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

Abstract

The invention relates to a driving assistance apparatus, a driving assistance method, a computer-readable storage medium, and a computer program product. Techniques are provided that facilitate further improvement of preventive safety techniques 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; and a calculation means that determines whether or not the host vehicle interferes with the other vehicle traveling on the calculated travel path, and, if it is determined that the host vehicle interferes with the other vehicle, generates a notification signal for notifying the situation, when there is a preceding vehicle traveling in the same direction as the host vehicle between the host vehicle and the other vehicle, the arithmetic unit is disabled.

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 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] Means used to solve problems 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. 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; and a computing unit for determining whether the host vehicle interferes with the other vehicle traveling along the calculated traveling path, and generating a notification signal for notifying the situation when it is determined that the host vehicle interferes with the other vehicle; When there is a leading vehicle between the host vehicle and the other vehicle and the leading vehicle is traveling in the same direction as the host vehicle, the calculation unit is disabled.

[0006] Another aspect of the present invention relates to a method for driving assistance of a vehicle capable of communicating with other vehicles. The method comprises: a step of calculating a travel path of the other vehicle based on a communication result with the other vehicle; and determining whether the host vehicle interferes with the other vehicle traveling along the calculated traveling path, and generating a notification signal for notifying the situation when it is determined that the host vehicle interferes with the other vehicle, When there is a leading vehicle traveling in the same direction as the host vehicle between the host vehicle and the other vehicle within a range of a predetermined distance from the host vehicle, the step of making the determination and generating the notification signal is disabled.

[0007] According to the present invention, preventive safety technology that can be used for driving assistance is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a diagram showing an example of a system configuration of a vehicle according to an embodiment.

[0009] Figure 2A This is a diagram for explaining one form of driving assistance.

[0010] Figure 2B This is a diagram for explaining one form of driving assistance.

[0011] Figure 3A This is a diagram for explaining one form of driving assistance.

[0012] Figure 3B This is a diagram for explaining one form of driving assistance.

[0013] Figure 4A This is a diagram for explaining one form of driving assistance.

[0014] Figure 4B This is a diagram for explaining one form of driving assistance.

[0015] Figure 5A This is a diagram for explaining one form of driving assistance.

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

[0017] Fig. 6A This is a diagram for explaining one form of driving assistance.

[0018] Figure 6B This is a diagram for explaining one form of driving assistance.

[0019] Figure 7 This is a flowchart showing the control contents of the driving assistance device.

[0020] 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

[0021] 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.

[0022] (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.

[0023] 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 .

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] (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.

[0030] - 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 opposite lane 41 that allows travel in the opposite direction to the lane 40. In the figure, lanes 42 and 43 are arranged to intersect with lanes 40 and 41, and the position of the intersection is shown as an intersection 44.

[0031] 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 ).

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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).

[0037] ‐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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] - 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.

[0044] 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.

[0045] ‐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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] (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 cause trouble to the driver, so it is considered to suppress part or all of the driving assistance. OB1 / 9 OB2 In an appropriate road traffic environment such as causing chaos, the suppression of the driving assistance should also be partially retained.

[0051] Below, several scenarios are discussed and controls that can appropriately implement driving assistance are described.

[0052] ‐First example Figure 4A As a first example, in the oncoming vehicle 9 OB1 When driving in lane 41, Figure 2A Similarly, the front vehicle 9 that is in front of the vehicle 1 and is traveling in the same direction as the vehicle 1 in the lane 40 is OB3 Here, the front vehicle 9 OB3 Assuming that vehicles existing within the range from the host vehicle 1 to the predetermined distance can generally be required to maintain a larger inter-vehicle distance as the vehicle speed increases, the predetermined distance may be set based on the vehicle speed of the host vehicle 1 .

[0053] In this example, there is a front vehicle 9 between the host vehicle 1 and the oncoming vehicle 9OB1. OB3 Therefore, it is difficult to generate a collision between the host vehicle 1 and the oncoming vehicle 9. OB 1 direct intervention, it can be said that the object that the driver should pay attention to is the vehicle in front 9 OB3 .

[0054] In this case, due to the reference Figure 2A 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.

[0055] ‐Second example Figure 4B As a second example, oncoming vehicle 9 OB1 When driving in lane 41, Figure 2B Similarly, if there is a front vehicle 9 in front of the vehicle 1 OB3 The situation is expressed in a manner that

[0056] In this case, the front car 9 OB3 The vehicle 1 should be in the same way as the oncoming vehicle 9. OB1 After starting and turning left, the vehicle 1 is in a state of restraint until then. Therefore, it is difficult to cause a collision between the vehicle 1 and the oncoming vehicle 9. OB1 Direct interference, it can be said that the object that the driver should pay attention to is the vehicle in front OB3 .

[0057] In this case, due to the reference Figure 2B The example and the notification expressed may unnecessarily call the driver's attention, so the generation of the aforementioned notification signal or the execution of the interference prediction itself may be suppressed.

[0058] ‐Third Example Figure 5A As a third example, the vehicle 9 is crossing ahead OB2 When driving in lane 42, Figure 3A Similarly, if there is a front vehicle 9 in front of the vehicle 1 OB3 The situation is expressed in a certain way.

[0059] In this example, the vehicle 1 and the front crossing vehicle 9 OB2 There is a car ahead 9 OB3 Therefore, it is difficult to cause the host vehicle 1 and the front crossing vehicle 9 OB2 Direct interference, it can be said that the object that the driver should pay attention to is the vehicle in front OB3 .

[0060] In this case, refer to Figure 3A The example and the notification expressed may unnecessarily call the driver's attention, so the generation of the aforementioned notification signal or the execution of the interference prediction itself may be suppressed.

[0061] ‐Case 4 Figure 5B As a fourth example, the vehicle 9 is crossing ahead OB2 When driving in lane 42, Figure 3B Similarly, if there is a front vehicle 9 in front of the vehicle 1 OB3 The situation is expressed in a manner that

[0062] In this case, the front car 9 OB3 Similar to the vehicle 1, the vehicle 9 crossing in front should OB2 After the vehicle 1 passes, it starts to go straight, and the vehicle is in a state of restraint until then. Therefore, it is difficult to cause a collision between the vehicle 1 and the front crossing vehicle 9. OB2 Direct interference, it can be said that the object that the driver should pay attention to is the vehicle in front OB3 .

[0063] In this case, refer to Figure 3B The example and the notification expressed may unnecessarily call the driver's attention, so the generation of the aforementioned notification signal or the execution of the interference prediction itself may be suppressed.

[0064] (Detection and judgment of the vehicle ahead) In the first to fourth examples, the vehicle 1 and the front vehicle 9 are also considered.OB3 In this case, the driver still needs to pay attention to the difference between the vehicle 1 and other vehicles (oncoming vehicles 9 OB1 and / or a crossing vehicle ahead 9 OB2 ) interference, it is therefore preferable to perform the generation of the aforementioned notification signal.

[0065] Front car 9 OB3 The driving path of the vehicle ahead can be obtained by the communication device 14 OB3 The driving information can be calculated based on the vehicle ahead. OB3 Confirmed car ahead 9 OB3 Part or all of the information representing the driving route itself may be acquired by the communication device 14 .

[0066] In the following example, based on the driving path of the host vehicle 1 and the preceding vehicle 9 OB3 The relative position of the vehicle 1 on the driving path is determined by determining the relative position of the vehicle 1 and the vehicle ahead 9. OB3 Are the travel paths different from each other?

[0067] Fig. 6A To the car ahead 9 OB3 The vehicle body reference line L9 at a certain time overlaps or intersects with the driving path Rt of the host vehicle 1. Here, for ease of understanding, the driving path Rt is a straight line.

[0068] In this case, based on the travel path Rt of the host vehicle 1 and the travel path Rt of the front vehicle 9 OB3 The angle θ formed by the vehicle body reference line L9 satisfies the reference, and the vehicle 1 and the front vehicle 9 are judged. OB3 For example, when the angle θ is greater than the reference angle θ REF Large case (θ>θ REF In the case of OB3 The driving paths are different from each other. REF Small case (θ<θ REF In the case of θ, it can be determined that these driving paths are the same. REF The case (θ = θ REF ), it can be set to any judgment result.

[0069] In addition, the front car 9 OB3 The vehicle body reference line L9 is typically aligned with the front vehicle 9 OB3 The center line of the vehicle body corresponds to the center line of the vehicle body, and can be communicated with from the front vehicle 9 through the communication device 14. OB3 Get.

[0070] Figure 6B The driving path Rt of the vehicle 1 and the driving path Rt of the vehicle ahead 9 OB3 The state where the vehicle body reference line L9 does not overlap is represented.

[0071] In this case, based on the travel path Rt of the host vehicle 1 and the travel path Rt of the front vehicle 9 OB3 Whether the shortest distance L between the vehicle body reference line L9 satisfies the reference is determined by OB3 For example, if the distance L is longer than the reference L, REF Large case (L>L REF In the case of OB3 The travel paths are different. When the distance L is longer than the reference REF Small case (L<L REF In the case of L, it can be determined that these driving paths are the same. REF The case (L = L REF ), it can be set to any judgment result.

[0072] In addition, the reference length L REF For example, it can be a fixed value such as 1 meter, or it can be a variable value based on the lane width (for example, a value specified in the range of 0.1 to 1 times the lane width). In this case, the lane width can be detected by the detection device described later (such as an on-board camera). In this case, the magnification can be changed according to the width of the shoulder.

[0073] As another example, the above determination adopts Figures 6A-6B The judgment criteria (reference angle θ) shown in the example REF And the reference length L REF ) The above determination can be made by comparing the two.

[0074] In fact, the travel path Rt is not a straight line, but can be curved according to the steering angle of the host vehicle 1. In this case, the curved travel path Rt is not directly connected to the front vehicle 9. OB3 The portion corresponding to the vehicle body reference line L9 can be approximated to a straight line by calculation processing such as averaging processing. OB3 The above-mentioned determination of whether the travel routes are different from each other can use the approximate straight line generated in this way.

[0075] (Control content of driving assistance) Figure 7This flowchart shows the control contents of the driving assistance device 16 when executing driving assistance according to the present embodiment. This flowchart starts, for example, when the vehicle 1 is started and becomes drivable, and the contents of each step can be realized mainly by the CPU 16a executing a program.

[0076] In step S7010 (hereinafter simply referred to as “S7010”. The same applies to other steps described below), it is determined whether there is another vehicle 9 OB1 and / or 9 OB2 This determination can be made based on the communication result of the communication device 14. OB1 and / or 9 OB2 If the vehicle is determined to be “yes”, the process proceeds to S7020. OB1 and / or 9 OB2 (“No” determination), proceed to S7010.

[0077] In S7020, it is determined whether there is a vehicle ahead 9 OB3 This determination can be made based on the communication result of the communication device 14. OB3 If the judgment is "yes", the process proceeds to S7030. After confirming that there is no vehicle ahead, OB3 (“No” determination), proceed to S7040.

[0078] In S7030, it is determined whether the vehicle 1 and the front vehicle 9 are OB3 Are the driving paths different from each other? Figures 6A-6B ). Between the vehicle 1 and the front vehicle 9 OB3 If the driving routes are different from each other (if the determination is "Yes"), the process proceeds to S7040, and if the driving routes are the same (if the determination is "No"), the process proceeds to S7050.

[0079] Different calculation processes can be performed in S7040 and S7050.

[0080] In the calculation process of S7040, refer to Figures 2A to 3B The content of the description is mainly: (a) Calculate other vehicles 9 OB1 and / or 9 OB2 Driving path; (b) calculating the driving path of the vehicle 1; (c) Determine whether the vehicle 1 is adjacent to another vehicle 9 OB1 and / or 9 OB2 interference occurs; and (d) When it is determined that the own vehicle 1 and other vehicles 9OB1 and / or 9 OB2 When interference occurs, a sound source signal Sig15a and an image signal Sig15b are generated as notification signals.

[0081] In the calculation process of S7050, refer to Figures 4A to 5B The contents of the description are as follows, and the calculation processing of S7040 is at least partially omitted and limited. That is, when there is a front vehicle 9 that has the same driving path as the vehicle 1, OB3 Compared with the case where there is no front car 9 OB3 Disable operation processing in the case of

[0082] As an example, in the calculation process of S7050, in the above (d), if it is determined that the own vehicle 1 and the other vehicle 9 OB1 and / or 9 OB2 When interference occurs, the image signal Sig15b is generated as a notification signal, and the generation of the sound source signal Sig15a is suppressed. OB1 and / or 9 OB2 Even when interference occurs, generation of either the sound source signal Sig15a or the image signal Sig15b can be suppressed. Unnecessary notification by the notification signal may be disabled, and as another example, the above (c) may be omitted, and the above (a) and / or (b) may also be omitted.

[0083] As described above, according to the present embodiment, the driving assistance device 16 calculates the driving path of the other vehicle (the oncoming vehicle 9OB1 and / or the front crossing vehicle 9OB2) based on the communication result with the other vehicle obtained by the communication device 14, and determines whether the host vehicle 1 interferes with the other vehicle. If it is determined that the host vehicle 1 interferes with the other vehicle, a predetermined notification signal is generated and output to the notification device 15. On the other hand, there is a front vehicle 9OB1 with the same driving path in front of the host vehicle 1. OB3 In the case of a vehicle failure, the calculation process including the execution of the above determination and the generation of the notification signal is disabled. Thus, it is possible to provide driving assistance that is more comfortable for the driver without unnecessary notification to the driver. Therefore, according to this embodiment, it is beneficial to improve the preventive safety technology that can be used for driving assistance.

[0084] The host vehicle 1 communicates with the front vehicle 9 via the communication device 14. OB3 communication, which can achieve the front vehicle 9 OB3 However, instead of or in addition to this, a detection device capable of detecting an object around the vehicle 1 may be provided on the vehicle 1 to detect the vehicle 9 in front. OB3As 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.

[0085] The above detection device can also detect other vehicles 9 OB1 and 9 OB2 Therefore, when the vehicle 1 is also 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 conducive to realizing appropriate driving assistance as soon as possible, diversifying the content of driving assistance, and further conducive to providing a high level of driving assistance.

[0086] 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.

[0087] 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".

[0088] (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: A calculation unit (e.g., 16a, S7040 (a)), which calculates the travel path of the other vehicle based on the communication result with the other vehicle; and a computing unit (e.g., 16a, (c) and (d) of S7040) 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. There is a leading vehicle (for example, 9 OB3 ), the computing unit is disabled (e.g., 16a, S7050). Thus, unnecessary notifications are not made to the driver, and a more comfortable driving assistance can be provided for the driver, which is beneficial to improving preventive safety technologies that can be used for driving assistance.

[0089] Second, it is characterized by: When the leading vehicle exists between the host vehicle and the other vehicle, the calculation unit suppresses generation of the notification signal, thereby suppressing unnecessary notification to the driver.

[0090] Third, it is characterized by: The notification signal includes: A sound source signal (such as Sig15a), which is used to notify the position information of the other vehicle through the sound source device; and An image signal (eg Sig15b) for notifying the position information of the other vehicle via a display device, When the leading vehicle exists between the own vehicle and the other vehicle, the calculation unit suppresses generation of the sound source signal and generates the image signal. Thus, notification to the driver can be kept to a necessary minimum.

[0091] Fourth, it is characterized in that: The calculation unit further calculates a travel path (for example, Rt) of the host vehicle based on information indicating the position, speed, and steering angle of the host vehicle. When the leading vehicle is located at a position that is greater than or equal to the driving path reference of the host vehicle, the calculation unit makes the determination and generates the notification signal based on the determination result. Thus, when there is an unexpected leading vehicle, appropriate notification can be made.

[0092] Fifth, it is characterized in that: The calculation unit further calculates the driving path of the preceding vehicle based on the communication result with the preceding vehicle, and further calculates the driving path of the host vehicle (for example, Rt) based on the information indicating the position, speed and steering angle of the host vehicle, When the driving path of the leading vehicle is different from the driving path of the own vehicle, the calculation unit performs the determination and generates the notification signal based on the result of the determination. Thus, when there is an unexpected leading vehicle, notification is appropriately performed.

[0093] Sixth, a method is a method for driving assistance 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; and determining whether the host vehicle interferes with the other vehicle traveling along the calculated traveling path, and generating a notification signal for notifying the situation when it is determined that the host vehicle interferes with the other vehicle, When there is a leading vehicle traveling in the same direction as the host vehicle between the host vehicle and the other vehicle within a predetermined distance from the host vehicle, the step of making the determination and generating the notification signal is disabled.

[0094] Seventh, 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 result of communication with the other vehicle; and 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 if it is determined that the host vehicle interferes with the other vehicle; When there is a front vehicle between the host vehicle and the other vehicle and traveling in the same direction as the host vehicle within a predetermined distance from the host vehicle, the determination is disabled and the notification signal is generated. Thus, the same effect as the first one described above is obtained. The program can be stored in a computer-readable storage medium. In addition, the program can be applied to a computer program product.

[0095] 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; as well as a computing unit for determining whether the host vehicle interferes with the other vehicle traveling along the calculated traveling path, and generating a notification signal for notifying the situation when it is determined that the host vehicle interferes with the other vehicle; The arithmetic unit is disabled when there is a leading vehicle traveling in the same direction as the host vehicle within a predetermined distance from the host vehicle.

2. The driving assistance device according to claim 1, characterized in that: The calculation unit suppresses generation of the notification signal when the leading vehicle exists between the host vehicle and the other vehicle.

3. The driving assistance device according to claim 2, characterized in that: The notification signal includes: A sound source signal, which is used to notify the position information of the other vehicle through a sound source device; an image signal for notifying the position information of the other vehicle through a display device, When the leading vehicle exists between the own vehicle and the other vehicle, the calculation unit generates the image signal while suppressing generation of the sound source signal.

4. The driving assistance device according to claim 1, characterized in that: The calculation unit further calculates a travel path of the host vehicle based on information indicating the position, speed, and steering angle of the host vehicle, When the leading vehicle is located at a position that is more than a distance from a travel path reference of the host vehicle, the calculation unit performs the determination and generates the notification signal based on a result of the determination.

5. The driving assistance device according to claim 1, characterized in that: The calculation unit further calculates the driving path of the leading vehicle based on the communication result with the leading vehicle, and further calculates the driving path of the host vehicle based on the information indicating the position, speed and steering angle of the host vehicle, When the travel path of the leading vehicle is different from the travel path of the host vehicle, the calculation unit performs the determination and generates the notification signal based on the result of the determination.

6. A method for driving assistance of 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; and determining whether the host vehicle interferes with the other vehicle traveling along the calculated traveling path, and generating a notification signal for notifying the situation when it is determined that the host vehicle interferes with the other vehicle, When there is a leading vehicle traveling in the same direction as the host vehicle between the host vehicle and the other vehicle within a range of a predetermined distance from the host vehicle, the step of making the determination and generating the notification signal is disabled.

7. 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 6 are implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program or instruction is executed by a processor, the steps of the method according to claim 6 are implemented.

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