Construction interval determination method and construction interval determination device

Abstract

The processor (7) determines whether a construction-related object is detected in front of the host vehicle on the basis of the vehicle surroundings information acquired from the sensor (1), and in the case where it is determined that a construction-related object is detected, determines a point at which a prescribed distance from the construction-related object to the front of the host vehicle is reached as an end point of the road construction section, the prescribed distance being shorter in the case where the construction-related object is detected and no other vehicle is detected around the detected construction-related object than in the case where the construction-related object is detected and an other vehicle is detected around the detected construction-related object.

Description

Technical Field

[0001] This invention relates to a method and device for determining construction sections. Background Technology

[0002] The following technology is known: a remote server generates an updated map based on real-time traffic information received from multiple autonomous vehicles, and when an autonomous vehicle receives the updated map from the remote server, it plans and controls the autonomous vehicle based on the real-time traffic information obtained from the updated map (Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-145077

[0006] The problem that the invention aims to solve

[0007] The technology in Patent Document 1, for example, detects the end point of a road construction section based on information obtained from a remote server when the end point of the road construction section has been determined. However, it has the problem that it cannot determine the end point of the road construction section based on information detected by sensors mounted on the vehicle. Summary of the Invention

[0008] The problem to be solved by the present invention is to provide a method and device for determining the end point of a road construction section based on information detected by sensors mounted on the vehicle.

[0009] The present invention solves the above-mentioned problem by the following process: based on the vehicle surrounding information obtained from the sensors mounted on the vehicle, it is determined whether a construction-related object is detected in front of the vehicle. If a construction-related object is detected, the end point of the road construction section is determined to be the location at which the construction-related object moves away from the vehicle at a predetermined distance. The predetermined distance is shorter when a construction-related object is detected and no other vehicles are detected around the detected construction-related object than when a construction-related object is detected and other vehicles are detected around the detected construction-related object.

[0010] Invention Effects

[0011] According to the present invention, the end point of a road construction section can be determined based on information detected by sensors mounted on the vehicle. Attached Figure Description

[0012] Figure 1 This is a diagram illustrating an example of the structure of the construction zone determination device according to this embodiment.

[0013] Figure 2 This diagram illustrates an example of a scenario in which the construction zone determination method of this embodiment is implemented.

[0014] Figure 3 This is a flowchart illustrating an example of the control sequence for executing the construction zone determination method of this embodiment. Detailed Implementation

[0015] An embodiment of the construction section determination device of the present invention will be described with reference to the accompanying drawings. Figure 1 This is a block diagram showing the driving assistance system 10, which includes the construction section determination device of the present invention. (See diagram below.) Figure 1 As shown, the driving assistance system 10 includes: a sensor 1, a map DB 2, a vehicle information detection device 3, a navigation device 4, a vehicle control device 5, and a construction zone determination device 6. The sensor 1 includes a camera 11 and a radar 12. The vehicle information detection device 3 includes a vehicle speed detection device 31, a steering angle detection device 32, and a vehicle position detection device 33. The vehicle control device 5 includes a vehicle speed control device 51 and a steering control device 52. The devices included in the driving assistance system 10 are connected via CAN and other in-vehicle LANs, and can send and receive information with each other. In this embodiment, the driving assistance system 10 assists the vehicle in driving within a road construction zone determined by the construction zone determination device 6.

[0016] Furthermore, the following explanation assumes that vehicles travel on the right in countries with right-hand traffic regulations. In countries with left-hand traffic regulations, vehicles travel on the left; therefore, the left-right symmetry in the following explanation will be replaced.

[0017] Sensor 1 is a sensor used to acquire information about the vehicle's surroundings, including objects around the vehicle. Objects include, for example, other vehicles (cars), motorcycles, bicycles, pedestrians, road lane boundaries, zebra crossing dividers, center lines, road markings, median strips, guardrails, curbs, highway sidewalls, road signs, traffic lights, pedestrian crossings, road construction sites, accident scenes, and traffic restrictions. Road construction sites include construction-related objects set up for traffic restrictions in the road construction area. Examples of construction-related objects include traffic cones and barrels. Objects also include obstacles that may affect the vehicle's movement. Sensor 1 acquires the position, orientation (direction), and speed of moving objects.

[0018] Sensor 1 detects objects around the vehicle, for example, via camera 11 and / or radar 12. The construction zone determination device 6 acquires the detection results of sensor 1 at predetermined intervals as information about the vehicle's surroundings. Camera 11 identifies objects around the vehicle based on the images. Multiple cameras 11 can be installed on a single vehicle. For example, camera 11 may include a front camera, side cameras, and a rear camera. Radar 12 is a device used to calculate the relative distance and relative speed between the vehicle and objects, such as lidar. Multiple radars 12 can be installed on a single vehicle. In this embodiment, camera 11 acquires images of the front of the vehicle at predetermined intervals and detects objects around the vehicle using these images.

[0019] Map DB2 is a database containing information for generating driving routes and / or controlling driving. It includes road information, lane boundary information, road attribute information, lane up / down information, lane identification information, information connecting target lanes, facility information, and their attribute information for each map coordinate. Road information includes road width, radius of curvature, shoulder structures, traffic regulations (speed limits, lane changing permissions), merging points, branching points, and lane number increases / decreases.

[0020] Additionally, map DB2 includes information on lane boundaries, representing the lane the vehicle is traveling in and all other boundaries. Lane boundaries exist on the left and right sides relative to the vehicle's direction of travel. Examples of lane boundaries include road markings and road structures. Examples of road markings include lane boundary lines and center lines. Examples of road structures include medians, guardrails, curbs, tunnels, or highway sidewalls. Furthermore, in map DB, imaginary driving boundaries are pre-defined as lane boundaries at locations where lane boundaries cannot be determined (e.g., within intersections).

[0021] The vehicle information detection device 3 is a device that detects information related to the vehicle's state. The vehicle's state includes its speed, acceleration, steering angle, position, and attitude. The speed detection device 31 detects speed and acceleration. The steering angle detection device 32 detects steering angle. The current position is calculated based on information obtained from the vehicle position detection device 33. The vehicle position detection device 33 may be, for example, a positioning system including a GPS unit. Attitude is detected using an inertial measurement unit. Additionally, the vehicle information detection device 3 can also obtain the vehicle's speed and steering angle from the vehicle control device 5. The construction zone determination device 6 obtains the detection results from these devices via the vehicle's LAN as needed.

[0022] Navigation device 4 is a device that calculates the driving route from the current position of the vehicle detected by vehicle position detection device 33 (as determined by vehicle information detection device 3) to the destination set by the driver, with reference to map DB2. The calculated driving route is output to construction zone determination device 6. The driving route identifies the road, direction (up / down), and lane alignment of the vehicle. The driving route includes information about the driving lane.

[0023] The vehicle control device 5 is an on-board computer such as an electronic control unit (ECU) that electronically controls and limits the movement of the vehicle. The vehicle control device 5 includes: a vehicle speed control device 51 for controlling the speed of the vehicle and a steering control device 52 for controlling the steering operation of the vehicle.

[0024] The vehicle speed control device 51 controls the electric motor and / or internal combustion engine, automatic transmission, and other drive devices that serve as the driving drive source. The vehicle speed control device 51 controls the vehicle's speed based on a control signal input from the construction zone determination device 6. The steering control device 52 controls the steering mechanism. Based on the control signal input from the construction zone determination device 6, the steering control device 52 uses at least one of the detection results from sensor 1, map DB2, and vehicle information obtained through the vehicle information detection device 3 to control the steering mechanism in a manner that maintains a predetermined lateral position (left-right position) of the vehicle relative to the driving path.

[0025] The construction zone determination device 6 is a device that determines a road construction zone with construction-related objects when the vehicle is in motion by controlling and coordinating the operation of the devices included in the driving assistance system 10. When the construction zone determination device 6 detects construction-related objects in front of the vehicle, it sets a road construction zone. In this embodiment, the road construction zone is the zone in which the driver is required to control the vehicle while holding the steering wheel. The zone outside the road construction zone, i.e., the normal zone, is the zone in which the driver is required to control the vehicle while removing their hands from the steering wheel.

[0026] The construction zone determination device 6 determines the construction zone through a processor 7. The processor 7 is a computer comprising a ROM 72 storing a program, a CPU 71 that functions as an operation loop by executing the program stored in the ROM 72, and RAM 73 that functions as an accessible storage device. In this embodiment, the processor 7 executes each function through coordinated operation of the software and hardware used to achieve the above functions.

[0027] As functional blocks, the processor 7 includes: a surrounding information acquisition unit 100, a detection unit 101, a determination unit 102, a distance setting unit 103, a range determination unit 104, a mode switching unit 105, and a vehicle control unit 106. Furthermore, in this embodiment, the functions of the processor 7 are divided into seven modules and the functions of each functional block are described. However, as long as each function can be implemented, the functions of the processor 7 do not necessarily need to be divided into seven modules.

[0028] The surrounding information acquisition unit 100 acquires vehicle surrounding information from the sensor 1. This vehicle surrounding information may be, for example, an image of the vehicle's surroundings captured by the camera 11, containing information about the detection results of objects around the vehicle. For example, the surrounding information acquisition unit 100 acquires vehicle surrounding information at regular intervals while the vehicle is in motion.

[0029] The detection unit 101 detects construction-related objects and other vehicles located in front of the vehicle based on information about the vehicle's surroundings. For example, the detection unit 101 determines the roadway in front of the vehicle and detects construction-related objects and other vehicles located on the roadway. The roadway in front of the vehicle includes the lane in which the vehicle is traveling and the surrounding lanes. In addition, the detection unit 101 can also detect construction-related objects located around the roadway in front of the vehicle.

[0030] In addition, the detection unit 101 detects other vehicles located around the detected construction-related objects based on information about the vehicle's surroundings. For example, the detection unit 101 detects other vehicles within the detection range of the construction-related objects that can be detected by the camera 11.

[0031] The determination unit 102 determines whether construction-related objects are detected in front of the vehicle based on information about the vehicle's surroundings. In this embodiment, the determination unit 102 determines whether construction-related objects are detected in front of the vehicle at regular intervals based on information about the vehicle's surroundings while the vehicle is in motion.

[0032] In addition, the determination unit 102 determines the category of the detected construction-related objects. The category of construction-related objects is, for example, either traffic cones or road pipes.

[0033] Furthermore, the determination unit 102 determines whether a new construction-related object has been detected within a predetermined interval from the time when it was determined that a construction-related object was detected. For example, the predetermined interval is the distance from the current position of the vehicle to the location of the detected construction-related object plus 450m. During the period from the time when it was determined that a construction-related object was detected until the vehicle passes through the predetermined interval, the determination unit 102 determines whether a new construction-related object has been detected based on the vehicle's surrounding information acquired by the surrounding information acquisition unit 100 at regular intervals. In this embodiment, if it is determined that no new construction-related object has been detected within the predetermined interval from the time when it was determined that a construction-related object was detected, the construction-related object that was just detected before that time is taken as the last construction-related object detected.

[0034] Furthermore, when the determination unit 102 determines that a construction-related object is detected in front of the vehicle, it determines, based on information about the vehicle's surroundings, whether other vehicles are detected around the construction-related object. Additionally, the determination unit 102 can also determine whether other vehicles are detected in the direction relative to the vehicle where the construction-related object is located. For example, if the construction-related object is located to the left, right, or directly in front of the vehicle, the determination unit 102 determines whether other vehicles are detected to the left, right, or directly in front of the vehicle, respectively.

[0035] For example, if a construction-related object or other vehicle is located to the left of the lane boundary line on the left side of this lane, the determination unit 102 determines that the construction-related object or other vehicle is located on the left. Similarly, if a construction-related object or other vehicle is located to the right of the lane boundary line on the right side of this lane, the determination unit 102 determines that the construction-related object or other vehicle is located on the right side. Furthermore, if a construction-related object or other vehicle is located in front of this vehicle in this lane, the determination unit 102 determines that the construction-related object or other vehicle is directly in front of it.

[0036] Furthermore, the determination unit 102 is not limited to determining whether other vehicles are detected when construction-related objects are detected; the determination unit 102 can also determine whether other vehicles are detected within a certain period after construction-related objects are detected. For example, the determination unit 102 can determine whether other vehicles are detected within the detection range of the camera 11 during the period after construction-related objects are detected and before the vehicle passes over the detected construction-related objects.

[0037] In addition, the determination unit 102 determines, based on information about the vehicle's surroundings, whether an end sign indicating the end of the road construction section is detected in front of the vehicle. An end sign is, for example, a sign indicating the end of the road construction section.

[0038] The distance setting unit 103 sets a predetermined distance representing the distance from the construction-related object to the end point of the road construction section. For example, the distance setting unit 103 sets the predetermined distance as a first distance. The first distance is, for example, 450m. Furthermore, the predetermined distance is set shorter when a construction-related object is detected and no other vehicles are detected around it, compared to when a construction-related object is detected and other vehicles are detected around it. That is, when the determination unit 102 determines that a construction-related object has been detected and no other vehicles are detected around it, the distance setting unit 103 sets the predetermined distance shorter than when the determination unit 102 determines that a construction-related object has been detected and other vehicles are detected around it. For example, when the distance setting unit 103 determines that a construction-related object has been detected and other vehicles are detected around it, it sets the predetermined distance as the first distance. Additionally, when the distance setting unit 103 determines that a construction-related object has been detected and no other vehicles are detected around it, it sets the predetermined distance as a second distance shorter than the first distance. The second distance is, for example, 300m.

[0039] Furthermore, the distance setting unit 103 can also set a predetermined distance based on the type of construction-related object detected if no other vehicles are detected. For example, if all detected construction-related objects are traffic cones, the predetermined distance is shorter than if all detected construction-related objects are road pipes. That is, when all detected construction-related objects are traffic cones, the distance setting unit 103 sets a shorter predetermined distance compared to when all detected construction-related objects are road pipes. When all detected construction-related objects are road pipes, the distance setting unit 103 sets the predetermined distance as a second distance. On the other hand, when all detected construction-related objects are traffic cones, the distance setting unit 103 sets the predetermined distance as a third distance, which is shorter than the second distance. The third distance is, for example, 150m. Generally, larger road construction sites are equipped with road pipes, while smaller road construction sites are equipped with traffic cones. Therefore, when all detected construction-related objects are road pipes, the predetermined distance is set in a way that lengthens the road construction section.

[0040] The section determination unit 104 determines the road construction section. The road construction section is the section along the direction of travel of the vehicle, and is the section between the start point and the end point. The section determination unit 104 determines the start point and end point of the road construction section based on the detected positions of construction-related objects and a set predetermined distance.

[0041] First, when a construction-related object is initially detected, the section determination unit 104 determines the road construction section based on the location and a predetermined distance of the initially detected construction-related object. For example, the section determination unit 104 determines the location of the initially detected construction-related object as the start point of the road construction section, and determines the location a first distance away from the location of the initially detected construction-related object in front of the vehicle as the end point of the road construction section.

[0042] Furthermore, after determining a road construction zone, if a new construction-related object is detected within that zone, the zone determination unit 104 updates the end point of the road construction zone. For example, after the distance setting unit 103 sets a predetermined distance based on the presence or absence of other vehicles, the zone determination unit 104 determines the end point of the road construction zone as the location a predetermined distance away from the position of the newly detected construction-related object. In other words, whenever a construction-related object is detected during the vehicle's travel, the zone determination unit 104 updates the end point of the road construction zone to the location a predetermined distance away from the detected construction-related object.

[0043] For example, if a new construction-related object is detected within a road construction section, and no other vehicles are detected around the detected construction-related object, the section determination unit 104 updates the end point of the road construction section to a point a second distance away from the location of the detected construction-related object in front of the vehicle.

[0044] In addition, if the determination unit 102 determines that an end marker has been detected in the road construction section, the section determination unit 104 updates the end location of the road construction section to the location where the end marker was set.

[0045] Next, use Figure 2 Explain the method for determining road construction zones. Figure 2 This is a diagram illustrating a scenario where the interval determination method of this embodiment is executed. Figure 2 The diagram illustrates a scenario where vehicle V1 is traveling on a road, and a road construction area Ce exists in front of vehicle V1. Within the road construction area Ce, construction-related objects Co1, Co2, and Co3 are present. Additionally, other vehicles V2, V3, and V4 are traveling in front of vehicle V1.

[0046] exist Figure 2In this process, vehicle V1 detects construction-related objects Co1, Co2, and Co3 within the detection range Se of the camera. Construction-related object Co3 is the last construction-related object detected. Processor 7 determines the position of construction-related object Co1, which is the first construction-related object detected, as the starting point Ps of the road construction section Cs, and determines the point at which construction-related object Co3, which is the last construction-related object detected, is located a predetermined distance D away from its position as the ending point Pe of the road construction section Cs. At this time, processor 7 determines whether there are other vehicles to the right of vehicle V1 in the direction where construction-related object Co3 is located. Figure 2 In the example, processor 7 determines that another vehicle V2 is detected to the right of its own vehicle V1, and sets the specified distance D as the first distance.

[0047] like Figure 2 As shown, when other vehicles V2 are located around the construction-related object, blind spots are created due to the other vehicles V2. Therefore, it is uncertain whether there are any new construction-related objects inside the direction of travel of the construction-related object Co3. In this embodiment, if the vehicle V1 travels to the end point Pe determined at a specified distance D from the construction-related object Co3 and is not determined to be a newly detected construction-related object, then the construction-related object Co3 becomes the last detected construction-related object.

[0048] Additionally, for example, if a new construction-related object is detected after construction-related object Co3 has been detected, but before vehicle V1 reaches the end point Pe of the road construction section Cs, the end point Pe will be updated to the location at which the newly detected construction-related object is a specified distance D away from the specified construction-related object. Furthermore, in Figure 2 In the example, other vehicle V3 is outside the camera's detection range Se, and therefore is not an object to be detected. Additionally, other vehicle V4 is within the camera's detection range Se, but is located in a different direction (to the left) from the direction of the construction-related object Co3, and therefore is not an object to be determined.

[0049] For example, according to US regulations, when a sign indicating the end of a road construction zone is to be placed, the sign should be located approximately 300 to 450 meters from the last construction-related obstacle. That is, there is a section between the last construction-related obstacle and the sign where no construction-related obstacle is present. After passing the last construction-related obstacle, driving with hands off the wheel in this section without any construction-related obstacle is inconvenient for the driver. From the driver's perspective, it is desirable to switch to hands-off driving as soon as possible after passing the road construction site. Therefore, if the sign is found just ahead of the usual location where it is placed, setting the end of the road construction zone ahead of it allows for a faster resumption of hands-off driving.

[0050] However, for example, if other vehicles are present around the construction-related object, creating blind spots, it's impossible to determine whether the detected construction-related object is the last one. On the other hand, if there are no other vehicles around the construction-related object and no blind spots caused by other vehicles, it can be determined that no new construction-related object has been detected, as long as no construction-related object has been detected. Therefore, in this embodiment, when there are no other vehicles around the construction-related object, the end point of the road construction section is set at the point immediately ahead. As a result, it is possible to determine earlier that the vehicle has passed through the road construction section, thus enabling a faster switch from driving with the vehicle's hands off the wheel to driving with the hands off the wheel during the road construction section, providing effective driving assistance to the driver.

[0051] The mode switching unit 105 switches the driver's driving mode. The driving modes include a hand-held mode and a hands-off mode. The hand-held mode is a mode in which the driver controls the vehicle while holding the steering wheel. The hands-off mode is a mode in which the driver can remove their hands from the steering wheel while controlling the vehicle. The mode switching unit 105 sets the driving mode to hand-held mode when the vehicle is traveling in a road construction zone. The mode switching unit 105 sets the driving mode to hands-off mode when the vehicle is traveling in a normal zone outside of the road construction zone. For example, the mode switching unit 105 sets the driving mode to hands-off mode when the vehicle begins to move.

[0052] Additionally, the mode switching unit 105 determines whether the vehicle has reached the start point of the road construction zone. If it determines that the vehicle has reached the start point of the road construction zone, the mode switching unit 105 switches the driving mode from hands-free mode to hands-free mode. That is, the start point of the road construction zone is the location where the driving mode is switched from the normal zone (hands-free mode) to the road construction zone (hands-free mode). Alternatively, the mode switching unit 105 can also determine whether the vehicle has reached a position closer to the start point of the road construction zone. Then, the mode switching unit 105 determines whether the vehicle has reached the end point of the road construction zone. If it determines that the vehicle has reached the end point of the road construction zone, the mode switching unit 105 switches the driving mode from hands-free mode to hands-free mode. That is, the end point of the road construction zone is the location where the driving mode is switched from the normal zone (hands-free mode) to the road construction zone (hands-free mode).

[0053] Additionally, the mode switching unit 105 can calculate the target distance from the vehicle's current position to the location where the end marker is set when the end marker is detected, and determine whether the vehicle has reached the end point of the road construction section based on whether the vehicle has traveled the target distance. For example, the mode switching unit 105 calculates the travel distance by integrating the vehicle's speed over the travel time, compares the travel distance with the target distance, and determines whether the vehicle has traveled the target distance.

[0054] The vehicle control unit 106 controls the movement of the vehicle along the driving path. The vehicle control unit 106 sets the driving path for the vehicle. The vehicle control unit 106 calculates the target vehicle speed and target steering angle for driving on the set driving path, and generates a control signal to move the vehicle based on the calculated target vehicle speed and target steering angle. The generated control signal is output to the vehicle control device 5.

[0055] In this embodiment, the construction section determination device 6 includes a mode switching unit 105 and a vehicle control unit 106, but it is not limited to these. The vehicle control device 5 may also have the functions of the mode switching unit 105 and the vehicle control unit 106. For example, after determining the road construction section, the construction section determination device 6 may output information about the road construction section, such as the start and end points of the road construction section, to the vehicle control device 5. Then, the vehicle control device 5 switches the driving mode based on the output road construction section information and the current position of the vehicle. In addition, the vehicle control device 5 calculates the target vehicle speed and target steering angle for driving on the driving path, and generates a control signal to drive the vehicle based on the calculated target vehicle speed and target steering angle.

[0056] Next, the processing of construction section determination control performed by construction section determination device 6 will be explained. Figure 3 This is a flowchart illustrating the control flow for executing the construction section determination control of the construction section determination device 6. When the vehicle starts moving, the processor 7 begins the control flow from step S1. In this embodiment, the construction section determination device 6 sets the driving mode to handheld mode when the vehicle arrives at the beginning of the road construction section, and sets the driving mode to hands-free mode when the vehicle arrives at the end of the road construction section.

[0057] In step S1, processor 7 acquires information about the vehicle's surroundings from camera 11. In step S2, processor 7 detects construction-related objects located in front of the vehicle based on the vehicle's surroundings information. In step S3, processor 7 determines whether construction-related objects are detected in front of the vehicle based on the vehicle's surroundings information. If construction-related objects are detected in front of the vehicle, processor 7 proceeds to step S4. If no construction-related objects are detected in front of the vehicle, processor 7 returns to step S1 and repeats the following process. In step S4, processor 7 sets a predetermined distance as a first distance. In step S5, processor 7 determines the road construction zone. For example, processor 7 determines the location of the detected construction-related object as the start point of the road construction zone and the location a distance away from the detected construction-related object from the vehicle's front at the first distance as the end point of the road construction zone.

[0058] In step S6, processor 7 acquires information about the vehicle's surroundings from camera 11. In step S7, processor 7 detects construction-related objects and other vehicles located in front of the vehicle based on the vehicle's surroundings information. In step S8, processor 7 determines whether construction-related objects are detected in front of the vehicle. If construction-related objects are detected in front of the vehicle, processor 7 proceeds to step S11. If construction-related objects are not detected in front of the vehicle, processor 7 proceeds to step S9.

[0059] In step S9, the processor 7 determines whether an end marker indicating the end of the road construction section has been detected. If an end marker is detected, the processor 7 proceeds to step S10. If no end marker is detected, the processor 7 proceeds to step S17. In step S10, the processor 7 determines the location where the end marker is set as the end location of the road construction section.

[0060] In step S11, the processor 7 determines, based on the vehicle's surrounding information, whether other vehicles are detected around the construction-related object detected in step S7. If other vehicles are detected, the processor 7 proceeds to step S12. That is, the processor 7 proceeds to step S12 if it determines that a construction-related object has been detected and other vehicles are detected around the detected construction-related object. If no other vehicles are detected, the processor 7 proceeds to step S13. That is, the processor 7 proceeds to step S13 if it determines that a construction-related object has been detected and no other vehicles are detected around the detected construction-related object.

[0061] In step S12, the processor 7 sets a predetermined distance as a first distance. In step S13, the processor 7 determines whether all detected construction-related objects are road cones. If it is determined that all detected construction-related objects are road cones, the processor 7 proceeds to step S14. If it is determined that not all detected construction-related objects are road cones, the processor 7 proceeds to step S15. In step S14, the processor 7 sets a predetermined distance as a second distance. In step S15, the processor 7 sets a predetermined distance as a third distance. In this embodiment, in step S13, it is possible to determine whether all construction-related objects are road cones, but it is not limited to this; it is also possible to determine whether all construction-related objects are traffic cones. If it is determined that all construction-related objects are traffic cones, the predetermined distance can be set as the third distance.

[0062] In step S16, processor 7 determines the road construction zone based on a predetermined distance. Processor 7 determines the end point of the road construction zone as the location where the construction-related object moves a predetermined distance forward from the vehicle. In step S17, processor 7 determines whether the vehicle has passed through the road construction zone. For example, processor 7 determines whether it has passed through the road construction zone based on whether the vehicle has reached the end point of the road construction zone. If it is determined that the road construction zone has been passed, processor 7 proceeds to step S18. If it is determined that the road construction zone has not been passed, processor 7 proceeds to step S6. In step S18, processor 7 determines that the road construction zone has ended and sets the driving mode to hands-off mode.

[0063] As described above, in this embodiment, based on vehicle surroundings information obtained from sensors mounted on the vehicle, it is determined whether a construction-related object is detected in front of the vehicle. If a construction-related object is detected, the end point of the road construction section is set at a predetermined distance from the construction-related object in front of the vehicle. The predetermined distance is set to be shorter when a construction-related object is detected and no other vehicles are detected around it, compared to when a construction-related object is detected and other vehicles are detected around it. Therefore, the end point of the road construction section can be determined based on information detected by sensors mounted on the vehicle.

[0064] Furthermore, in this embodiment, when it is determined that a construction-related object has been detected, it is determined whether other vehicles are detected within the detection range where the sensor can detect the construction-related object. Therefore, the likelihood that the construction-related object is obstructed by other detected vehicles can be highly estimated, thus avoiding unnecessary extension of the road construction area.

[0065] Furthermore, in this embodiment, when a construction-related object is detected, it is determined whether another vehicle is detected in the direction of the construction-related object relative to the vehicle. Therefore, even if another vehicle is detected in a direction different from the direction of the construction-related object, the likelihood of that vehicle obstructing the construction-related object is low. Thus, if no other vehicle is detected in the direction of the construction-related object, it is possible to determine more quickly that the vehicle has passed the end point of the road construction zone.

[0066] Furthermore, in this embodiment, if a sign indicating the end of the road construction zone is detected within the zone, the end point is updated to the location where the sign was set. Therefore, when a sign indicating the actual end of the road construction zone is detected, it is possible to reliably determine whether the vehicle has passed the end point of the road construction zone.

[0067] Furthermore, in this embodiment, the road construction zone is a zone where the driver is required to control the vehicle while holding the steering wheel, and the end point is the location where the road construction zone transitions to a normal zone where the vehicle is allowed to travel with the driver's hands off the steering wheel. Therefore, based on information detected by the vehicle, it is possible to restart the vehicle's operation with the driver's hands off the steering wheel.

[0068] Furthermore, the embodiments described above are provided to facilitate understanding of the present invention and are not intended to limit the scope of the invention. Therefore, the essence of the elements disclosed in the above embodiments also includes all design modifications and equivalents that fall within the scope of the present invention.

[0069] Symbol Explanation

[0070] 10: Driving assistance system

[0071] 6: Construction Section Determination Device

[0072] 7: Processor

[0073] 100: Surrounding Information Acquisition Department

[0074] 101: Testing Department

[0075] 102: Judgment Department

[0076] 103: Distance Setting Department

[0077] 104: Interval Determination Section

[0078] 105: Mode Switching Unit

[0079] 106: Vehicle Control Department

Claims

1. A method for determining a construction zone, executed by a processor, which determines a road construction zone with construction-related facilities used for traffic restrictions while the vehicle is in motion, wherein... The processor performs the following processing: After determining the road construction zone, based on the vehicle surrounding information obtained from sensors mounted on the vehicle, it is determined whether any new construction-related objects have been detected within the road construction zone in front of the vehicle. If it is determined that a new construction-related object is detected within the road construction zone, the end point of the road construction zone will be updated to a point located a predetermined distance away from the construction-related object in front of the vehicle. The specified distance is shorter when the construction-related object is detected and no other vehicles are detected around the detected construction-related object than when the construction-related object is detected and other vehicles are detected around the detected construction-related object.

2. The construction section determination method as described in claim 1, wherein, If the processor determines that the construction-related object has been detected, it then determines whether other vehicles are detected within the detection range of the sensor that can detect the construction-related object.

3. The method for determining the construction section as described in claim 1 or 2, wherein, If the processor determines that the construction-related object is detected, it determines whether the other vehicle is detected in the direction of the construction-related object relative to the vehicle itself.

4. The method for determining the construction section as described in claim 1 or 2, wherein, If the processor detects a marker indicating the end of the road construction section within the road construction section, it updates the end point to the location where the marker was set.

5. The method for determining the construction section as described in claim 1 or 2, wherein, The road construction section is the section in which the driver is required to control the vehicle while holding the steering wheel. The terminus is the location where the road construction zone transitions to a normal zone where the vehicle is allowed to travel with the driver's hands off the steering wheel.

6. A construction zone determination device, comprising a processor for determining, while the vehicle is traveling, a road construction zone in which construction-related objects for traffic restrictions are set up, wherein, The processor performs the following processing: After determining the road construction zone, based on the vehicle surrounding information obtained from sensors mounted on the vehicle, it is determined whether any new construction-related objects have been detected within the road construction zone in front of the vehicle. If it is determined that a new construction-related object is detected within the road construction zone, the end point of the road construction zone will be updated to a point located a predetermined distance away from the construction-related object in front of the vehicle. The specified distance is shorter when the construction-related object is detected and no other vehicles are detected around the detected construction-related object than when the construction-related object is detected and other vehicles are detected around the detected construction-related object.

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