to control the vehicle in such a way that: when an obstacle exists within a predetermined range from the vehicle, the system notifies the driver of the presence of the obstacle based on information about the vehicle's surroundings; when multiple obstacles exist within the predetermined range, the system determines whether the distance between a first obstacle closest to the vehicle and a second obstacle other than the first obstacle is less than a predetermined first predetermined distance; and if the distance between the obstacles is less than the first predetermined distance, the system restricts the notification of the presence of the second obstacle to the driver.

[0006] In the above-described manner, the vehicle's driver assistance system may have a reference distance smaller than the range specified above, which serves as a basis for initiating detailed notification of the presence of the aforementioned obstacle. The first specified distance may be smaller than the aforementioned reference distance.

[0007] In the above manner, the processor may be configured to continue the constant notification after the vehicle has passed the first obstacle, and to terminate the constant notification before reaching the second obstacle.

[0008] In the above manner, the processor can control the device in the following way: when the distance between the first obstacle and the second obstacle is greater than or equal to the first predetermined distance, it determines whether the distance is less than the second predetermined distance; when the distance between the first obstacle and the second obstacle is greater than or equal to the first predetermined distance and less than the second predetermined distance, the notification of the existence of the first obstacle to the driver and the notification of the existence of the second obstacle to the driver become seamlessly continuous notifications.

[0009] In the above method, the second specified distance can be a distance greater than the reference distance. The processor can control the communication in such a way that, when the distance between the first obstacle and the second obstacle is greater than the first specified distance but less than the second specified distance, the communication continues seamlessly from the end of the notification related to the first obstacle until the start of the notification related to the second obstacle.

[0010] In the above-described manner, the external information receiving unit can obtain information about the existence of both the first obstacle and the second obstacle due to the same event. The processor can determine whether the distance between the obstacles is less than the second predetermined distance, and if the first obstacle and the second obstacle exist due to the same event and the distance between the obstacles is less than the second predetermined distance, it restricts the notification of the existence of the second obstacle.

[0011] In the above manner, the first obstacle can be a first parked vehicle capable of communicating with the vehicle, and the second obstacle can be a second parked vehicle capable of communicating with the vehicle. The processor can obtain information including location information from both the first and second parked vehicles via vehicle-to-vehicle communication.

[0012] In the above manner, the processor can emit an alarm from the speaker as a notification.

[0013] In the above manner, the processor can display the notification as a screen. The display may include the distance up to the obstacle.

[0014] The vehicle driving assistance system of the present invention acquires information related to obstacles existing around the vehicle and identifies obstacles existing within a predetermined range of the vehicle that may obstruct the vehicle's movement. In the case of multiple such obstacles, it determines whether the distance between the predetermined obstacle closest to the vehicle and other obstacles is less than a first predetermined distance. Furthermore, it is configured to notify the driver of the existence of the predetermined obstacle when the distance between the predetermined obstacle and other obstacles is less than the first predetermined distance, and to restrict notifications to the driver regarding the existence of other obstacles. That is, by omitting notifications of other obstacles appearing ahead of the vehicle's direction of travel after the predetermined obstacle, or by providing different notifications, frequent notifications related to obstacles can be avoided. Therefore, by providing the necessary notifications to the driver and restricting unnecessary notifications, it is possible to suppress or prevent the driver from being annoyed by notifications or misinterpreting obstacle-related information, thereby enabling appropriate driving assistance to the driver.

[0015] Furthermore, in the vehicle's driver assistance system of the present invention, a constant notification continues even after the vehicle has passed a designated obstacle, and ends before reaching other obstacles. For example, if the driver cannot visually identify the presence of other obstacles at the moment of passing a designated obstacle, there is a possibility that the driver may feel uncomfortable because no notification is issued even as the vehicle approaches other obstacles. With this structure, the constant notification continues for a period of time after passing the designated obstacle, thereby allowing the driver to recognize the existence of obstacles other than the designated obstacle, and thus preventing or suppressing such situations.

[0016] Furthermore, in the vehicle's driver assistance system of the present invention, when the distance between a specified obstacle and other obstacles is greater than a first specified distance and less than a second specified distance, notifications are given regarding the presence of both the specified obstacle and other obstacles, and control is performed in a manner that these notifications are seamless and continuous. Therefore, even if notifications of the presence of the specified obstacle and other obstacles are given separately because the obstacles are separate from each other, the notifications can be made with less discomfort to the driver, thereby suppressing or preventing the driver from feeling annoyed by the notifications or misinterpreting information related to the obstacles.

[0017] In this vehicle's driver assistance system, when a specified obstacle and other obstacles exist in connection with the same event, notifications regarding the presence of other obstacles are limited even if the specified obstacle is at least a first specified distance from other obstacles, but less than a second specified distance. Even if the specified obstacle is significantly far from other obstacles, notifications of the presence of other obstacles might actually cause discomfort to the driver if the driver recognizes it as part of the same event. By limiting notifications related to the presence of other obstacles, such discomfort to the driver can be suppressed or avoided. Attached Figure Description

[0018] Hereinafter, the features, advantages, technical and industrial importance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which the same reference numerals denote the same constituent elements, wherein:

[0019] Figure 1 This is a diagram illustrating an example of notification to the driver in a driving assistance system for a vehicle according to an embodiment of the present invention.

[0020] Figure 2 It is a block diagram used to illustrate the structure of an on-board device.

[0021] Figure 3 This is a block diagram used to explain the functional structure of the vehicle and the vehicle-mounted device in the embodiments of the present invention.

[0022] Figure 4 This is a diagram illustrating other examples of notification to the driver in a vehicle's driver assistance system according to an embodiment of the present invention.

[0023] Figure 5 This is a flowchart illustrating the control performed by the driving assistance system of the vehicle in an embodiment of the present invention.

[0024] Figure 6 This is a diagram illustrating the general notifications to the driver in a driving assistance system for a vehicle according to an embodiment of the present invention. Detailed Implementation

[0025] The present invention will now be described based on embodiments shown in the accompanying drawings. Furthermore, the embodiments described below are merely examples of how the present invention is embodied and do not limit the scope of the invention.

[0026] First, use Figure 1 An example of the structure of the driving assistance system 1 in an embodiment of the present invention will be described. In the driving assistance system 1 of the embodiment of the present invention, the system is operated by a vehicle 2 configured to communicate with other vehicles via a network, a first stopped vehicle 3 located ahead of the vehicle 2 in its direction of travel, and a second stopped vehicle 4 located further ahead of the first stopped vehicle 3 in its direction of travel. The vehicle 2 is equipped with an on-board unit 5, which is an information processing device that processes information obtained through vehicle-to-vehicle communication and outputs instructions to a device mounted on the vehicle 2. In addition, the first stopped vehicle 3 and the second stopped vehicle 4 are also equipped with information processing devices (not shown), configured to enable vehicle-to-vehicle communication with the on-board unit 5 of the vehicle 2. They are configured, for example, to perform vehicle-to-vehicle communication (V2V) using conventionally known mobile communication, narrowband communication, wireless communication, or short-range communication. The first stopped vehicle 3 corresponds to the defined obstacle and the defined stopped vehicle in the embodiment of the present invention, and the second stopped vehicle 4 corresponds to other obstacles and other stopped vehicles in the embodiment of the present invention.

[0027] Furthermore, vehicle 2 is configured to acquire various traffic-related information from the outside and notify the driver of vehicle 2 of this information, thereby providing driving-useful information and assisting the driver. Additionally, it is configured to detect and determine obstacles existing around vehicle 2 and ahead of the direction of travel based on location information such as coordinate data, even when vehicle 2 does not store map information, thus providing driving assistance as described later. Figure 2 as well as Figure 3As shown, vehicle 2 has a positioning antenna 6, various sensors 7, and an external communication antenna 8 as inputs to the on-board device 5, and an output device 9 as an output. Vehicle 2 can be a conventional vehicle such as an engine vehicle, electric vehicle, hydrogen-powered vehicle, hybrid vehicle, or fuel cell vehicle.

[0028] The positioning antenna 6 is used, for example, to receive signals transmitted by multiple satellites via a receiver. The positioning antenna 6 receives the signals required to obtain the position information and coordinate data of vehicle 2 through self-positioning functions such as GPS (Global Positioning System) to infer the current position.

[0029] The term "various sensors 7" refers to the collective name for various sensors mounted on vehicle 2, which are used to detect the driving status of vehicle 2, etc. Examples of the various sensors 7 include vehicle speed sensors, wheel speed sensors, steering angle sensors, acceleration sensors, braking sensors, accelerometer position sensors, radar sensors, lidar sensors, and cameras for external imaging.

[0030] The external communication antenna 8 is a non-directional antenna primarily used for receiving traffic-related information from the outside. In this embodiment of the invention, the external communication antenna 8 is configured to transmit and receive signals between vehicle 2 and other vehicles, including the first stopped vehicle 3 and the second stopped vehicle 4. Vehicle 2 receives information from various information processing devices via this external communication antenna 8 regarding the driving status (stop, start, acceleration, direction of travel, etc.) and current position of the first stopped vehicle 3 and the second stopped vehicle 4. It also obtains the lane in which the first stopped vehicle 3 and the second stopped vehicle 4 are stopping, and the method of stopping. This is because this information is used to determine whether vehicle 2 can avoid the first stopped vehicle 3 and the second stopped vehicle 4 or needs to temporarily stop when approaching them. The external communication antenna 8 corresponds to the external information receiving unit in this embodiment of the invention. It discriminates the information received by demodulating the signal. Conversely, when a signal is transmitted from vehicle 2, the information is modulated into a predetermined signal and transmitted to a predetermined target.

[0031] Output device 9 is a device used to notify the driver and passengers of vehicle 2 of the presence of obstacles or the like on the road they are traveling on. It may consist of, for example, a display 10 such as a screen for recognizing the notification content, and a speaker 11 for delivering the notification via sound. Furthermore, output device 9 may be a dedicated device with the function of notifying of obstacles, or it may also have the function of providing route guidance to the destination by displaying map information. Additionally, when an obstacle that could potentially impede driving exists within a predetermined distance of the vehicle, output device 9 notifies the driver or passengers of its presence and urges their attention.

[0032] As an example, by using speaker 11 to emit sound effects (notification sounds), buzzers, and other alarms, and... Figure 1 The display 10 shows markings, text, and the distance to the obstacle, as shown, to notify the driver and urge them to pay attention. The markings are displayed on the display 10 when an obstacle is detected because it exists within a specified range of the vehicle 2, and continue until the vehicle 2 reaches or completely passes the obstacle. Additionally, sound effects and beeps are emitted when an obstacle is detected, and the sound is repeated to urge attention if the distance to the obstacle decreases. The distance display begins when the distance between the vehicle 2 and the obstacle becomes within the reference distance described later, and decreases by a number each time the distance to the obstacle approaches, for example, every 50 meters. Furthermore, such notification to the driver can be either a display on the display 10 or a sound effect or beep emitted from the speaker 11. Moreover, notifications based on sound and display can have multiple types, including combinations of several sounds or displays using different colors and markings. Furthermore, it can be configured such that when a mark or the like is displayed on the display 10, for example, an image processed by the processor 12 is displayed on the display 10 via a graphical interface, and when sound effects or alarms are output from the speaker 11, the sound signal generated by the processor is subjected to prescribed signal processing and output from the speaker 11.

[0033] like Figure 2 As shown, the vehicle-mounted device 5 is a conventionally known information processing device that includes a processor 12, a main storage unit 13, an auxiliary storage unit 14, and a communication unit 15. In the embodiment of the present invention, the vehicle-mounted device 5 loads a program stored in a recording medium into the working area of ​​the main storage unit 13 via the processor 12 and executes it, performing various controls through the execution of the program to perform functions consistent with the intended purpose.

[0034] The processor 12 is, for example, a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). This processor 12 is configured to control the vehicle-mounted device 5 and perform various information processing operations.

[0035] The main storage unit 13 includes, for example, RAM (Random Access Memory) and ROM (Read Only Memory). As described above, a working area for the processor 12 to execute programs is formed in the main storage unit 13.

[0036] The auxiliary storage unit 14 may include, for example, an EPROM (Erasable Programmable ROM) or a hard disk drive (HDD). This auxiliary storage unit 14 may include a so-called removable medium as a portable recording medium. This removable medium may be, for example, a USB (Universal Serial Bus) memory, or a CD (Compact Disc) or DVD (Digital Versatile Disc) disc recording medium. Furthermore, the auxiliary storage unit 14 reads and writes various programs, various data, and various tables, and freely stores them on the recording medium. In addition, the auxiliary storage unit 14 may store an operating system (OS). Furthermore, some or all of this information may be stored in the main storage unit 13. Conversely, information stored in the main storage unit 13 may also be stored in the auxiliary storage unit 14.

[0037] The communication unit 15 is, for example, a wireless communication circuit used for data communication with the first stopped vehicle 3 and the second stopped vehicle 4 via wireless communication. This wireless communication circuit may utilize mobile communication such as 5G (5th Generation) or LTE (Long Term Evolution) for vehicle-to-vehicle communication. Alternatively, the wireless communication circuit may utilize narrowband communication such as DSRC (Dedicated Short Range Communications) for vehicle-to-vehicle communication. Or, the wireless communication circuit may utilize wireless communication such as Wi-Fi for vehicle-to-vehicle communication, or short-range communication such as BLE (Bluetooth Low Energy) for vehicle-to-vehicle communication.

[0038] The series of processes performed by the vehicle-mounted device 5 configured as described above are not limited to hardware execution, but can also be executed via software. Furthermore, the information processing devices mounted on the first parking vehicle 3 and the second parking vehicle 4 can be configured as the same information processing devices as the vehicle-mounted device 5. In this case, vehicle 2, the first parking vehicle 3, and the second parking vehicle 4 can perform the aforementioned vehicle-to-vehicle communication via their respective communication units 15, transmitting and receiving signals.

[0039] Next, use Figure 3 The functional structure of the vehicle 2 and the vehicle-mounted device 5 in the embodiments of the present invention will be described below. Figure 3 As shown, the vehicle-mounted device 5 includes: a vehicle detection unit 16, which detects vehicles stopped in front of the vehicle via communication; a communication vehicle-to-vehicle distance determination unit 17; and a notification control unit 18. These functions are executed, for example, by the processor 12 described above.

[0040] The vehicle detection unit 16 detects vehicles that are stopped on the road ahead of the vehicle 2 in its direction of travel. The vehicle detection unit 16 acquires information related to the current position of the vehicle 2 received by the position positioning antenna 6, information related to the driving status of the vehicle 2 obtained by various sensors 7, and information related to the position of other vehicles received by the external communication antenna 8. Furthermore, based on this information, it detects obstacles that may obstruct the vehicle 2's movement, namely the first stopped vehicle 3 and the second stopped vehicle 4, located in the direction of travel and on the predetermined path.

[0041] Specifically, the vehicle detection unit 16 obtains the current position of the vehicle 2 from the position positioning antenna 6, and detects the vehicle 2's direction of travel, speed, and lane from various sensors 7, map data built into the main storage unit 13 or auxiliary storage unit 14 of the on-board unit 5, etc. Next, the vehicle detection unit 16 detects the first stopped vehicle closest to the vehicle 2 in front of the vehicle 2's direction of travel, and the second stopped vehicle 4, which is an obstacle other than the first stopped vehicle 3 and is close to the vehicle 2, based on information related to surrounding vehicles received from the external communication antenna 8. Furthermore, by obtaining the current position of the vehicle 2 and the position information of the first stopped vehicle 3 and the second stopped vehicle 4 in front of the vehicle 2's direction of travel, other vehicles that may become obstacles to the vehicle 2 are detected.

[0042] Furthermore, the vehicle detection unit 16 detects the presence of a first stopped vehicle 3 within a specified range of vehicle 2 based on the acquired location information. If the first stopped vehicle 3 is within the specified range, this information is transmitted to the notification control unit 18. The vehicle detection unit 16 then calculates the first inter-vehicle distance L1 between vehicle 2 and the first stopped vehicle 3. The calculated first inter-vehicle distance L1 is compared to a predetermined reference distance L2. If the first inter-vehicle distance L1 is less than the reference distance L2, this information is sent to the communication vehicle-to-vehicle distance determination unit 17 and the notification control unit 18. The reference distance L2 can be any distance, for example, determined to be a distance at which the driver can safely avoid the first stopped vehicle 3 or slow down and stop without emergency maneuvering when notified from the output device 9 of the presence of the first stopped vehicle 3 ahead of vehicle 2 in its direction of travel. Additionally, if the first stopped vehicle 3 is the only vehicle that could potentially obstruct travel ahead of vehicle 2 in its direction of travel, this information about the first stopped vehicle 3 is only sent to the notification control unit 18. Furthermore, in cases where other stopped vehicles exist but are too far from the designated area to require notification, or where the likelihood of a stopped vehicle obstructing vehicle 2's movement is low due to factors such as different driving lanes, the vehicle inspection unit 16 determines that there are no vehicles requiring notification. Among these, in... Figure 1 , Figure 4 as well as Figure 6 In the illustration, the distance L1 from the first workshop is shown as the range specified in the embodiment of the present invention.

[0043] When multiple stopped vehicles are present, the communication vehicle distance determination unit 17 calculates the distance between the stopped vehicles and compares the calculated distance with a predetermined distance to determine the magnitude of the distance. Specifically, based on the position information of the first stopped vehicle 3 and the second stopped vehicle 4 obtained by the vehicle detection unit 16, a second distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4 is calculated. It is determined whether the calculated second distance L3 is less than a predetermined first distance L4, which is a distance smaller than a reference distance L2. If it is determined that the second distance L3 is less than the first distance L4, this information is sent to the notification control unit 18. The communication vehicle distance determination unit 17 is configured to determine whether the second distance L3 is less than a second distance L5 if it is determined that the second distance L3 is greater than the first distance L4, and send the determination result to the notification control unit 18 regardless of the result. In this embodiment of the invention, the first predetermined distance L4 can be any distance, such as a distance at which the driver can reliably identify the orientation and stopping position of the second stopped vehicle 4 by visual observation after passing the first stopped vehicle 3. Furthermore, the second predetermined distance L5 can be any distance, such as a distance greater than the first predetermined distance L4 and greater than the aforementioned reference distance L2.

[0044] First, if the vehicle detection unit 16 detects that a first stopped vehicle 3 exists within a specified range of vehicle 2, the notification control unit 18 sends an instruction to the output device 9 to notify of its presence. Next, if the vehicle detection unit 16 receives a signal indicating that a first stopped vehicle 3 exists within a reference distance L2 from vehicle 2, it sends a signal to the output device 9 requesting notification including detailed information such as distance. Simultaneously, the notification control unit 18 obtains the results of a determination based on the first inter-vehicle distance L1 between vehicle 2 and the first stopped vehicle 3, and the second inter-vehicle distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4, from the inter-vehicle distance determination unit 17. The notification control unit 18 is configured to determine, based on these results, the type of notification to the driver regarding the presence of the first stopped vehicle 3 and the second stopped vehicle 4 before vehicle 2 enters within a reference distance L2 from the first stopped vehicle 3.

[0045] Specifically, when the distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4 in the second workshop is less than the first specified distance L4, such as Figure 1As shown, the notification control unit 18 controls the system in the following manner: it only notifies the driver that the first stopped vehicle 3 is within a specified distance from the vehicle, and restricts notifications to the driver regarding the second stopped vehicle 4. That is, it first notifies the driver of the presence of the first stopped vehicle 3 when the first stopped vehicle 3 enters within a reference distance L2 from the vehicle 2, thus urging the driver to pay attention. Furthermore, even if the second stopped vehicle 4 enters within a specified distance from the vehicle 2 while the driver is being notified of the presence of the first stopped vehicle 3, the notification control unit 18 continues the constant notifications by controlling a series of notifications such as limiting sound effects, markings, and distance displays, for example, only displaying markings. Moreover, as... Figure 1 As shown, the notification control unit 18 controls the display to end only the marked information before vehicle 2 reaches the second stopping vehicle 4. Alternatively, the display can be configured to continue until vehicle 2 reaches or passes the second stopping vehicle 4.

[0046] Furthermore, the notification control unit 18 is configured such that, in the case where the inter-vehicle distance between the first stopped vehicle 3 and the second stopped vehicle 4 is greater than or equal to the first predetermined distance L4 and less than the second predetermined distance L5, if... Figure 4 As shown, the notifications are seamlessly connected, such that the notification that the first stopped vehicle 3 has entered within a reference distance L2 from vehicle 2 and the notification that the second stopped vehicle 4 has entered within a reference distance L2 from vehicle 2 are seamlessly connected. For example, the notification control unit 18 controls the system to continue displaying only a marker or text indicating the presence of a stopped vehicle even after the notification related to the first stopped vehicle 3 being within a reference distance L2 has been completed. Furthermore, the notification control unit 18 is configured to generate a series of notifications, such as producing a sound effect or displaying on the display 10 that the second stopped vehicle 4 is within a reference distance L2 from vehicle 2, if the second stopped vehicle 4 enters within a reference distance L2 from vehicle 2. In other words, notifications related to the presence of either stopped vehicle 3 or 4 are given to the driver, but are given from the output device 9 in a manner that will not cause discomfort to the driver. In cases where the second inter-vehicle distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4 is a second predetermined distance L5 or more, the notification control unit 18 does not give a special notification, but controls the output device 9 to give a series of notifications for each of the first stopped vehicle 3 and the second stopped vehicle 4.

[0047] Next, use Figure 5 The flowchart shown illustrates an example of control performed by the vehicle's driving assistance system 1 in an embodiment of the present invention. Figure 5 This is a flowchart executed when the driver is notified of the presence of a stopped vehicle within a predetermined reference distance L2 in front of vehicle 2 in the direction of travel of vehicle 2.

[0048] First, the vehicle-mounted device 5 determines whether there are multiple stopped vehicles on the road ahead of the vehicle 2 in its direction of travel or in the vehicle 2's driving lane (step S1). As described above, the vehicle-mounted device 5 obtains the current position of the vehicle 2 through the vehicle 2's positioning antenna 6 and receives information related to other vehicles through the external communication antenna 8. Additionally, the vehicle-mounted device 5 detects the vehicle 2's direction of travel, i.e., azimuth angle, speed, etc., through various sensors 7 mounted on the vehicle 2. This information is sent to the vehicle detection unit 16 of the vehicle 2, and the vehicle detection unit 16 compares the vehicle 2's current position and azimuth angle with the position information and speed of other vehicles to determine the presence of stopped vehicles. If the vehicle detection unit 16 detects only one stopped vehicle ahead of the vehicle 2 in its direction of travel, as received by the external communication antenna 8, a negative judgment is made in step S1, and the process proceeds to step S8. When obtaining information related to the stopped vehicle, the driving lane where the stopped vehicle is stopped, the stopping method, etc., are also obtained simultaneously. This information also provides information such as whether vehicle 2 can avoid stopping vehicles 3 and 4 when approaching the first stopped vehicle 3 and the second stopped vehicle 4, or whether it needs to stop temporarily.

[0049] In step S8, normal notifications are given via the notification control unit 18 and the output device 9. For example... Figure 6 As shown, the "usual notification" referred to here is a notification used to inform the driver that the vehicle 2 has stopped within a specified range in front of its direction of travel. This notification is displayed on the monitor 10, accompanied by an audible effect from the speaker 11 and a beeping sound. Specifically, a "bang" sound is used to urge the driver to look at the display screen 10, and... Figure 6 As shown, the display 10 is notified of the designated marker and the presence of a first stopped vehicle 3 ahead. Then, since the first stopped vehicle 3 has entered within a reference distance L2 to vehicle 2, the display includes the distance from vehicle 2 to the first stopped vehicle 3. When notifying, information related to these stopped vehicles, their models, reasons for stopping, or the presence of stopped vehicles can be presented via sound. These notifications continue until vehicle 2 arrives at or completely passes the stopped vehicle. Furthermore, the system is configured such that if a second stopped vehicle 4 enters the designated range after vehicle 2 has passed the first stopped vehicle 3 and traveled for a period of time, the presence of the second stopped vehicle 4 is notified to the driver by performing the aforementioned normal notification.

[0050] Furthermore, regarding the direction of travel of vehicle 2, the method is not limited to the above. For example, it can be configured to predict the direction of travel of vehicle 2 by setting a route in a car navigation system and obtain information related to stopped vehicles in that direction of travel. Additionally, regarding the presence of the first stopped vehicle 3 and the second stopped vehicle 4, for example, the external communication antenna 8 can repeatedly obtain the coordinates and other positional information of vehicles surrounding vehicle 2, and determine the stopping situation based on the amount of movement per unit time of this positional information.

[0051] If a positive determination is made in step S1 because there are first stopped vehicle 3 and second stopped vehicle 4, which are multiple stopped vehicles, ahead of vehicle 2 in its direction of travel, the process proceeds to step S2. In step S2, information including the position information of the first stopped vehicle 3 and the second stopped vehicle 4 is sent from vehicle detection unit 16 to communication vehicle-to-vehicle distance determination unit 17. Communication vehicle-to-vehicle distance determination unit 17 calculates the second vehicle-to-vehicle distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4 based on the obtained position information of the first stopped vehicle 3 and the second stopped vehicle 4 (step S3). In addition, the communication vehicle-to-vehicle distance determination unit 17 stores multiple predetermined distances for distinguishing the magnitude of the second vehicle-to-vehicle distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4, and compares the multiple predetermined distances stored with the calculated second vehicle-to-vehicle distance L3.

[0052] That is, if the distance L3 between the second and third vehicles is calculated, the process proceeds to step S4 to determine whether the distance L3 is less than a predetermined first specified distance L4. This first specified distance L4 is a distance less than the aforementioned reference distance L2, for example, a distance that allows the driver to easily visually identify the second stopped vehicle 4 after passing the first stopped vehicle 3. If a positive judgment is made in step S4 because the distance L3 between the second and third vehicles is less than the first specified distance L4, the process proceeds to step S5.

[0053] In step S5, as Figure 1As shown, the notification control unit 18 controls the output device 9 to assist the driver by outputting a notification only to the closest stopped vehicle 2, namely the first stopped vehicle 3, and a restriction notification to the second stopped vehicle 4. That is, since the distance L3 between the second vehicle and the first stopped vehicle 3 is less than the first specified distance L4, and the first stopped vehicle 3 is close to the second stopped vehicle 4, if the same notification is given to the second stopped vehicle 4 as well, the driver may feel annoyed by the notification or worry that the driver will not be able to recognize the correct information. Therefore, this situation is avoided by reducing the number of notifications. Here, the same notification is given immediately after vehicle 2 has just passed the first stopped vehicle 3, along with an audible sound and a buzzer, displaying information related to the second stopped vehicle 4 through markers, distances, etc. If displayed in this way, for example, even after passing the first stopped vehicle 3, the driver is suddenly notified of information related to the new second stopped vehicle 4 along with an audible sound, and the displayed distance up to the second stopped vehicle 4 is small, so there is a possibility that the driver will experience the aforementioned problems.

[0054] In step S5, as Figure 1 As shown, the notification control unit 18 first issues a normal notification, similar to step S8, when the first stopped vehicle 3 enters within the reference distance L2. Furthermore, after vehicle 2 passes the first stopped vehicle 3, the output device 9 is controlled to continue displaying only the marker and notification indicating the presence of the second stopped vehicle 4. Alternatively, after vehicle 2 passes the first stopped vehicle 3, the notification can be made by changing the combination of sound and display so that the driver can accurately identify the presence of the second stopped vehicle. Then, the notification control unit 18 temporarily terminates the process by removing the marker and notification indicating the presence of the second stopped vehicle 4 before vehicle 2 reaches the second stopped vehicle 4. The marker and notification indicating the presence of the second stopped vehicle 4 can remain displayed until the second stopped vehicle 4 is passed. That is, the notification control unit 18 controls the system by treating the first stopped vehicle 3 and the second stopped vehicle 4 as having stopped due to the same event, identifying them as an obstacle and issuing a notification accordingly.

[0055] Conversely, if a negative judgment is made in step S4 because the second inter-vehicle distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4 is greater than the first predetermined distance L4, the process proceeds to step S6. In step S6, it is determined whether the second inter-vehicle distance L3 is less than the second predetermined distance L5. This second predetermined distance L5 is, for example, a distance greater than the first predetermined distance L4 and greater than the aforementioned reference distance L2, and is set to a distance at which the driver can barely visually confirm the second stopped vehicle 4 after passing the first stopped vehicle 3. If a positive judgment is made in step S6 because the second inter-vehicle distance L3 is less than the second predetermined distance L5, the process proceeds to step S7.

[0056] In step S7, as Figure 4 As shown, the notification control unit 18 performs a normal notification in the same manner as step S8 described above when the first stopped vehicle 3 enters within the reference distance L2. Furthermore, the output device 9 is controlled in such a way that after vehicle 2 passes the first stopped vehicle 3, the display of the marker and notification indicating the presence of the second stopped vehicle 4 continues, and a normal notification related to the second stopped vehicle 4 is performed when the second stopped vehicle 4 enters within the reference distance L2 from vehicle 2. That is, the notification control unit 18 controls the notification to seamlessly connect the notifications related to the first stopped vehicle 3 and the notifications related to the second stopped vehicle 4. Specifically, the notification control unit 18 controls the notification to continue displaying only the marker and text indicating the presence of a stopped vehicle even after the notification related to the situation where the first stopped vehicle 3 exists within the reference distance L2, as described above, has been completed. Moreover, if the second stopped vehicle 4 enters within the reference distance L2 from vehicle 2, the notification control unit 18 controls the notification to reproduce the sound effect or display on the display screen or other display 10 that the second stopped vehicle 4 exists within the reference distance L2, as a normal notification.

[0057] Conversely, if a negative judgment is made in step S6 because the second inter-vehicle distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4 is greater than or equal to the second predetermined distance L5, the process proceeds to step S8. In step S8, since the first stopped vehicle 3 and the second stopped vehicle 4 are sufficiently separated because the second inter-vehicle distance L3 is greater than or equal to the second predetermined distance L5, it is determined that the possibility of causing driver annoyance or recognition errors even if normal notifications are given to each is low. Therefore, a normal notification is given when the first stopped vehicle 3 enters within a reference distance L2 from vehicle 2, and the sound stops and the display on the display 10 ends when vehicle 2 passes the first stopped vehicle 3. Then, a normal notification is given when the second stopped vehicle 4 enters within a reference distance L2 from vehicle 2, and the notification ends and the control is temporarily terminated when vehicle 2 passes the second stopped vehicle 4.

[0058] According to the vehicle's driving assistance system, when a stopped vehicle acting as an obstacle exists ahead of vehicle 2 in the direction of travel, and the first inter-vehicle distance L1 between the stopped vehicle and vehicle 2 is less than a reference distance L2, the system assists the driver by notifying the driver of the presence of the stopped vehicle. In the case of multiple stopped vehicles 3 and 4, the inter-vehicle distances between the stopped vehicles 3 and 4 are calculated, and the type of notification involved in the notification control unit 18 is determined based on the calculated second inter-vehicle distance L3. Specifically, when the second inter-vehicle distance L3 is less than a first predetermined distance L4, a normal notification related to the first stopped vehicle 3 is given, and notifications of the second stopped vehicle 4 are restricted after passing the first stopped vehicle 3. That is, notifications of the second stopped vehicle 4 are suppressed when vehicle 2 is immediately close to vehicle 2 after passing the first stopped vehicle 3. Therefore, it is possible to suppress or prevent driver annoyance and recognition errors caused by frequent notifications, thereby enabling appropriate driving assistance to the driver. Furthermore, when the distance from the second vehicle to L3 is greater than the first predetermined distance L4 but less than the second predetermined distance L5, after the usual notification related to the first stopped vehicle 3 is given, only a display-based notification is given from the time the vehicle 2 passes the first stopped vehicle 3 until the reference distance L2. When the second stopped vehicle 4 enters within the reference distance L2 from the vehicle 2, the usual notification is given. That is, the notification of the presence of the first stopped vehicle 3 and the notification of the presence of the second stopped vehicle are seamlessly consecutive. Therefore, since it is possible to prevent the notification of the presence of the second stopped vehicle 4 from being displayed again immediately after the notification of the vehicle 2 passing the first stopped vehicle 3 has disappeared, it is also possible to suppress or avoid driver annoyance and recognition errors.

[0059] The embodiments of the present invention have been described above, but the present invention is not limited to the examples described above, and appropriate modifications can be made within the scope of achieving the purpose of the present invention. For example, the information related to the stopped vehicles 3 and 4 is not limited to vehicle-to-vehicle communication, and the control described above can also be performed based on information obtained from external infrastructure. For example, information related to obstacles on the predetermined driving path of vehicle 2 can be obtained through so-called road-to-road communication, such as a road traffic information communication system, i.e., VICS (registered trademark), roadside equipment installed on the road, etc., which enables two-way communication between the equipment and the on-board device 5 of vehicle 2. Alternatively, obstacle information can be obtained by sending information detected by sensors of other vehicles traveling around vehicle 2 to vehicle 2. In this case, the control described above can be performed even if the obstacle is not a vehicle.

[0060] Furthermore, when it is clearly determined through inter-vehicle communication that the first stopped vehicle 3 and the second stopped vehicle 4 have stopped due to the same event, it is not necessary to select a notification type corresponding to the aforementioned specified distance. For example, if it is clearly determined that they are the same event, and the second inter-vehicle distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4 is less than the second specified distance L5, the same notification as when the second inter-vehicle distance L3 is less than the first specified distance L4 can be given. In this case, the notification control unit 18 can, in addition to the usual notification, guide the driver with the content of the event and points to note through sound. In this way, even if the driver cannot visually observe the second stopped vehicle 4 after passing the first stopped vehicle 3, the driver can recognize that the second stopped vehicle 4 will appear soon. If the driver recognizes that they are the same event, the notification of the existence of the second stopped vehicle 4 may actually cause the driver discomfort. By limiting notifications related to the existence of other obstacles, such discomfort to the driver can be suppressed or avoided, and the driver's annoyance and recognition errors caused by frequent notifications can be suppressed or prevented.

[0061] Furthermore, the reference distance L2, the first specified distance L4, and the second specified distance L5 can be determined based on the event. For example, if there are two vehicles stopped due to traffic congestion, the first specified distance L4 can be set relatively large. In traffic congestion, since vehicle 2 needs to slow down sufficiently before reaching the first stopped vehicle 3, notifying the driver in advance allows for a safer stop for vehicle 2. The second specified distance L5 can be set to a distance greater than the first specified distance L4 but less than the reference distance L2. In this case, it is sufficient to ensure seamless and continuous notification of both the notification related to the first stopped vehicle 3 and the notification related to the second stopped vehicle 4. For example, after passing the first stopped vehicle 3, the display can continue with sound effects and a beeping sound, and the distance display can only be switched to show the distance to the second stopped vehicle 4.

[0062] Furthermore, in this embodiment, vehicle-to-vehicle communication is performed using three vehicles: vehicle 2, the first stopped vehicle 3, and the second stopped vehicle 4. However, the auxiliary system can also be implemented using four or more other vehicles stopped at a position further away than the second stopped vehicle 4. In this case, after issuing a notification corresponding to the vehicle-to-vehicle distance between the first stopped vehicle 3 and the second stopped vehicle 4, a notification corresponding to the vehicle-to-vehicle distance between the second stopped vehicle 4 and other stopped vehicles stopped ahead of the second stopped vehicle 4 in its direction of travel can be issued.

[0063] For example, if the second distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4, and the third distance between the second stopped vehicle 4 and other stopped vehicles, are both less than the first predetermined distance L4, the driver may be notified only of the first stopped vehicle 3. That is, the presence of the first stopped vehicle 3 will be displayed on the display screen or other monitor 10 along with an effect sound and a buzzer sound when the first stopped vehicle 3 enters within a reference distance L2 from vehicle 2. Furthermore, the display may be configured to continue only after the first stopped vehicle 3 has passed, and end before the other stopped vehicles are reached.

[0064] Next, the following explanation addresses the case where the second inter-vehicle distance L3 between the first stopped vehicle 3 and the second stopped vehicle 4 is less than the first predetermined distance L4, and the inter-vehicle distance between the second stopped vehicle 4 and other stopped vehicles is greater than the first predetermined distance L4 but less than the second predetermined distance L5. In this case, the driver is first notified when the first stopped vehicle 3 enters within the reference distance L2. Furthermore, similar to the notification described above, the notification continues even after passing the first stopped vehicle 3, temporarily ending before reaching the second stopped vehicle 4. After passing the second stopped vehicle 4, if it is determined that other stopped vehicles exist within the reference distance L2 of vehicle 2, the driver is notified of the presence of other stopped vehicles. That is, the presence of other stopped vehicles is displayed on the display 10 along with an audible effect and a beeping sound, and the notification continues until vehicle 2 passes the other stopped vehicles. With this structure, new notifications related to the presence of the second stopped vehicle 4 or other stopped vehicles can be omitted, and the driver can reliably identify the presence of other stopped vehicles.

[0065] Furthermore, while the above-described embodiments are presented as a system, they can be freely combined and implemented as long as no technical inconsistencies arise. Moreover, a process described as being performed by one device can be shared by multiple devices. Conversely, processes described as being performed by different devices can also be performed by a single device. In an information processing system, the hardware architecture used to implement each function can be appropriately changed.

Claims

1. A driving assist system of a vehicle, characterized by, include: The external information receiving unit is configured to acquire information including the location information of obstacles that become traffic barriers; and The processor is configured to notify the driver of the presence of an obstacle based on information about the vehicle's surroundings when the obstacle exists within a predetermined range from the vehicle. The system is configured to control the vehicle in the following manner: when multiple obstacles exist within the specified range, it determines whether the distance between the first obstacle closest to the vehicle and a second obstacle other than the first obstacle is less than a predetermined first specified distance; if the distance between the obstacles is less than the first specified distance, it restricts the notification of the presence of the second obstacle to the driver. The vehicle's driver assistance system has a reference distance, smaller than the specified range, that serves as a basis for providing detailed notification of the presence of the obstacle to the vehicle. The first specified distance is less than the reference distance. The processor is configured to be controlled in the following manner: If the distance between the first obstacle and the second obstacle is greater than the first predetermined distance, a determination is made as to whether it is less than the second predetermined distance. When the distance between the first obstacle and the second obstacle is greater than the first predetermined distance and less than the second predetermined distance, the notification to the driver of the presence of the first obstacle and the notification to the driver of the presence of the second obstacle become seamless and consecutive notifications. The first obstacle is a first stopped vehicle in the direction of travel that can communicate with the vehicle. The second obstacle is a second stopped vehicle that is parked further ahead in the direction of travel and is able to communicate with the vehicle.

2. The driving assistance system for a vehicle according to claim 1, characterized in that, The processor is configured to continue the constant notification after the vehicle has passed the first obstacle, and to terminate the constant notification before reaching the second obstacle.

3. The driving assistance system for a vehicle according to claim 1, characterized in that, The second specified distance is a distance greater than the reference distance. The processor is configured to control the communication in such a way that, when the distance between the first obstacle and the second obstacle is greater than a first predetermined distance and less than a second predetermined distance, the communication becomes seamless and continuous by continuing the communication from the end of the notification related to the first obstacle until the start of the notification related to the second obstacle.

4. The driving assistance system for a vehicle according to claim 1, characterized in that, The external information receiving unit obtains information that both the first obstacle and the second obstacle exist due to the same event. The processor is configured as follows: A determination is made as to whether the distance between the obstacles is less than the second specified distance. If the first obstacle and the second obstacle exist due to the same event and the distance between the obstacles is less than the second predetermined distance, the notification of the existence of the second obstacle is restricted.

5. The driving assistance system for a vehicle according to any one of claims 1 to 4, characterized in that, The processor is configured to obtain information including location information from the first stopped vehicle and the second stopped vehicle respectively via vehicle-to-vehicle communication.

6. The driving assistance system for a vehicle according to any one of claims 1 to 4, characterized in that, The processor is configured to emit an alarm as a notification from a speaker.

7. The driving assistance system for a vehicle according to any one of claims 1 to 4, characterized in that, The processor is configured to display the notification on a monitor, the display including the distance up to the obstacle.

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