Driving assistance apparatus, method, computer readable storage medium, and computer program product

Abstract

The present invention relates to a driving assistance device, a method, and a program, and provides a technique that facilitates further improvement of a preventive safety technique that can be used for driving assistance. This driving assistance device is mounted in a vehicle capable of communicating with another vehicle, and is provided with: a calculation means for calculating a travel path of the other vehicle on the basis of the result of communication with the other vehicle; a calculation means for determining whether or not the host vehicle interferes with the other vehicle traveling on the calculated travel path, and generating a notification signal for notifying the situation when it is determined that the host vehicle interferes with the other vehicle; and a determination unit that determines a state of a shift range of the host vehicle, the calculation unit being disabled when the shift range determined by the determination unit suppresses travel of the host vehicle.

Description

Technical Field

[0001] The present invention mainly relates to a vehicle-mounted driving assistance device. Background Art

[0002] Recently, there has been an emerging effort to provide a sustainable transportation system that takes into account vulnerable groups among traffic participants. In order to achieve this system, research and development involving preventive safety technologies is being widely conducted to further improve the safety and convenience of transportation.

[0003] Prior art literature Patent Document 1: Japanese Patent Application Publication No. 2022-61482 Summary of the invention Problems to be solved by the invention In a vehicle, driving assistance is achieved by performing inter-vehicle communication for communicating with other vehicles (see Patent Document 1), and further improvement of preventive safety technology that can be used for driving assistance is generally required.

[0004] An exemplary object of the present invention is to provide a technology that is conducive to further improving preventive safety technology that can be used for driving assistance.

[0005] One aspect of the present invention relates to a driving assistance device, which is a driving assistance device mounted on a vehicle capable of communicating with other vehicles, and is characterized in that: The driving assistance device comprises: a calculation unit that calculates a travel path of the other vehicle based on a communication result with the other vehicle; a calculation unit for determining whether the host vehicle interferes with the other vehicle traveling along the calculated travel path, and generating a notification signal for notifying the situation when it is determined that the host vehicle interferes with the other vehicle; and a determining unit, which determines a state of a gear shift position of the host vehicle, The operation unit is disabled in a case where the speed shift position determined by the determination unit inhibits travel of the host vehicle.

[0006] Another aspect of the present invention relates to a method, which is a method of driving assistance in relation to a vehicle capable of communicating with other vehicles, characterized in that: The method comprises: a step of calculating a travel path of the other vehicle based on a communication result with the other vehicle; A step of determining whether the host vehicle interferes with the other vehicle traveling along the calculated traveling route, and if it is determined that the host vehicle interferes with the other vehicle, generating a notification signal for notifying the situation; and The step of determining the state of the gear shift position of the vehicle, When the determined gear shift position inhibits the travel of the host vehicle, the step of making the determination and generating the notification signal is disabled.

[0007] Another aspect of the present invention relates to a computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the above method are implemented.

[0008] Another aspect of the invention relates to a computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the above method are implemented.

[0009] Effects of the Invention According to the present invention, preventive safety technology that can be used for driving assistance is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a diagram showing an example of a system configuration of a vehicle according to an embodiment.

[0011] Figure 2A This is a diagram for explaining one form of driving assistance.

[0012] Figure 2B This is a diagram for explaining one form of driving assistance.

[0013] Figure 3A This is a diagram for explaining one form of driving assistance.

[0014] Figure 3B This is a diagram for explaining one form of driving assistance.

[0015] Figure 4 It is a diagram showing a typical example of the gear shift position of a vehicle.

[0016] Figure 5 This is a diagram for explaining one form of driving assistance.

[0017] Figure 6 This is a flowchart showing the control contents of the driving assistance device.

[0018] Description of Reference Numerals 1: Vehicle; 12: Driving operating device; 13: Position detection device; 14: Communication device; 15: Notification device; 16: Driving assistance device. DETAILED DESCRIPTION

[0019] Hereinafter, the embodiments are described in detail with reference to the accompanying drawings. In addition, the following embodiments do not limit the invention involved in the technical solution. In addition, the combination of features described in the embodiments is not all necessary for the invention. Two or more of the multiple features described in the embodiments can be combined arbitrarily. In addition, the same or similar configurations are marked with the same reference numerals, and repeated descriptions are omitted.

[0020] (Example of vehicle system configuration) Figure 1 1 shows a vehicle 1 according to an embodiment. The vehicle 1 is a four-wheeled vehicle having two front wheels and two rear wheels as wheels 11, but the number of wheels 11 is not limited to this example, and may be a two-wheeled vehicle or a three-wheeled vehicle, for example. In addition, the vehicle 1 is a riding type vehicle in this embodiment, but may be a straddle type vehicle as another embodiment.

[0021] In the present embodiment, the vehicle 1 further includes a driving operation device 12 , a position detection device 13 , a communication device 14 , a notification device 15 , and a driving support device 16 .

[0022] The driving operation device 12 includes an acceleration operation member 12a, a brake operation member 12b, a steering operation member 12c, and a speed change operation member 12d, which are respectively arranged near the driver's seat that can be touched by the driver. The acceleration operation member 12a is configured to receive an operation input from the driver for accelerating the vehicle 1 or maintaining the vehicle 1, and an accelerator pedal can be used as a typical example. The brake operation member 12b is configured to receive an operation input from the driver for decelerating the vehicle 1 or stopping the vehicle 1, and a brake pedal can be used as a typical example. The steering operation member 12c is configured to receive an operation input from the driver for turning the vehicle 1 or changing the direction of travel, and a steering wheel can be used as a typical example. The speed change operation member 12d is configured to receive an operation input from the driver for changing the transmission ratio of the transmission in the power transmission mechanism that transmits the power of the power source to the wheels 11, and a shift lever can be used as a typical example. In addition, other known structures such as push-button switches can be used for the operation members 12a to 12d.

[0023] The position detection device 13 is a sensor capable of detecting and determining the position information of the vehicle 1, and a GPS (Global Positioning System) sensor can be typically used. In addition, the position detection device 13 is set as a device for detecting the position of the vehicle 1 in absolute coordinates, and can also be a device for detecting the relative position of the vehicle 1 relative to a reference position.

[0024] The communication device 14 is configured to enable signal transmission and reception with other vehicles through so-called inter-vehicle communication (in order to distinguish the vehicle 1 from other vehicles, the vehicle 1 may be referred to as the host vehicle 1 in the following description). Details of the communication content will be described later.

[0025] The notification device 15 includes a sound source device 15a and a display device 15b. The sound source device 15a is configured to generate a predetermined notification sound to the driver, and a known device such as a speaker for the driver to recognize by hearing may be used. The display device 15b is configured to display image information to the driver, and a known device such as a liquid crystal display that the driver can recognize by vision may be used. Details of the notification content will be described later.

[0026] The driving assistance device 16 includes a CPU (central processing unit) 16a and a memory 16b. The CPU 16a loads and executes a predetermined program on the memory 16b, thereby realizing the driving assistance function described later. The driving assistance device 16 can be composed of an ASIC (application-specific integrated circuit). That is, the driving assistance function can be realized by either hardware or software, or can be assembled into a semiconductor device through a circuit, or can be executed based on the instruction of a computer through a processor accompanied by a memory.

[0027] (Example of driver assistance function) The driving assistance performed by the driving assistance device 16 is set to instruct the driver to directly / indirectly assist the driving. In the present embodiment, the driving assistance device 16 predicts interference with other vehicles based on the communication results obtained by the communication device 14, creates map information as needed, and performs predetermined notifications through the notification device 15, thereby enabling driving assistance.

[0028] - Interference prediction based on communication with oncoming vehicles Figure 2A Indicates that the oncoming vehicle 9 OB1 The interference prediction method of the other vehicle is taken as an example. The lane in which the host vehicle 1 is traveling is the host vehicle lane 40, and the oncoming vehicle 9 OB1 The vehicle travels in the oncoming lane 41 which allows traveling in the opposite direction to the lane 40. In the figure, lanes 42 and 43 which are oncoming lanes intersect with the lanes 40 and 41, and the intersection position is shown as an intersection 44.

[0029] In this example, lane 41 is located on the left side of lane 40 , but these positional relationships may be reversed depending on the country or region (the same applies to lanes 42 and 43 ).

[0030] The host vehicle 1 receives the information from the oncoming vehicle 9 through the communication device 14. OB1The driving information is acquired, and the driving assistance device 16 performs a predetermined operation based on the driving information, such as calculating the speed of the oncoming vehicle 9. OB1 As the driving path of the oncoming vehicle 9 OB1 Examples of driving information include, for example, information indicating the oncoming vehicle 9 OB1 The information of the position, speed and steering angle of the vehicle may also include information indicating whether there is input to the throttle opening, direction indicator, etc. OB1 Confirmed oncoming vehicle 9 OB1 Part or all of the information representing the driving route itself can be acquired by the communication device 14.

[0031] The driving assistance device 16 also receives position information of the host vehicle 1 from the position detection device 13 and information indicating the content of operation input to the driving operation device 12 by the driver from the driving operation device 12 , and calculates the travel path of the host vehicle 1 based on the information.

[0032] The driving assistance device 16 obtains the information of the oncoming vehicle 9 in this way. OB1 The driving path of the vehicle 1 and the driving path of the oncoming vehicle 9 are used to communicate with the oncoming vehicle 9. OB1 The prediction is based on the calculation of the interference between the vehicle 1 and the oncoming vehicle 9. OB1 The timing of interference can be determined based on whether the interference occurs within a predetermined time from the current timing. For example, when both vehicles maintain their speed, the prediction can be made based on whether the time until the two vehicles come into contact, i.e., the collision margin time (TTC (Time To Collision)) is less than a reference value. The prediction can also be made based on other known calculation models as other examples.

[0033] In this embodiment, the vehicle 1 and the oncoming vehicle 9 OB1 When the TTC of the vehicle 1 and the oncoming vehicle 9 is less than the reference value, it is determined that the vehicle 1 and the oncoming vehicle 9 OB1 When it is determined that the host vehicle 1 and the oncoming vehicle 9 OB1 When interference occurs, the driving assistance device 16 generates a signal indicating the possibility of the interference, and outputs the signal as a notification signal to the notification device 15. The notification signal referred to here includes a sound source signal Sig15a for notification through the sound source device 15a, and an image signal Sig15b for notification through the display device 15b. The sound source device 15a generates a predetermined sound based on the sound source signal Sig15a, and the display device 15b outputs a predetermined image based on the image signal Sig15b, thereby enabling the driver to recognize the possibility of the above-mentioned interference.

[0034] The interference prediction is mainly performed by the CPU 16a in the driving assistance device 16, and the possibility is determined, confirmed or calculated regardless of the size. Therefore, the prediction can also be said to be a determination, confirmation or calculation (the same applies to other predictions described later).

[0035] ‐Generation of map information based on communication with oncoming vehicles In the case where the host vehicle 1 does not have map data (for example, in the case where the memory 16b of the driving assistance device 16 does not store map data, or in the case where no map data is stored in other storage devices), the vehicle 1 is not in the same manner as the oncoming vehicle 9. OB1 In order to predict the interference of the map data, other information can be generated and registered instead of the map data. The other information that can be generated is expressed as generated map information in the following description.

[0036] The generated map information is generated as information mainly showing the position of the intersection 44, and the position of the intersection 44 corresponds to the oncoming vehicle 9 OB1 The track that has been passed is the intersection of the other vehicle's running track and the track that the host vehicle 1 has passed afterwards, that is, the host vehicle's running track.

[0037] Figure 2B As an example, in the case of the oncoming vehicle 9 OB1 After passing the side of the host vehicle 1, the host vehicle 1 starts and turns left. In the case of a state where the travel of the host vehicle 1 is suppressed (for example, when the host vehicle 1 is substantially stopped, or when the host vehicle 1 can be stopped quickly (for example, when the speed is below 20 [km / h])), the driving assistance device 16 sets the set area R1 on the front side of the host vehicle 1. The set area R1 is set to a predetermined relative position based on the position information of the host vehicle 1 acquired by the position detection device 13, for example, it can be set to a position at a predetermined angle and a predetermined distance from the body of the host vehicle 1. When the travel suppression of the host vehicle 1 is released, the set area R1 is also released. When the travel of the host vehicle 1 is suppressed again, the set area R1 can be reset to the corresponding position at that time point.

[0038] Oncoming car 9 OB1 When the vehicle passes through the set area R1, the set area R1 is fixed and the oncoming vehicle 9 OB1 Even when the travel restriction of the host vehicle 1 is released after passing through, the fixed set area R1 is maintained. OB1The position information of the intersection point RtX can be stored and registered in the memory 16b as generated map information indicating the position of the intersection 44.

[0039] The fixed setting area R1 can be released by registering the generated map information and / or can be released by the host vehicle 1 moving away from the setting area R1 by more than a reference.

[0040] The driving assistance device 16 can refer to the generated map information thus obtained, thereby enabling the host vehicle 1 to determine the location of the intersection 44 even when it does not have map data, and can generate the aforementioned notification signal as needed to alert the driver. The generated map information can be expressed as intersection location information. In addition, even if the driving inhibition of the host vehicle 1 is released during such calculation processing, the reference Figure 2A To express, it is possible to properly execute the oncoming vehicle 9 OB1 Interference prediction.

[0041] - Interference prediction based on communication with the vehicle crossing ahead Figure 3A As another example of other vehicles, a vehicle crossing ahead 9 is shown. OB2 The interference prediction method. OB2 Assume that the vehicle is traveling in lane 42. In this example, it is also possible to Figure 2A That is, the driving assistance device 16 performs interference prediction based on the information of the front crossing vehicle 9 acquired by the communication device 14. OB2 The driving information of the vehicle crossing ahead is calculated OB2 The driving path of the host vehicle 1 is calculated based on the information obtained from the position detection device 13 and the driving operation device 12.

[0042] Based on the thus acquired forward crossing vehicle 9 OB2 The driving path of the vehicle 1 and the driving path of the host vehicle 1 are checked by the driving assistance device 16. OB2 The interference prediction of the vehicle 1 and the front crossing vehicle 9 OB2 When the TTC of the vehicle 1 is less than the reference value, it is determined that the vehicle 1 is in contact with the front crossing vehicle 9. OB2 The driving assistance device 16 outputs the notification signal to the notification device 15 regarding the interfering vehicle. This allows the driver to recognize the possibility of the interference.

[0043] ‐Generation of map information based on the vehicle crossing ahead Figure 3BAs an example, the vehicle 1 crosses the front of the vehicle 9. OB2 The situation when the vehicle starts and goes straight after passing in front of the host vehicle 1. In the state where the travel of the host vehicle 1 is suppressed, the driving assistance device 16 sets the set area R2 in front of the host vehicle 1. The set area R2 is set separately from the set area R1. In addition, similar to the set area R1, when the travel suppression of the host vehicle 1 is released, the set area R2 is also released. When the travel of the host vehicle 1 is suppressed again, the set area R2 can be reset to the corresponding position at that time point.

[0044] Crossing car ahead 9 OB2 When the set area R2 is passed, the set area R2 is fixed, and the vehicle 9 crossing in front OB2 After passing through, even when the travel restriction of the host vehicle 1 is released, the fixed set area R2 is maintained. Thereafter, when the host vehicle 1 travels straight and passes through the fixed set area R2, the front crossing vehicle 9 is presented. OB2 The position information of the intersection RtX can be stored and registered in the memory 16b as generated map information indicating the position of the intersection 44.

[0045] The fixed setting area R2 can be released by registering the generated map information and / or can be released by the host vehicle 1 being more than a certain distance from the setting area R2.

[0046] The driving assistance device 16 can generate the above-mentioned notification signal based on the generated map information thus acquired to call the driver's attention. In addition, if the driving inhibition of the host vehicle 1 is also released during such calculation processing, refer to Figure 3A Describe and appropriately execute the action with the front crossing vehicle 9 OB2 Interference prediction.

[0047] The above-mentioned several driving assistances can be performed regardless of whether there are traffic lights in the intersection 44, but can be particularly helpful in improving convenience in the absence of traffic lights.

[0048] (About suppressing unnecessary driving assistance) Sometimes, part or all of the above driving assistance may become unnecessary depending on the situation. In such a case, the driving assistance may annoy the driver, so it is considered to suppress part or all of the driving assistance. On the other hand, in order to achieve an appropriate road traffic environment such as avoiding confusion for other vehicles, the suppression of the driving assistance should also be partially retained.

[0049] As an example, in the case where the shift gear position of the transmission that can be changed by the shift position of the shift operating member 12d in the vehicle 1 (hereinafter, for the sake of convenience, referred to as the shift gear position of the vehicle 1) inhibits the movement of the vehicle 1, it is considered that the vehicle 1 is not normally intended to start. In such a case, the above-mentioned driving assistance can be suppressed, for example, compared with the case where the shift gear position of the transmission that cannot be changed by the shift position of the shift operating member 12d in the vehicle 1 (hereinafter, for the sake of convenience, referred to as the shift gear position of the vehicle 1) inhibits the movement of the vehicle 1, the calculation processing related to the interference prediction with other vehicles can be disabled.

[0050] Figure 4 For ease of understanding, the following gears are listed as typical examples of gear shift positions when considering an AT (automatic transmission) vehicle: Maintaining the vehicle 1 in a park (P) position; The vehicle 1 is set to the reverse (R) gear position in which the vehicle 1 can move backward; A neutral (N) gear position that cuts off the transmission path of power to the wheels 11; and The forward (D) range position enables the vehicle 1 to move forward.

[0051] In the P position, both forward and reverse movement of the vehicle 1 can be suppressed regardless of whether there is an operation input to the accelerator operating member 12a. Therefore, the P position can be called a shift position for suppressing the movement of the vehicle 1 (movement is a concept that includes forward and reverse movement).

[0052] In the R position, the forward movement of the vehicle 1 is suppressed, while the vehicle 1 moves backward by the operation input to the accelerator operating member 12a, that is, the R position suppresses the forward movement of the vehicle 1 and allows the backward movement. Here, the driving assistance involved in this embodiment can be mainly used when the vehicle 1 moves forward. Therefore, although the details will be described later, the R position can be called a gear shift position for suppressing the movement of the vehicle 1 in one aspect.

[0053] In the N position, when the road surface is level, the vehicle 1 is inhibited from moving, and when the road surface is inclined, the vehicle 1 may move in the direction of the inclination. Therefore, the N position can be referred to as a shift position that does not actively allow the vehicle 1 to move, but does not inhibit the vehicle 1 from moving.

[0054] In addition, in the D position, the vehicle 1 moves forward by the operation input to the accelerator operation member 12a. Therefore, the D position can be referred to as a shift position that allows the vehicle 1 to move forward.

[0055] In addition, as examples of other additional gear shift positions, a sports gear (S gear) or a second gear (2 gear) utilizing engine braking, and a brake gear (B gear) or a low gear (L gear) further utilizing engine braking are listed. These are all gear shift positions that allow the vehicle 1 to move forward, and for the sake of convenience of explanation, they are set as gears included in the concept of the D gear position.

[0056] According to the above viewpoint, in the case of the P position, it is generally considered that the vehicle 1 is not intended to start. In such a case, it is difficult to believe that the vehicle 1 approaches and interferes with other vehicles (or other objects) through the driving operation of the driver. Figures 2A to 3B The notification expressed by the example of may unnecessarily call the driver's attention, so the generation of the aforementioned notification signal is suppressed. Suppressing the generation of the notification signal includes partial suppression, that is, suppressing the generation of the sound source signal Sig15a in the sound source signal Sig15a and the image signal Sig15b, and the generation of the image signal Sig15b can be performed. As another example, in such a case, the execution of the interference prediction itself can be suppressed, in which case, the generation of both the sound source signal Sig15a and the image signal Sig15b is suppressed.

[0057] As mentioned above, the driving assistance involved in this embodiment can be mainly applied to the case where the vehicle 1 is moving forward, so in the case of the R gear, the above notification may also unnecessarily remind the driver's attention. Therefore, in the case of the R gear, like the P gear, the generation of the notification signal or the execution of the interference prediction itself can be suppressed.

[0058] On the other hand, in the case of the N gear, it cannot be said that there is no intention to start the vehicle 1. In addition, in the case of the D gear, it can be said that there is an intention to start the vehicle 1. Therefore, in these cases, interference prediction with other vehicles is appropriately performed, and a notification signal can be generated as needed.

[0059] To summarize the above, in the case where the gear shift position inhibits the movement of the vehicle 1, the driving assistance involved in the present embodiment may annoy the driver of the vehicle 1. Therefore, in such a case, the generation of the above-mentioned notification signal or the execution of the interference prediction itself is suppressed, and the calculation processing involved in the interference prediction with other vehicles can be at least partially suppressed.

[0060] Typical cases in which the above situation is assumed include a case where the vehicle 1 is in the P position and is stopped on the shoulder of the lane 40 , a case where the vehicle 1 is in the P position and is waiting for a traffic light in the lane 40 , and the like.

[0061] (Exceptional measures regarding the suppression of driving assistance) However, as described above, in order to achieve an appropriate road traffic environment, the suppression of driving assistance involved in the present embodiment may be partially maintained.

[0062] ‐First example Figure 5 The vehicle 1 is shown in a P position and stopped near an intersection 44. Usually, near an intersection 44, the driver of the vehicle 1 is required to OB1 and the crossing vehicle ahead 9 OB2 Therefore, in such an example, it is best to perform the driving assistance according to the present embodiment regardless of the gear position (for example, in the P position or the R position).

[0063] The vicinity of the intersection 44 referred to here is an area where attention is required to be paid to a wider range or multiple aspects. For example, this area is an area where attention is required not only to the front of the vehicle 1 but also to the left and right, and its size can be determined by a fixed value (e.g., 10 to 20 meters). Figure 2B 3B, and can be determined based on the generated map information when the generated map information is logged in by the same step.

[0064] To summarize the above, when the predetermined intersection 44 is located within a predetermined distance from the vehicle 1 (eg, within 10 to 20 meters), interference prediction is performed regardless of the gear position, that is, the calculation processing involved in the interference prediction with other vehicles is not disabled.

[0065] ‐Second example When the vehicle 1 in the P position is stopped and started, the driver usually changes the gear position to, for example, the D position, and then inputs some operation to the accelerator operating member 12a. Therefore, it cannot be said that the vehicle 1 is intended to start immediately by performing such a gear change, that is, it is difficult to think that the vehicle 1 immediately approaches and interferes with other vehicles by the gear change. Therefore, in this example, when the driving state of the vehicle 1 satisfies the conditions within a predetermined time from the change from the P position to the D position, the aforementioned driving assistance is performed and the interference prediction is performed.

[0066] The driving condition of the vehicle 1 referred to here is a condition that can be judged as an intention to start the vehicle 1. As a typical example, the case where the speed of the vehicle 1 is above a reference (e.g., 20 kilometers per hour, etc.) is listed. As another example, the condition where the accelerator opening of the vehicle 1 is above the reference may be used as an alternative / in addition.

[0067] The predetermined time referred to here may be set to the time that is usually required for the driver to change the gear position and input an operation to the accelerator operating element 12a when starting the stopped vehicle 1, and may be set to any value within the range of 1 to 10 seconds, for example.

[0068] In this example, the case where the gear shift position is changed from the P gear position to the D gear position is illustrated, but it is considered that the above situation is required not only when the vehicle 1 is moved forward, but also when the vehicle 1 is moved backward. Therefore, the above situation can also be applied to the case where the gear shift position is changed from the P gear position to the R gear position (the same is true in the following description). Therefore, to summarize the above, interference prediction can be performed based on the driving state of the vehicle 1 within a predetermined time after the gear shift position of the vehicle 1 is changed from inhibiting travel (for example, the P gear position) to allowing the travel (for example, the D gear position or the R gear position).

[0069] (Control content of driving assistance) Figure 6 This flowchart shows the control contents of the driving assistance device 16 when executing driving assistance according to the present embodiment. This flowchart is started, for example, when the vehicle 1 is started, and the contents of each step can be realized mainly by the CPU 16a executing a program.

[0070] In step S6010 (hereinafter simply referred to as "S6010". The same applies to other steps described later), it is determined whether the position of the intersection 44 is within the range of the predetermined distance from the vehicle 1. If the position of the intersection 44 is within the range of the predetermined distance from the vehicle 1, the process proceeds to S6130. If the position of the intersection 44 is not within the range of the predetermined distance from the vehicle 1, the process proceeds to S6020.

[0071] In S6020, the gear position of the vehicle 1 is determined to determine whether it is the P position. If it is the P position, the process proceeds to S6030, and if it is not the P position (here, the D position), the process proceeds to S6110. The determination of the gear position is achieved by acquiring a signal indicating the shift position of the gear shift operating member 12d from the driving operating device 12.

[0072] In S6030, the driver assistance operation mode is set to the disabled mode, and then the process returns to S6010. By setting the disabled mode, the calculation process related to the interference prediction with other vehicles is disabled, and the generation of the above-mentioned notification signal or the execution of the interference prediction itself is suppressed. In addition, if the disabled mode has been set or the disabled mode is set to the initial state, this step can be omitted.

[0073] In S6110, it is determined whether the time elapsed after the gear position is changed to the D position satisfies a reference (for example, an arbitrary value that can be determined within a range of 1 to 10 seconds). If the time elapsed satisfies the reference, the process proceeds to S6120, and if the time elapsed does not satisfy the reference, the process returns to S6010.

[0074] In S6120, it is determined whether the driving state of the vehicle 1 satisfies the condition. In this example, it is determined whether the speed of the vehicle 1 satisfies the benchmark (e.g., 20 kilometers per hour). If the speed satisfies the benchmark, the process proceeds to S6130. If the speed does not satisfy the benchmark, the process returns to S6010. That is, from the time when the gear position is changed to the D position until the speed of the vehicle 1 satisfies the benchmark, S6010, S6020, S6110, and S6120 are repeated. In addition, if the gear position is changed to the P position again during this period, S6010, S6020, and S6030 are repeated.

[0075] In S6130, the action mode of the driver assistance is set to the activation mode, and then the process returns to S6010. For example, when it is determined in S6010 that the position of the intersection 44 exists within the range of the predetermined distance from the vehicle 1, various precautions are required and the activation mode is set. In addition, for example, when it is determined in S6110 and S6120 that the speed of the vehicle 1 in the D gear position meets the reference, the vehicle 1 is intended to start and the activation mode is set. By setting the activation mode, the calculation processing involved in the interference prediction with other vehicles is activated, thereby performing the interference prediction and generating a notification signal as needed.

[0076] In the second example, the gear shift position is changed from the P position to the D position, and interference prediction is performed based on the driving state of the vehicle 1 within a predetermined time. OB1 (Reference Figure 2A ) and the vehicle crossing ahead 9 OB2 (Reference Figure 3A ), it is possible to request attention to the other vehicle without waiting for the driving state of vehicle 1 to satisfy the condition (the vehicle speed satisfies the reference in the second example).

[0077] Therefore, in such a case, the driver assistance operation mode is preferably quickly set to the active mode. Figure 6 Such a situation can be realized relatively simply by, for example, omitting S6110 and S6120 through interrupt processing based on detection of the presence of another vehicle by the communication device 14.

[0078] In addition, for detecting a crossing vehicle ahead 9 OB2In the case of the host vehicle 1 being located near the intersection 44, when the intersection 44 is determined, the driving assistance based on the first example described above can be given priority (see Figure 5 ).

[0079] As described above, according to the present embodiment, the driving assistance device 16 is based on the information obtained by the communication device 14 about the other vehicles (the oncoming vehicle 9 OB1 and / or a crossing vehicle ahead 9 OB2 ) and calculates the driving path of the other vehicle, and determines whether the vehicle 1 interferes with the other vehicle. When it is determined that the vehicle 1 interferes with the other vehicle, a predetermined notification signal is generated and output to the notification device 15. On the other hand, when the gear position of the vehicle 1 inhibits travel, since the vehicle 1 is usually not intended to start, the calculation processing including the execution of the above-mentioned determination and the generation of the notification signal is disabled. As a result, it is possible to provide driving assistance that is more comfortable for the driver without unnecessary notification to the driver. Therefore, according to the present embodiment, it is beneficial to improve the preventive safety technology that can be used for driving assistance.

[0080] The vehicle 1 communicates with other vehicles through the communication device 14, thereby realizing detection of other vehicles. Alternatively or additionally, a detection device capable of detecting objects around the vehicle 1 may be provided on the vehicle 1 to realize detection of the vehicle ahead 9. OB3 As a detection device, a camera composed of a CCD / CMOS image sensor can be used, but a distance measuring device such as LiDAR (Light Detection And Ranging) can also be used for millimeter wave radar.

[0081] When the vehicle 1 is further equipped with the above-mentioned detection device, the driving assistance device 16 can perform further driving assistance by being used in combination with the communication device 14. For example, the vehicle 1 can communicate with other vehicles outside the detection range of the above-mentioned detection device (or at a position that is a blind spot of the detection range) through the communication device 14. Therefore, according to the embodiment, it is advantageous to realize appropriate driving assistance as soon as possible, diversify the content of driving assistance, and further facilitate providing advanced driving assistance.

[0082] In the above description, for ease of understanding, each element is represented by a name related to the functional aspect of each element, and each element is not limited to the elements described in the embodiment as the main function, but can also be auxiliary. Therefore, each element is strictly not limited to its expression, and its expression can be replaced by the same expression. Under the same subject, the expression called "apparatus" can be replaced by "unit", "component, piece", "member", "structure", "assembly", etc., or can be omitted or added.

[0083] In addition, the two or more elements exemplified as selectable in the embodiment are not strictly limited to the exemplification, and can be arbitrarily combined. For example, each of the two or more elements exemplified can be selected additionally or alternatively. As an example, when two elements A and B are arbitrarily combined, it is set to represent only A, only B, or both A and B, and it can also be expressed as "A and / or B", and it can also be expressed as "at least one of A and B".

[0084] (Summary of implementation methods) Several features exemplified in the above embodiments are as follows: First, a driving assistance device (e.g., 16) is a driving assistance device mounted on a vehicle that can communicate with other vehicles (e.g., 9 OB1 , 9 OB2 ) of a communicating vehicle (eg 1), characterized in that, The driving assistance device comprises: Computing unit (e.g. 16a, Figures 2A to 3B ), which calculates the driving path of the other vehicle based on the communication result with the other vehicle; a calculation unit (e.g., 16a, S6130) for determining whether the host vehicle interferes with the other vehicle traveling along the calculated driving path, and generating a notification signal (e.g., Sig15a, Sig15b) for notifying the situation when it is determined that the host vehicle interferes with the other vehicle; and a determination unit (e.g., 16a, S6020), which determines the state of the gear shift position of the host vehicle, In the case where the gear shift position determined by the determination unit inhibits the travel of the host vehicle, the operation unit is disabled (e.g., 16a, S6030). Thus, unnecessary notifications are not made to the driver, and driving assistance that is more comfortable for the driver can be provided, which is conducive to improving preventive safety technologies that can be used for driving assistance.

[0085] Second, it is characterized by: When the speed range determined by the determination unit inhibits the travel of the host vehicle, the calculation unit inhibits generation of the notification signal based on the determination. This can inhibit unnecessary notification to the driver.

[0086] Third, it is characterized by: The calculation unit generates the notification signal based on the determination based on the running state of the host vehicle after the gear position of the host vehicle is changed from inhibiting the running of the host vehicle to allowing the running of the host vehicle. Thus, the intention of starting the host vehicle can be appropriately referred to.

[0087] Fourth, it is characterized in that: The gear shift position that allows the above-mentioned traveling includes the D position and the R position. Thus, driving assistance corresponding to both forward movement and reverse movement of the host vehicle can be provided.

[0088] Fifth, it is characterized in that: The driving state of the host vehicle includes the speed of the host vehicle. When the vehicle speed of the host vehicle is equal to or higher than a reference speed, the calculation unit generates the notification signal based on the determination. Thus, the intention of the host vehicle to start can be appropriately referred to.

[0089] Sixth, it is characterized in that: The driving state of the vehicle includes the throttle opening of the vehicle. When the accelerator opening of the host vehicle is equal to or greater than a reference, the calculation unit generates the notification signal based on the determination. Thus, the intention of the host vehicle to start can be appropriately referred to.

[0090] Seventh, it is characterized in that, When the position of a predetermined intersection (eg, 44) is within a predetermined distance from the host vehicle, the calculation unit generates the notification signal based on the determination, regardless of the gear position determined by the determination unit. Thus, more appropriate driving assistance can be provided.

[0091] Eighth, it is characterized in that: The calculation unit generates the notification signal based on the determination when the gear shift position of the host vehicle is changed from inhibiting the travel of the host vehicle to allowing the travel of the host vehicle. When an oncoming vehicle is present as the other vehicle in front of the host vehicle, the calculation unit generates the notification signal based on the determination based on the running state of the host vehicle. Thus, more appropriate driving assistance can be provided.

[0092] Ninth, it is characterized in that, The calculation unit further calculates the travel path of the host vehicle based on the gear position determined by the determination unit, The calculation unit generates the notification signal based on the determination based on the driving path of the host vehicle and the driving paths of the other vehicles. Thus, appropriate driving assistance can be provided with reference to the intention of the host vehicle to start.

[0093] Tenth, it is characterized in that, When the speed gear determined by the determination unit is the R gear, the calculation unit generates the notification signal based on the determination. That is, from the perspective of using driving assistance mainly when the vehicle is moving forward, the R gear that inhibits the vehicle from moving forward and allows the vehicle to move backward can also be called a speed gear for inhibiting the vehicle from moving forward, but when the vehicle is moving backward, appropriate driving assistance can also be provided.

[0094] 11. A method of driving assistance related to a vehicle capable of communicating with other vehicles, characterized in that: The method comprises: a step of calculating a travel path of the other vehicle based on a communication result with the other vehicle; A step of determining whether the host vehicle interferes with the other vehicle traveling along the calculated traveling route, and if it is determined that the host vehicle interferes with the other vehicle, generating a notification signal for notifying the situation; and The step of determining the state of the gear shift position of the vehicle, When the determined gear shift position inhibits the travel of the host vehicle, the step of performing the determination and generating the notification signal can achieve the same effect as the first effect.

[0095] 12. A program for causing a computer to perform driving assistance for a vehicle capable of communicating with other vehicles, the program causing the computer to execute the following: calculating a travel path of the other vehicle based on a communication result with the other vehicle; determining whether the host vehicle interferes with the other vehicle traveling along the calculated traveling path, and generating a notification signal for notifying the interference if it is determined that the host vehicle interferes with the other vehicle; and determining a state of a gear shift position of the host vehicle, When the determined gear shift position inhibits the travel of the host vehicle, the determination to generate the notification signal is disabled. Thus, the same effect as the first effect is obtained. The program can be stored in a computer-readable storage medium.

[0096] The present invention is not limited to the above-described embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

Claims

1. A driving assistance device mounted on a vehicle capable of communicating with other vehicles, characterized in that: The driving assistance device comprises: a calculation unit that calculates a travel path of the other vehicle based on a communication result with the other vehicle; a calculation unit for determining whether the host vehicle interferes with the other vehicle traveling along the calculated travel path, and generating a notification signal for notifying the situation when it is determined that the host vehicle interferes with the other vehicle; as well as a determining unit, which determines a state of a gear shift position of the host vehicle, The operation unit is disabled in a case where the speed shift position determined by the determination unit inhibits travel of the host vehicle.

2. The driving assistance device according to claim 1, characterized in that: The calculation unit suppresses generation of the notification signal based on the determination when the speed shift position determined by the determination unit inhibits travel of the host vehicle.

3. The driving assistance device according to claim 2, characterized in that: The calculation unit generates the notification signal based on the determination, based on the running state of the host vehicle after the gear shift position of the host vehicle is changed from inhibiting the travel of the host vehicle to allowing the travel.

4. The driving assistance device according to claim 3, characterized in that: The gear shift positions that allow the above-mentioned travel include the D position and the R position.

5. The driving assistance device according to claim 3, characterized in that: The driving state of the host vehicle includes the speed of the host vehicle. The calculation unit generates the notification signal based on the determination when the vehicle speed of the host vehicle is equal to or higher than a reference speed.

6. The driving assistance device according to claim 3, characterized in that: The driving state of the vehicle includes the throttle opening of the vehicle. The calculation unit generates the notification signal based on the determination when the accelerator opening degree of the host vehicle is equal to or greater than a reference value.

7. The driving assistance device according to claim 3, characterized in that: When the position of the predetermined intersection exists within a predetermined distance range from the host vehicle, the calculation unit generates the notification signal based on the determination, regardless of the gear shift position determined by the determination unit.

8. The driving assistance device according to claim 3, characterized in that: The calculation unit generates the notification signal based on the determination when the gear shift position of the host vehicle is changed from inhibiting the travel of the host vehicle to allowing the travel of the host vehicle. When an oncoming vehicle is present as the other vehicle in front of the host vehicle, the calculation unit generates the notification signal based on the determination based on the running state of the host vehicle.

9. The driving assistance device according to claim 3, characterized in that: The calculation unit further calculates the travel path of the host vehicle based on the gear position determined by the determination unit, The calculation unit generates the notification signal based on the determination based on the travel path of the host vehicle and the travel paths of the other vehicles.

10. The driving assistance device according to claim 1, characterized in that: The calculation unit generates the notification signal based on the determination when the speed shift position determined by the determination unit is the R position.

11. A method of driving assistance related to a vehicle capable of communicating with other vehicles, characterized in that: The method comprises: a step of calculating a travel path of the other vehicle based on a communication result with the other vehicle; A step of determining whether the host vehicle interferes with the other vehicle traveling along the calculated traveling route, and if it is determined that the host vehicle interferes with the other vehicle, generating a notification signal for notifying the situation; and The step of determining the state of the gear shift position of the vehicle, When the determined gear shift position inhibits the travel of the host vehicle, the step of making the determination and generating the notification signal is disabled.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 11 are implemented.

13. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to claim 11 are implemented.

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