Auxiliary device, vehicle, computer readable storage medium, and auxiliary method

Abstract

The invention provides an assistance apparatus, a vehicle, a computer readable storage medium, and an assistance method. The assist device is provided with: a reception unit that receives information indicating a driving danger point transmitted from the outside of the vehicle; a calculation unit that calculates the distance and orientation from the vehicle to the travel danger point on the basis of the travel danger point and the current position of the vehicle; a detection unit that detects the travel danger point within a detection range set forward in the direction of travel of the vehicle; an assistance control unit that performs travel assistance when the travel hazard point is detected within the detection range; a turning detection unit that detects that the vehicle is turning; and a range changing unit that expands the detection range in the turning direction of the vehicle when the turning detection unit detects that the vehicle is turning.

Description

Technical Field

[0001] The present invention relates to an assisting device, a vehicle, a computer-readable storage medium and an assisting method. Background Art

[0002] In recent years, efforts to provide access to sustainable transportation systems for disadvantaged people among traffic participants have become increasingly active. In order to achieve this goal, research and development are being devoted to further improving the safety and convenience of traffic through research and development related to driving assistance technology. Patent documents 1 and 2 describe technologies related to the range of detecting objects and other vehicles.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2015-45622

[0004] Patent Document 2: Japanese Patent Application Publication No. 2011-253241 Summary of the invention

[0005] However, in driving assistance technology, it is a problem to properly perform driving assistance when there is a dangerous driving spot for the vehicle. The purpose of this application is to solve the above-mentioned problem and properly perform assistance related to the dangerous driving spot of the vehicle. Moreover, it also contributes to the development of a sustainable transportation system.

[0006] In a first aspect of the present invention, an assisting device is provided. The assisting device includes a receiving unit that receives information indicating a driving hazard point sent from the outside of a vehicle. The assisting device includes a calculating unit that calculates the distance and direction from the vehicle to the driving hazard point based on the driving hazard point and the current position of the vehicle. The assisting device includes a detecting unit that detects the driving hazard point within a detection range set in front of the traveling direction of the vehicle. The assisting device includes an assisting control unit that performs driving assistance when the driving hazard point is detected within the detection range. The assisting device includes a turning detecting unit that detects when the vehicle is turning. The assisting device includes a range changing unit that expands the detection range in the turning direction of the vehicle when the turning detecting unit detects that the vehicle is turning.

[0007] In the above-mentioned auxiliary device, it can be configured that, when the turning detection unit detects that the vehicle is turning, the range change unit expands the detection range in the turning direction of the vehicle by adding a second detection range to the first detection range set when the turning detection unit detects that the vehicle is not turning.

[0008] In any of the above-mentioned assistance devices, when the turn detection unit detects that the vehicle is turning, the range changing unit may be configured to expand the detection range more toward the turning direction of the vehicle as the turning radius of the vehicle is smaller.

[0009] In any of the above-mentioned support devices, when the turn detection unit detects that the vehicle is turning, the range changing unit may set a point defining the second detection range to a position closer to a center of the turn than the first detection range.

[0010] In any of the above-mentioned assistance devices, it can be configured that, when the turning detection unit detects that the vehicle is turning, the smaller the turning radius of the vehicle is, the range changing unit sets the point defining the second detection range to a position closer to the center of the turn than the first detection range.

[0011] In any of the above-mentioned support devices, when the turn detection unit detects that the vehicle is turning, the range changing unit may set the point defining the second detection range farther from the vehicle as the speed of the vehicle increases.

[0012] In any of the above-mentioned assistance devices, it may be configured that the first detection range is set longer in the traveling direction of the vehicle as the speed of the vehicle is faster.

[0013] In any of the above-mentioned assistance devices, the turning detection unit may be configured to detect the turning radius based on at least any one of a yaw rate and a vehicle speed, a steering angle, a lateral acceleration, and position information based on GNSS.

[0014] According to a second aspect of the present invention, a vehicle is provided. The vehicle includes any one of the above-mentioned assist devices.

[0015] In a third aspect of the present invention, a method is provided. The assisting method includes a step of receiving information indicating a driving hazard point transmitted from the outside of a vehicle. The assisting method includes a step of calculating the distance and direction from the vehicle to the driving hazard point based on the driving hazard point and the current position of the vehicle. The assisting method includes a step of detecting the driving hazard point within a detection range set in front of the direction of travel of the vehicle. The assisting method includes a step of performing driving assistance when the driving hazard point is detected within the detection range. The assisting method includes a step of detecting a situation in which the vehicle is turning. The assisting method includes a step of expanding the detection range in the turning direction of the vehicle when it is detected that the vehicle is turning.

[0016] According to a fourth aspect of the present invention, there is provided a program that causes a computer to function as any one of the above-mentioned supporting devices.

[0017] In addition, the above summary of the invention does not list all the features of the present invention. In addition, a sub-combination of these feature groups may also be an invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The following schematically shows a usage scenario of the auxiliary device 40 according to one embodiment.

[0019] Figure 2 Detection range 120 is shown which is set when vehicle 20 is traveling on curve 72 .

[0020] Figure 3 The system configuration of the vehicle 20 is shown.

[0021] Figure 4 This is a diagram for explaining a first detection range 100 that is set when the vehicle 20 is traveling straight.

[0022] Figure 5 This is a diagram for explaining a detection range 120 that is set when the vehicle 20 turns.

[0023] Figure 6 An example of a flowchart related to the support method executed by the support device 40 is shown.

[0024] Figure 7 An example of a computer 2000 is shown. DETAILED DESCRIPTION

[0025] Hereinafter, the present invention will be described by way of the embodiments of the invention, but the following embodiments do not limit the claimed invention. In addition, not all combinations of features described in the embodiments are essential to the solution means of the invention.

[0026] Figure 1 The following schematically shows a usage scenario of the assist device 40 according to one embodiment. The vehicle 20 is provided with the assist device 40. The vehicle 21 is provided with the assist device 41. The assist device 40 and the assist device 41 have a driving assist function of performing control related to driving assist of each vehicle.

[0027] The vehicle 21 is a preceding vehicle traveling ahead of the travel path of the vehicle 20. The support device 40 and the support device 41 can transmit, to the other vehicles, driving risk point information indicating a point that may be dangerous to the driving of the other vehicles.

[0028] In the present embodiment, a method is described in which the auxiliary device 40 performs control related to driving assistance for the vehicle 20 when receiving driving hazard location information sent by the auxiliary device 41. For example, when the magnitude of the deceleration of the vehicle 21 exceeds a predetermined value, the auxiliary device 41 can send driving hazard location information indicating the location where the magnitude of the deceleration exceeds the predetermined value to surrounding vehicles. The driving hazard location information can be, for example, a message for an emergency electronic brake light (EEBL). When the auxiliary device 41 detects that the vehicle 21 is skidding, it can send driving hazard location information indicating the location of the skidding to surrounding vehicles. Driving assistance can be, for example, an alarm about the existence of an object that becomes an obstacle to the driving of the vehicle (for example, an alarm indicating the presence of a vehicle ahead, an accident vehicle / broken vehicle alarm (PCW), etc.). The driving hazard location information can be information sent to the auxiliary device 40 from a server other than other vehicles.

[0029] exist Figure 1 In the case where the vehicle 21 suddenly decelerates during driving, the assist device 41 transmits the location Q where the sudden deceleration occurred as driving risk location information to surrounding vehicles. The driving risk location information may include, for example, latitude and longitude information and speed information of the location where the sudden deceleration occurred.

[0030] Assume that the vehicle 20 is traveling on a straight road 70. When receiving the driving hazard location information, the assist device 40 sets a first detection range 100, which is a range for detecting the driving hazard location. The first detection range 100 is a range that is located ahead of the vehicle 20 relative to the current position P of the vehicle 20 along the traveling direction of the vehicle 20. The first detection range 100 is, for example, a rectangular range.

[0031] When the driving risk location indicated by the received driving risk location information is within the first detection range 100, the assisting device 40 performs driving assist. Figure 1 As shown, the assist device 40 performs driving assistance because the point Q, which is a driving hazard point, exists within the first detection range 100. The assist device 40 may not perform driving assistance when the driving hazard point is not within the detection range, and may perform driving assistance when the driving hazard point enters the detection range according to the movement of the vehicle 20.

[0032] When performing driving assistance, even when receiving new driving risk point information from another vehicle, the assistance device 40 may continue to perform driving assistance until the vehicle 20 passes the point Q without performing driving assistance based on the information indicating the new driving risk point.

[0033] When a driving risk point is detected, the assist device 40 may transmit driving risk point information indicating the detected driving risk point to the outside of the vehicle 20. When a driving risk point is detected, the assist device 40 may not perform driving assistance in the vehicle 20.

[0034] Figure 2 The detection range 120 set when the vehicle 20 is traveling on the curve 72 is shown. When the vehicle 20 is detected to be turning based on the traveling speed and yaw rate of the vehicle 20, the assist device 40 sets the second detection range 110, and sets the range obtained by adding the second detection range 110 to the first detection range 100 as the detection range 120 for detecting the driving hazard point. The second detection range 110 is a range located on the turning direction side of the vehicle 20 relative to the first detection range 100. For example, Figure 2 As shown, when the vehicle 20 makes a right turn, the second detection range 110 is located on the right side of the vehicle 20 relative to the first detection range 100 .

[0035] Thus, when the vehicle 20 turns, the detection range can be expanded in the direction along the turning direction of the vehicle 20, compared with when the vehicle 20 is traveling straight. Thus, it is possible to prevent the occurrence of a failure in detecting the point Q which is a driving hazard point.

[0036] Figure 3 The system configuration of the vehicle 20 is shown. The vehicle 20 includes a sensor 29 , an assist device 40 , a communication device 250 , and an alarm device 270 .

[0037] The sensor 29 includes a yaw rate sensor 24, a GNSS receiver 25, a vehicle speed sensor 26, etc. The vehicle speed sensor 26 detects the speed of the vehicle 20. The yaw rate sensor 24 detects the yaw rate of the vehicle 20. The GNSS receiver 25 obtains the current position information of the vehicle 20 through the global navigation satellite system (GNSS). For example, the alarm device 270 is a device with an HMI (Human Machine Interface) function. The communication device 250 is responsible for communication with the outside of the vehicle 20. The communication device 250 performs vehicle-to-vehicle communication through direct communication such as PC 5. The communication device 250 can communicate through a mobile communication base station to communicate with other vehicles. The communication device 250 has a receiving unit 251 and a sending unit 252.

[0038] The auxiliary device 40 includes a processing unit 200 and a storage unit 290. The processing unit 200 is implemented by, for example, a calculation processing device including a processor. The storage unit 290 is implemented by including a non-volatile storage medium. The processing unit 200 performs processing using information stored in the storage unit 290. The processing unit 200 can be implemented by an ECU (Electronic Control Unit) having a microcomputer including a CPU, ROM, RAM, I / O, and a bus.

[0039] The processing unit 200 includes a calculation unit 210 , a range change unit 220 , a detection unit 230 , and an assist control unit 240 .

[0040] The receiving unit 251 receives information indicating a dangerous driving point transmitted from the outside of the vehicle 20. For example, the receiving unit 251 receives the dangerous driving point information transmitted from the support device 41 provided in the vehicle 21.

[0041] The calculation unit 210 calculates the distance and direction from the vehicle 20 to the driving risk point based on the driving risk point and the current position of the vehicle 20. The detection unit 230 detects the driving risk point within a detection range set ahead of the vehicle 20 in the traveling direction.

[0042] When a driving hazard location is detected within the detection range, the auxiliary control unit 240 performs driving assistance. For example, the auxiliary control unit 240 notifies the occupants of the vehicle 20 of the existence of the driving hazard location through the HMI function of the alarm device 270. In addition, the auxiliary control unit 240 can assist the driving of the vehicle 20 itself. The auxiliary control unit 240 can assist in controlling the driving speed of the vehicle 20. The auxiliary control unit 240 can assist in steering the vehicle 20.

[0043] The turning detection unit 222 detects that the vehicle 20 is turning. The turning detection unit 222 detects that the vehicle 20 is turning based on information detected by the yaw rate sensor 24 and the vehicle speed sensor 26. When the turning detection unit 222 detects that the vehicle 20 is turning, the range changing unit 220 expands the detection range in the turning direction of the vehicle 20.

[0044] When the turn detection unit 222 detects that the vehicle 20 is turning, the range changing unit 220 expands the detection range in the turning direction of the vehicle 20 by adding the second detection range 110 to the first detection range 100 set when the turn detection unit 222 detects that the vehicle 20 is not turning.

[0045] When the turning detection unit 222 detects that the vehicle 20 is turning, the range changing unit 220 may further expand the detection range in the turning direction of the vehicle 20 as the turning radius of the vehicle 20 is smaller.

[0046] When the turning detection unit 222 detects that the vehicle 20 is turning, the range changing unit 220 sets the point defining the second detection range 110 to a position closer to the center of the turn than the first detection range 100 .

[0047] When the turning detection unit 222 detects that the vehicle 20 is turning, the range changing unit 220 sets the point defining the second detection range 110 to a position closer to the center of the turn than the first detection range 100 as the turning radius of the vehicle 20 is smaller. The turning detection unit 222 may detect the turning radius based on at least one of the speed and yaw rate of the vehicle 20, the steering angle, the lateral acceleration, and the position information based on the GNSS.

[0048] When the turn detector 222 detects that the vehicle 20 is turning, the range changer 220 sets the point defining the second detection range 110 farther from the vehicle 20 as the speed of the vehicle 20 increases. The first detection range 100 is set longer in the direction of travel of the vehicle 20 as the speed of the vehicle 20 increases.

[0049] When it is detected that the location where the vehicle 20 is traveling is dangerous, the transmission unit 252 transmits the driving dangerous location information indicating the detected driving dangerous location to the outside of the vehicle 20. For example, when the transmission unit 252 detects a deceleration exceeding a predetermined value in the vehicle 20, the transmission unit 252 transmits the driving dangerous location information indicating the location where the deceleration exceeding the predetermined value is detected to the outside of the vehicle 20. When the transmission unit 252 detects an object such as a pedestrian that is dangerous to the driving of the vehicle around the vehicle 20, the transmission unit 252 may transmit the driving dangerous location information indicating the location where the detected object exists to the outside of the vehicle 20. When skidding is detected by the ABS function of the vehicle 20, the transmission unit 252 may transmit the driving dangerous location information indicating the location where the skidding is detected to the outside of the vehicle 20.

[0050] When performing driving assistance, even if the receiving unit 251 receives information indicating a new driving risk point, the assist control unit 240 may continue driving assistance until the vehicle 20 passes the driving risk point, thereby suppressing driving assistance based on the information indicating the new driving risk point.

[0051] Figure 4 1 is a diagram for explaining a first detection range 100 set when the vehicle 20 travels straight. The first detection range 100 is a rectangular range defined by point P1, point P2, point P3, and point P4.

[0052] Point P1 and point P2 are points set on both sides of the current position P of the vehicle 20 with respect to the traveling direction of the vehicle 20. Point P1 is a point set on the left side of the current position P with respect to the traveling direction of the vehicle 20. Point P2 is a point set on the right side of the current position P. Point P1 and point P2 are set so that the line connecting point P1 and point P2 is orthogonal to the traveling direction. The distance between point P1 and point P2 can be set to a predetermined length. Point P1 and point P2 can be set based on the width of the lane of the vehicle 20. The distance between point P1 and point P2 can be set to be at least longer than the width of the lane of the vehicle 20.

[0053] Point P3 is set at a position away from point P1 by L1 in the traveling direction of the vehicle 20. Point P4 is set at a position away from point P2 by L1 in the traveling direction of the vehicle 20. L1 is set according to the speed of the vehicle 20. The faster the speed of the vehicle 20, the longer L1 is set. When the vehicle 20 decelerates at a predetermined deceleration rate, L1 is set to be longer than the distance traveled by the vehicle 20 before the speed of the vehicle 20 is decelerated to the predetermined speed.

[0054] The detection unit 230 determines whether the location Q is included in the first detection range 100 based on the distance and direction from the vehicle 20 to the location Q as the driving hazard location calculated by the calculation unit 210 and the current position P of the vehicle 20. When the location Q is included in the first detection range 100, the assist control unit 240 performs driving assistance. For example, the assist control unit 240 notifies the occupants of the vehicle 20 of information about the location Q through the alarm device 270.

[0055] Figure 5 1 is a diagram for explaining the detection range 120 set when the vehicle 20 turns. The turning detection unit 222 detects that the vehicle 20 is turning based on the yaw rate detected by the yaw rate sensor 24 and the speed detected by the vehicle speed sensor 26 .

[0056] When the turning detection unit 222 detects that the vehicle 20 is turning, the range changing unit 220 sets the point P5 defining the second detection range 110 to a position shifted from the point P4 in the turning direction. Figure 5 In the example of , the range changing unit 220 sets the point P5 on the right side of the point P4 with respect to the traveling direction of the vehicle 20 .

[0057] Specifically, the range changing unit 220 calculates the radius of curvature R of the turn of the vehicle 20 based on the yaw rate detected by the yaw rate sensor 24 and the speed detected by the vehicle speed sensor 26. The range changing unit 220 sets a circle C having a radius R passing through the current position P of the vehicle 20. The range changing unit 220 sets a point P5' that advances L1 from the current position P of the vehicle 20 along the circle C. For example, if the turning center of the vehicle 20 is set to O, the range changing unit 220 calculates the point P5' by calculating the angle θ formed by P0-P5' based on the radius of curvature and L1.

[0058] The range changing unit 220 sets point P5 on a straight line passing through point P4 and point P5'. The range changing unit 220 may set the distance between point P4 and point P5 to a predetermined distance. The range changing unit 220 may set the distance between point P4 and point P5 based on the width of the lane of the vehicle 20. The range changing unit 220 may set the distance between point P4 and point P5 to be at least longer than the width of the lane of the vehicle 20. The range changing unit 220 sets the range of a polygon defined by point P1, point P2, point P5, point P4, and point P3 as the detection range 120.

[0059] Thus, when the vehicle 20 turns, the detection range can be expanded in the turning direction of the vehicle 20 compared to when the vehicle 20 is traveling straight. Thus, when the vehicle 20 turns, the detection of the point Q which is a driving hazard point ahead in the traveling direction can be prevented from failing.

[0060] According to the combination Figure 5 The setting method of the point P5 described above is that the smaller the turning radius R, the larger the angle θ. Therefore, the smaller the turning radius R, the more the point P5 can be set inside the first detection range 100 in the turning direction. In other words, the smaller the turning radius, the more the point P5 can be set at a position closer to the turning center O than the first detection range 100. In this way, the smaller the turning radius R, the wider the second detection range 110 can become in the turning direction of the vehicle 20. In this way, the range changing unit 220 can set the second detection range 110 according to the turning radius of the vehicle 20, so that when the vehicle 20 turns, the detection failure of the point Q, which is a driving hazard point ahead in the traveling direction, can be avoided.

[0061] Figure 6 An example of a flowchart related to the assist method executed by the assist device 40 is shown. The processing of this flowchart is repeatedly executed in the vehicle 20. The processing of this flowchart may be executed after receiving the driving risk location information. The processing of this flowchart may be repeatedly executed after receiving the driving risk location information.

[0062] In S602, the range changing unit 220 sets the rectangular first detection range 100 corresponding to the speed of the vehicle 20 as the detection range. The first detection range 100 is set longer along the traveling direction of the vehicle 20 as the speed of the vehicle 20 increases.

[0063] In S604, the turning detection unit 222 obtains the turning information of the vehicle 20. For example, the turning detection unit 222 obtains information indicating the yaw rate and the vehicle speed from the sensor 29. The turning detection unit 222 may also obtain the time change of the steering angle, lateral acceleration, and position information of the vehicle 20 based on GNSS as the turning information of the vehicle 20.

[0064] In S606, the turn detection unit 222 determines whether the vehicle 20 is turning based on the turn information. If it is determined in S606 that the vehicle 20 is not turning, it is determined in S612 whether the location Q is within the detection range set in S602. If it is determined that the location Q is within the detection range set in S602, driving assistance is performed in S614, and the processing of this flowchart ends.

[0065] When it is determined in S606 that the vehicle 20 is turning, in S608, the range change unit 220 sets the second detection range 110 according to the curvature radius R of the turn. In S610, the range change unit 220 sets the first detection range 100 and the second detection range 110 as the detection range. Next, in S612, it is determined whether the location Q exists within the detection range set in S610. If it is determined that the location Q exists within the detection range set in S610, driving assistance is performed in S614, and the processing of this flowchart ends.

[0066] According to the assisting device 40 described above, when the vehicle 20 turns, the detection range of the driving danger point can be set wider in the direction of the turn. Therefore, the detection range can be set not too large, and the possibility of failure of the driving assist operation can be reduced. As a result, the information of the points that may become dangerous during the driving of the vehicle 20, such as the point where the preceding vehicle suddenly decelerates or the point where the preceding vehicle skids, can be more appropriately notified to the occupants of the vehicle 20.

[0067] In the present embodiment, information on dangerous driving locations is sent and received through inter-vehicle communication. However, a form may be adopted in which a server is also provided for maintaining dangerous driving locations information. For example, when the server receives dangerous driving location information sent from each vehicle, it may maintain the dangerous driving location indicated by the dangerous driving location information for a predetermined period of time. The server may also send the maintained information indicating the dangerous driving location to the vehicle traveling toward the dangerous driving location. Vehicles traveling at a position far away from other vehicles where the dangerous driving location is detected may sometimes be unable to receive dangerous driving location information through inter-vehicle communication, but by providing a server for maintaining dangerous driving location information, the dangerous driving location information can be provided to the vehicle more reliably.

[0068] In addition, the vehicle 20 is a vehicle as an example of a transportation device. The vehicle may be a car having an internal combustion engine, an electric car, a fuel cell vehicle (FCV), or the like. Cars include buses, trucks, two-wheeled vehicles, and the like. The vehicle may be a saddle-type vehicle, or a motorcycle. As transportation devices, in addition to vehicles, there are also devices such as aircraft including unmanned aerial vehicles and ships. The transportation device may be any device that transports people or goods. The transportation device is an example of a mobile body. The mobile body may be any movable device, and is not limited to the transportation device.

[0069] Figure 7 An example of a computer 2000 that can fully or partially embody multiple embodiments of the present invention is shown. The program installed in the computer 2000 can cause the computer 2000 to function as a system or each unit of the system involved in the embodiment, or as a device such as the auxiliary device 40 or each unit of the device, perform operations associated with the system, each unit of the system, the device or each unit of the device, and / or perform a process or steps of the process involved in the embodiment. Such a program can be executed by the CPU 2012 in order to cause the computer 2000 to perform the processing flow described in this specification and specific operations associated with some or all of the functional blocks in the block diagram.

[0070] The computer 2000 according to the present embodiment includes a CPU 2012 and a RAM 2014, which are connected to each other via a main controller 2010. The computer 2000 further includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the main controller 2010 via the input / output controller 2020.

[0071] The CPU 2012 operates according to the programs stored in the ROM 2026 and the RAM 2014 , thereby controlling each unit.

[0072] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000. The ROM 2026 stores a startup program executed by the computer 2000 when activated, and / or a program dependent on the hardware of the computer 2000. The input / output chip 2040 can also connect various input / output units such as a keyboard, a mouse, and a monitor to the input / output controller 2020 via an input / output port such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, and an HDMI (registered trademark) port.

[0073] The program is provided via a computer-readable storage medium such as a CD-ROM, DVD-ROM, or a USB flash drive, or a network. RAM 2014, ROM 2026, or flash memory 2024 is an example of a computer-readable storage medium. The program is installed in flash memory 2024, RAM 2014, or ROM 2026 and executed by CPU 2012. The information processing described in these programs is read by computer 2000, and the cooperation between the program and the various types of hardware resources described above is realized. The device or method can be constructed by implementing the operation or processing of information in accordance with the use of computer 2000.

[0074] For example, when the computer 2000 communicates with an external device, the CPU 2012 may execute a communication program loaded into the RAM 2014, and based on the processing described in the communication program, instruct the communication interface 2022 to perform communication processing. Under the control of the CPU 2012, the communication interface 2022 reads the transmission data stored in the transmission buffer processing area provided in the RAM 2014 and the recording medium such as the flash memory 2024, transmits the read transmission data to the network, and writes the reception data received from the network to the reception buffer processing area provided on the recording medium.

[0075] In addition, the CPU 2012 can read all or a necessary part of a file or database stored in a recording medium such as the flash memory 2024 to the RAM 2014, and execute various processes on the data in the RAM 2014. The CPU 2012 then writes the processed data back to the recording medium.

[0076] Various types of information such as programs, data, tables, and databases can be saved to a recording medium and applied to information processing. CPU2012 can perform various operations, information processing, conditional judgment, conditional branching, unconditional branching, information retrieval / replacement, etc., which are specified by the instruction sequence of the program, on the data read from RAM2014, and write the results back to RAM2014. In addition, CPU2012 can retrieve information in files, databases, etc. in the recording medium. For example, when multiple items having attribute values ​​of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, CPU2012 can retrieve an item that specifies the attribute value of the first attribute and is consistent with the condition from the multiple items, read the attribute value of the second attribute stored in the item, and thereby obtain the attribute value of the second attribute associated with the first attribute that meets the pre-set condition.

[0077] The program or software module described above can be stored in a computer-readable storage medium on or near the computer 2000. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium. The program stored in the computer-readable storage medium can be provided to the computer 2000 via a network.

[0078] The programs installed in the computer 2000 and causing the computer 2000 to function as the auxiliary device 40 can be run in the CPU 2012 or the like, thereby causing the computer 2000 to function as each unit of the auxiliary device 40. The information processing described in these programs is read into the computer 2000, thereby functioning as specific units in which software and the various hardware resources described above cooperate, that is, each unit of the auxiliary device 40. And, by realizing the calculation or processing of information corresponding to the purpose of use of the computer 2000 in this embodiment using these specific units, a unique auxiliary device 40 corresponding to the purpose of use is constructed.

[0079] Various embodiments are described with reference to block diagrams, etc. In the block diagram, each functional block may represent (1) a step of a process for performing an operation or (2) each unit of a device having the function of performing an operation. Specific steps and each unit may be implemented by a dedicated circuit, a programmable circuit supplied together with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied together with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc., including memory elements.

[0080] The computer-readable storage medium may include any tangible device capable of storing instructions to be executed by an appropriate device, and as a result, the computer-readable storage medium having the instructions stored therein constitutes at least a part of a product containing instructions executable to implement a unit for performing the operations specified in the process flow or block diagram. As examples of computer-readable storage media, electrical storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. may be included. As more specific examples of computer-readable storage media, floppy disks (registered trademark), floppy disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), electrically erasable programmable read-only memories (EEPROM), static random access memories (SRAM), compact disk read-only memories (CD-ROM), digital versatile disks (DVD), Blu-ray (registered trademark) optical disks, memory sticks, integrated circuit cards, etc. may be included.

[0081] Computer-readable instructions may include assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine delegate instructions, microcode, firmware instructions, state setting data, or any source code or object code described in any combination of one or more programming languages ​​including object-oriented programming languages ​​such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages.

[0082] Computer readable instructions are provided to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device via a local or local area network (LAN), a wide area network (WAN) such as the Internet, and the computer readable instructions can be executed to implement a unit for performing the operations specified in the described processing flow or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0083] The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above embodiments. It is obvious from the description of the claims that such changes or improvements can also be included in the technical scope of the present invention.

[0084] Regarding the execution order of each process of actions, processes, steps, and steps in the devices, systems, programs, and methods shown in the claims, specifications, and drawings, it should be noted that there is no special indication of "before", "preceding", etc., and in addition, as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. For the action flow in the claims, specifications, and drawings, even if "first", "next", etc. are used for convenience, it does not mean that it must be implemented in such an order.

[0085] [Description of Reference Numerals]

[0086] 20 vehicles

[0087] 29 Sensors

[0088] 24 Yaw rate sensor

[0089] 25GNSS receiver

[0090] 26 Vehicle speed sensor

[0091] 40 auxiliary devices

[0092] 100 First detection range

[0093] 110 Second detection range

[0094] 120 detection range

[0095] 200 Processing Department

[0096] 210 Computing Department

[0097] 220 Scope Change Department

[0098] 222 Turn detection unit

[0099] 230 Detection Department

[0100] 240 Auxiliary Control Unit

[0101] 250 communication device

[0102] 251 Receiving Department

[0103] 252 Sending Department

[0104] 270 alarm device

[0105] 290 Storage Department

[0106] 2000 Computer

[0107] 2010 Main Controller

[0108] 2012CPU

[0109] 2014 RAM

[0110] 2020 Input / Output Controller

[0111] 2022 Communication Interface

[0112] 2024 Flash

[0113] 2026ROM

[0114] 2040 input / output chips.

Claims

1. An auxiliary device, characterized in that: have: a receiving unit that receives information indicating a driving hazard location transmitted from outside the vehicle; a calculation unit that calculates a distance and a direction from the vehicle to the driving risk location based on the driving risk location and the current position of the vehicle; a detection unit configured to detect the driving hazard location within a detection range set in front of the vehicle in the traveling direction; an assist control unit for performing driving assistance when the driving risk location is detected within the detection range; a turning detection unit, which detects that the vehicle is turning; as well as A range changing unit is configured to expand the detection range in a turning direction of the vehicle when the turning detection unit detects that the vehicle is turning.

2. The auxiliary device according to claim 1, wherein: When the turn detection unit detects that the vehicle is turning, the range changing unit expands the detection range in the turning direction of the vehicle by adding a second detection range to a first detection range that is set when the turn detection unit detects that the vehicle is not turning.

3. The auxiliary device according to claim 1 or 2, wherein: When the turning detection unit detects that the vehicle is turning, the range changing unit expands the detection range more toward the turning direction of the vehicle as the turning radius of the vehicle is smaller.

4. The auxiliary device according to claim 2, wherein: When the turn detection unit detects that the vehicle is turning, the range changing unit sets a point defining the second detection range to a position closer to a center of the turn than the first detection range.

5. The auxiliary device according to claim 4, wherein: When the turning detection unit detects that the vehicle is turning, the range changing unit sets the point defining the second detection range to a position closer to the center of the turn than the first detection range as the turning radius of the vehicle is smaller.

6. The auxiliary device according to claim 5, wherein: When the turning detection unit detects that the vehicle is turning, the range changing unit sets the point defining the second detection range to be farther from the vehicle as the speed of the vehicle increases.

7. The auxiliary device according to claim 6, wherein: The faster the speed of the vehicle is, the longer the first detection range is set in the traveling direction of the vehicle.

8. The auxiliary device according to claim 3, wherein: The turning detection unit detects the turning radius based on at least any one of a yaw rate and a vehicle speed, a steering angle, a lateral acceleration, and position information based on GNSS.

9. A vehicle, characterized in that: A support device according to any one of claims 1 to 8.

10. An auxiliary method, characterized in that: have: The step of receiving information indicating a driving hazard location transmitted from outside the vehicle; The step of calculating the distance and the direction from the vehicle to the driving hazard location based on the driving hazard location and the current position of the vehicle; The step of detecting the driving hazard location within a detection range set in front of the vehicle in the direction of travel; A step of performing driving assistance when the driving hazard location is detected within the detection range; The step of detecting a situation where the vehicle is turning; as well as The step of expanding the detection range in the turning direction of the vehicle when it is detected that the vehicle is turning.

11. A computer-readable storage medium, characterized in that: A program for causing a computer to function as the assisting device according to any one of claims 1 to 8 is stored.

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