Driving assistance device, driving assistance method, storage medium and program product

Abstract

The present invention provides a driving assistance device, a driving assistance method, a storage medium, and a program product, which are conducive to appropriately performing driving assistance for the vehicle. The driving assistance device includes a storage unit, an assistance unit, an acquisition unit, a determination unit, and an update unit. When there are surrounding vehicles in a first range in front of the vehicle, the determination unit uses the position where the vehicle is accelerated after decelerating to below a threshold or the position where the vehicle is temporarily stopped as a first reference position to perform an intersection determination action. When there are surrounding vehicles in a second range on the side of the vehicle, the determination unit uses the intersection of the predicted route of the vehicle and the predicted route of the surrounding vehicles as a second reference position to perform the intersection determination action.

Description

Technical Field

[0001] The present invention relates to a driving assistance device, a driving assistance method, a storage medium and a program product. Background Art

[0002] In recent years, efforts have been actively made to provide access to sustainable transportation systems that take into account people who are in a vulnerable position among traffic participants. Towards its realization, research and development related to preventive safety technologies are committed to further improving the safety and convenience of traffic. It is known that there are devices that provide driving assistance for preventing collisions with other vehicles (surrounding vehicles) without using map information. Patent document 1 discloses the following driving assistance device: the position information of the intersection where the driving trajectory of the vehicle intersects the driving trajectory of other vehicles is pre-registered in a storage unit, and driving assistance is provided for the vehicle when passing through the intersection again. Patent document 2 discloses a technology for generating intersection feature data representing the characteristics of the intersection using driving trajectory data outside the intersection.

[0003] Prior art literature Patent Literature Patent Document 1: Japanese Patent No. 7054636 Patent Document 2: Japanese Patent Application Publication No. 2019-105684 Summary of the invention Problems to be solved by the invention The driving assistance device can determine the risk position where the vehicle may collide with other vehicles based on the driving trajectory of the vehicle and the driving trajectory of other vehicles, and use the risk position for driving assistance. However, in preventive safety technology, if the risk position is excessively determined for a location where the need for driving assistance is relatively low, or the risk position is not determined for a location where the need for driving assistance is relatively high, and the intersection position is not properly determined, it may be difficult to properly perform driving assistance. An aspect of the present invention aims to provide a technology that is conducive to properly performing driving assistance for the vehicle. Moreover, it further contributes to the development of a sustainable transportation system.

[0004] Means used to solve problems According to some embodiments, a driving assistance device is provided, wherein: The driving assistance device comprises: a storage device for storing risk position information, wherein the risk position information indicates a position where a host vehicle equipped with the driving assistance device may collide with another vehicle; an assisting mechanism for performing driving assistance for the host vehicle based on the risk position information; an acquisition unit that acquires surrounding vehicle information indicating the speed, position, and driving track of the surrounding vehicles from surrounding vehicles existing around the host vehicle through vehicle-to-vehicle communication; a determination mechanism that performs an intersection determination operation of determining an intersection point between the driving trajectory of the own vehicle and the driving trajectory of the surrounding vehicles; and an updating mechanism for updating the risk position information based on the intersection determined by the intersection determination operation, When the surrounding vehicle exists within a first range in front of the host vehicle, the determination means performs the intersection determination operation using a position where the host vehicle is accelerated after decelerating to below a threshold value or a position where the host vehicle is temporarily stopped as a first reference position, When the surrounding vehicle exists within a second range on the side of the host vehicle, the identification unit performs the intersection identification operation using an intersection of the predicted travel path of the host vehicle and the predicted travel path of the surrounding vehicle as a second reference position.

[0005] According to another embodiment, a driving assistance method is provided, which is performed by a vehicle, wherein: The host vehicle includes a storage device, the storage device stores risk position information, the risk position information indicates a position where the host vehicle may collide with another vehicle. The driving assistance method comprises: an assisting step, in which driving assistance of the host vehicle is performed based on the risk position information; an acquisition step, in which surrounding vehicle information indicating the speed, position and driving track of the surrounding vehicles is acquired from surrounding vehicles existing around the host vehicle through vehicle-to-vehicle communication; a determination step, in which an intersection determination operation is performed to determine the intersection of the driving track of the own vehicle and the driving track of the surrounding vehicles; and an updating step, in which the risk position information is updated based on the intersection determined by the intersection determination operation, The determining step comprises: When the surrounding vehicle exists within a first range in front of the host vehicle, the intersection determination operation is performed using a position where the host vehicle is accelerated after decelerating to below a threshold value or a position where the host vehicle is temporarily stopped as a first reference position; and When the surrounding vehicle exists within a second range on the side of the host vehicle, the intersection identification operation is performed using an intersection of a predicted travel route of the host vehicle and a predicted travel route of the surrounding vehicle as a second reference position.

[0006] According to another embodiment, there is provided a storage medium storing a program for causing a computer mounted on a vehicle to execute each step of the driving assistance method, wherein: The host vehicle includes a storage device, the storage device stores risk position information, the risk position information indicates a position where the host vehicle may collide with another vehicle. The driving assistance method comprises: an assisting step, in which driving assistance of the host vehicle is performed based on the risk position information; an acquisition step, in which surrounding vehicle information indicating the speed, position and driving track of the surrounding vehicles is acquired from surrounding vehicles existing around the host vehicle through vehicle-to-vehicle communication; a determination step, in which an intersection determination operation of determining an intersection point between the driving track of the own vehicle and the driving track of the surrounding vehicles is performed; and an updating step, in which the risk position information is updated based on the intersection determined by the intersection determination operation, The determining step comprises: When the surrounding vehicle exists within a first range in front of the host vehicle, the intersection determination operation is performed using a position where the host vehicle is accelerated after decelerating to below a threshold value or a position where the host vehicle is temporarily stopped as a first reference position; and When the surrounding vehicle exists within a second range on the side of the host vehicle, the intersection identification operation is performed using an intersection of a predicted travel route of the host vehicle and a predicted travel route of the surrounding vehicle as a second reference position.

[0007] According to another embodiment, a program product is provided, wherein the program product is used to cause a computer mounted on a vehicle to execute each step of the driving assistance method, wherein: The host vehicle includes a storage device, the storage device stores risk position information, the risk position information indicates a position where the host vehicle may collide with another vehicle. The driving assistance method comprises: an assisting step, in which driving assistance of the host vehicle is performed based on the risk position information; an acquisition step, in which surrounding vehicle information indicating the speed, position and driving track of the surrounding vehicles is acquired from surrounding vehicles existing around the host vehicle through vehicle-to-vehicle communication; a determination step, in which an intersection determination operation is performed to determine the intersection of the driving track of the own vehicle and the driving track of the surrounding vehicles; and an updating step, in which the risk position information is updated based on the intersection determined by the intersection determination operation, The determining step comprises: When the surrounding vehicle exists within a first range in front of the host vehicle, the intersection determination operation is performed using a position where the host vehicle is accelerated after decelerating to below a threshold value or a position where the host vehicle is temporarily stopped as a first reference position; and When the surrounding vehicle exists within a second range on the side of the host vehicle, the intersection identification operation is performed using an intersection of a predicted travel route of the host vehicle and a predicted travel route of the surrounding vehicle as a second reference position.

[0008] Effects of the Invention According to some embodiments, a technique is provided that is useful for appropriately assisting driving of a host vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a block diagram for explaining a configuration example of a vehicle according to some embodiments.

[0010] Figure 2 The diagrams are for explaining examples of risk position information according to some embodiments.

[0011] Figure 3A and Figure 3B This is a schematic diagram for explaining an example of a trajectory intersection point according to a part of the embodiments.

[0012] Figure 4 This is a schematic diagram for explaining an example of a driving assistance method according to a part of the embodiments.

[0013] Figure 5A and Figure 5B This is a schematic diagram for explaining the presence or absence of a risk location in a target area according to some embodiments.

[0014] Figure 6 This is a flowchart for explaining an example of a method for registering surrounding vehicles according to a part of the embodiments.

[0015] Figure 7 This is a schematic diagram for explaining an example of a range in which surrounding vehicles are detected according to some embodiments.

[0016] Figure 8This is a flowchart for explaining an example of an intersection identification operation related to a front surrounding vehicle according to a part of the embodiments.

[0017] Fig. 9A and Fig. 9B This is a schematic diagram for explaining an example of an intersection identification operation related to a front surrounding vehicle according to a part of the embodiments.

[0018] Fig.10 This is a flowchart for explaining an example of an intersection identification operation regarding lateral surrounding vehicles according to some embodiments.

[0019] Fig.11A and Fig. 11B This is a schematic diagram for explaining an example of an intersection identification operation regarding a lateral surrounding vehicle according to a part of the embodiments.

[0020] Fig.12 This is a schematic diagram for explaining an example of a method for determining a surrounding vehicle as a determination target according to a part of the embodiments.

[0021] Description of Reference Numerals 100: vehicle; 101: sensor group; 102: GNSS antenna; 103: vehicle-to-vehicle communication antenna; 104: reporting device; 105: braking device; 106: control device. DETAILED DESCRIPTION

[0022] 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 may not all be necessary for the invention. Two or more of the multiple features described in the embodiments may also be combined arbitrarily. In addition, the same or similar configurations are marked with the same reference numerals, and repeated descriptions are omitted.

[0023] <Example of Vehicle Configuration> Reference Figure 1 , a configuration example of the vehicle 100 according to a part of the embodiment will be described. Figure 1 As shown, the vehicle 100 may include a sensor group 101 , a GNSS (Global Navigation Satellite System) antenna 102 , a vehicle-to-vehicle communication antenna 103 , a reporting device 104 , a braking device 105 , and a control device 106 . Figure 1The components referred to in the following description are shown, but the vehicle 100 may also include other components for operating as a vehicle, such as a drive device, a transmission, and a lighting device. In addition to this or instead of this, the vehicle 100 may not include Figure 1 The vehicle 100 may be a four-wheeled vehicle, a two-wheeled vehicle, or another type of vehicle.

[0024] The control device 106 controls the overall movement of the vehicle 100. As described later, the control device 106 performs driving assistance for the vehicle 100 equipped with the control device 106. Therefore, the control device 106 can also be called a driving assistance device. The driving assistance provided by the control device 106 can also be a collision prevention assistance for preventing (reducing) collisions with other vehicles. In some embodiments, the control device 106 can perform collision prevention assistance without using map information. In the following description, in order to easily distinguish from other vehicles, the vehicle 100 is sometimes described as the vehicle 100. In addition, vehicles different from the vehicle 100 are sometimes described as other vehicles. Vehicles currently present in the vicinity of the vehicle 100 among other vehicles are sometimes described as surrounding vehicles. Surrounding vehicles can also be vehicles that are currently able to communicate with the vehicle 100 between vehicles.

[0025] The sensor group 101 includes various sensors for performing driving assistance of the vehicle 100. For example, the sensor group 101 may include a speed sensor for detecting the speed of the vehicle 100, an acceleration sensor for detecting the acceleration of the vehicle 100, and the like. In addition, the sensor group 101 may also include external detection sensors such as cameras, millimeter wave radars, and optical radars (LIDAR: Light Detection and Ranging) that can detect objects around the vehicle 100. The sensor group 101 outputs its detection results to the control device 106.

[0026] The GNSS antenna 102 receives radio waves for position measurement sent from GNSS satellites. For example, the GNSS antenna 102 can be used to obtain information related to the current position and / or driving track (driving history) of the vehicle 100. In addition, the vehicle-to-vehicle communication antenna 103 is an antenna for sending and receiving various data with surrounding vehicles. For example, the vehicle-to-vehicle communication antenna 103 can be used to obtain information related to the current position, speed, and driving track of surrounding vehicles.

[0027] The reporting device 104 is a device for reporting to the occupants (e.g., the driver) of the vehicle 100. When the vehicle 100 is likely to collide with surrounding vehicles, the control device 106 can report the possibility of collision with surrounding vehicles to the occupants of the vehicle 100 through the reporting device 104 as a driving aid. For example, the reporting device 104 may include a display unit such as a display, and display information indicating the possibility of collision with surrounding vehicles on the display unit, or may include a sound output unit such as a speaker, and output information indicating the possibility of collision with surrounding vehicles from the sound output unit through sound or the like.

[0028] The braking device 105 is a device such as a brake for performing a braking operation on the vehicle 100. When the vehicle 100 is likely to collide with a surrounding vehicle, the control device 106 can assist in decelerating the vehicle 100 by operating the braking device 105 as a driving aid, thereby avoiding a collision with a surrounding vehicle.

[0029] The control device 106 is a device (computer) that controls the vehicle 100, and can be composed of, for example, an ECU (Electric Control Unit). The control device 106 can perform driving assistance through vehicle-to-vehicle communication with other vehicles and processing within the vehicle 100. For example, the control device 106 can perform driving assistance without using map information. The control device 106 includes a processing unit 110, a storage unit 111, a GNSS module 113, and a vehicle-to-vehicle communication module 114, which are connected via a bus not shown.

[0030] The processing unit 110 is a processor represented by a CPU (Central Processing Unit), and executes a program stored in the storage unit 111. The storage unit 111 includes, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk, etc., and stores a program (driving assistance program) for the processing unit 110 to perform driving assistance processing of the vehicle 100, a program (learning program) for the processing unit 110 to learn risk positions, various data, etc. The storage unit 111 may also store risk position information 112 generated based on the intersection of the driving trajectory of the vehicle 100 and the driving trajectory of other vehicles. The risk position information 112 may also include a plurality of risk positions. The risk position may be a position where the vehicle 100 has a possibility of colliding with other vehicles or a position where the possibility is high. The risk position information 112 may also be managed as a database.

[0031] The GNSS module 113 receives position information of the vehicle 100 and the like from a GNSS satellite via the GNSS antenna 102 . In addition, the inter-vehicle communication module 114 receives various information from other vehicles via the inter-vehicle communication antenna 103 .

[0032] The processing unit 110 may include an acquisition unit 110a, an assistance unit 110b, a determination unit 110c, and an update unit 110d in order to perform driving assistance (collision prevention assistance in some embodiments) for the vehicle 100. In addition, the processing unit 110 is not limited to the configuration including the units 110a to 110d. Other units may be added or some units may be omitted depending on the type of driving assistance performed by the vehicle 100.

[0033] The acquisition unit 110a acquires surrounding vehicle information indicating the current position, speed and driving trajectory of the surrounding vehicles from surrounding vehicles existing around the vehicle 100 via the vehicle-to-vehicle communication antenna 103 (vehicle-to-vehicle communication module 114). The surrounding vehicle information may explicitly indicate the current position, speed and driving trajectory of the surrounding vehicles, or may implicitly indicate the current position, speed and driving trajectory of the surrounding vehicles. For example, the surrounding vehicle information may directly include the vehicle speed, or may include information for calculating the vehicle speed (the current and immediately previous two geographical locations and their positioning times). The acquisition unit 110a may also acquire the vehicle information indicating the current position, speed and driving trajectory of the vehicle 100 via the sensor group 101 and the GNSS antenna 102 (GNSS module 113).

[0034] The assisting unit 110b predicts the possibility of collision between the vehicle 100 and other vehicles in the target area in front of the vehicle 100 based on the own vehicle information and the surrounding vehicle information acquired by the acquiring unit 110a, and controls the driving assistance (collision prevention assistance) of the vehicle 100 based on the prediction result. The target area can also be understood as an area (driving assistance area) for which driving assistance is performed to prevent the vehicle 100 from colliding with other vehicles, and is sometimes simply referred to as the "target area" below. In some embodiments, as driving assistance for the vehicle 100, the assisting unit 110b can perform at least one of reporting to the occupants of the vehicle 100 by the reporting device 104 and deceleration assistance of the vehicle 100 by the braking device 105.

[0035] In addition, the assistance unit 110b may also perform driving assistance for the vehicle 100 based on the risk position information 112. For example, the assistance unit 110b may also change the degree of driving assistance (collision avoidance assistance) for the vehicle 100 according to whether at least one of the plurality of risk positions included in the risk position information 112 is within the target area.

[0036] For example, when there is at least one risk position in the target area, the assisting unit 110b increases the degree of driving assistance of the vehicle 100 compared to when there is no risk position in the target area. Examples of increasing the degree of driving assistance of the vehicle 100 include relaxing the operating conditions of the driving assistance to make it easier for the driving assistance to operate, increasing the reporting level in the reporting device 104, and increasing the deceleration of the vehicle 100 by the braking device 105. Examples of relaxing the operating conditions of the driving assistance include increasing the time threshold for operating the driving assistance with respect to the collision margin time (TTC: Time To Collision) calculated as the possibility of collision of the vehicle 100.

[0037] The determination unit 110c determines the intersection of the driving trajectory of the vehicle 100 and the driving trajectory of the surrounding vehicles. Hereinafter, the action of determining the intersection of the driving trajectory of the vehicle 100 and the driving trajectory of the surrounding vehicles is described as an intersection determination action. Hereinafter, the intersection of the driving trajectory of the vehicle 100 and the driving trajectory of the surrounding vehicles is described as a trajectory intersection. There may be a road intersection near the trajectory intersection. The conditions for starting the intersection determination action and the details of the intersection determination action are described later.

[0038] The updating unit 110d updates the risk position information 112 stored in the storage unit 111 based on the trajectory intersection determined by the intersection determination operation. For example, the updating unit 110d may also add the trajectory intersection to the risk position information 112, thereby updating the risk position information 112. Alternatively or in addition to this, the updating unit 110d may also update the risk position information 112 by correcting any risk position included in the risk position information 112 based on the trajectory intersection.

[0039] Next, refer to Figure 2 , an example of risk location information 112 is described. Figure 2 In the example of , the risk position information 112 is recorded in a table format, but the risk position information 112 may be in another format. The risk position information 112 has a record for each risk position. Figure 2 The risk location information 112 shown is an example. The risk location information 112 may also include other columns or may not include Figure 2 A portion of the column shown.

[0040] The risk location information 112 may include a risk location ID, a registration date and time, coordinates, and information related to a passing direction for each risk location. The risk location ID is a number that uniquely identifies the risk location. The registration date and time is the date and time when the risk location is registered in the risk location information 112. Coordinates are data used to determine the risk location, and are represented by, for example, latitude and longitude data. In addition to the latitude and longitude data, the coordinates may also include altitude data such as altitude. The passing direction is the direction (direction, angle) that the vehicle 100 is facing when passing through the intersection of the trajectories, which is used to determine the risk location. The passing direction can also be understood as the direction of travel (entry direction) of the vehicle 100 when entering the intersection of the trajectories. Figure 2 In the example of FIG. 1 , the passing direction of the vehicle 100 is defined by setting the north direction to 0°, the east direction to 90°, the south direction to 180°, and the west direction to 270°.

[0041] Next, refer to Figure 3A and Figure 3B , an example of a trajectory intersection is described. As described above, a trajectory intersection refers to the intersection of the driving trajectory of the vehicle 100 and the driving trajectory of other vehicles. In this specification, a case where the vehicle 100 is traveling in an area where the right-hand traffic principle is followed is described. In this case, the opposite lane side of the vehicle 100 refers to the left side of the vehicle 100. The implementation method described in this specification can also be applied to a case where the vehicle 100 is traveling in an area where the left-hand traffic principle is followed. In this case, the opposite lane side of the vehicle 100 refers to the right side of the vehicle 100.

[0042] exist Figure 3A In the example shown, the position where the driving trajectory 301a of the vehicle 100 traveling straight north and the driving trajectory 302a of the other vehicle OVa traveling straight west intersect is the trajectory intersection CPa. In addition, since the timing (moment) when the vehicle 100 passes through the trajectory intersection CPa is different from the timing (moment) when the other vehicle OVa passes through the trajectory intersection CPa, there is no collision between the vehicle 100 and the other vehicle OVa. In addition, the driving trajectory 301a of the vehicle 100 is included in the vehicle information acquired by the acquisition unit 110a via the sensor group 101 and the GNSS antenna 102 (GNSS module 113). The driving trajectory 302a of the other vehicle OVa is included in the other vehicle information acquired by the acquisition unit 110a via the vehicle-to-vehicle communication antenna 103 (vehicle-to-vehicle communication module 114). Since the other vehicle OVa at the time of acquisition is a surrounding vehicle existing around the vehicle 100, the other vehicle information can also be understood as surrounding vehicle information.

[0043] exist Figure 3AIn the example shown, the position where the driving trajectory 301b of the host vehicle 100 that is traveling straight north and turning left intersects with the driving trajectory 302b of the other vehicle OVb that is traveling straight south is the trajectory intersection point CPb. In addition, since the timing (moment) when the host vehicle 100 passes through the trajectory intersection point CPb is different from the timing (moment) when the other vehicle OVb passes through the trajectory intersection point CPb, there is no collision between the host vehicle 100 and the other vehicle OVb. In addition, the driving trajectory 301b of the host vehicle 100 is included in the host vehicle information acquired by the acquisition unit 110a via the sensor group 101 and the GNSS antenna 102 (GNSS module 113) in the same way as the driving trajectory 301a. The driving trajectory 302b of the other vehicle OVb is included in the other vehicle information (surrounding vehicle information) acquired by the acquisition unit 110a via the vehicle-to-vehicle communication antenna 103 (vehicle-to-vehicle communication module 114) in the same way as the driving trajectory 302a.

[0044] The functions of the control device 106 can be implemented by either hardware or software. For example, the functions of the control device 106 can be implemented by the processing unit 110 (CPU) executing the driving assistance program and / or the learning program as described above, or can be implemented by an integrated circuit such as a PLD (Programmable Logic Device) or an ASIC (Application Specific Integrated Circuit). Figure 1 In the example of FIG. 1 , the control device 106 is described as a single element, but may be divided into two or more elements as necessary.

[0045] <Driving Assistance Processing> Reference Figure 4 as well as Figure 5A and Figure 5B , the driving assistance processing of a part of the implementation mode is described. Figure 4 The driving assistance process shown in the flowchart may be performed by the processing unit 110 in the control device 106 executing a driving assistance program read from the storage unit 111 . Figure 4 The processing may be started, for example, when the setting of the driving assistance is turned on. Figure 4 The processing may be repeatedly executed until the setting of the driving assistance is turned off or the ignition switch of the vehicle 100 is turned off.

[0046] In step S401, the processing unit 110 (for example, the auxiliary unit 110b thereof) determines whether there is a risk position RP in the target area TA in front of the vehicle 100 by referring to the risk position information 112 stored in the storage unit 111. For example, the processing unit 110 compares the current position of the vehicle 100 acquired by the acquisition unit 110a via the GNSS antenna 102 (GNSS module 113) with the coordinates (latitude, longitude) of each risk position RP included in the risk position information 112, thereby being able to determine whether there is a risk position RP in the target area TA. Figure 5A This shows an example in which there is no risk position RP in the target area TA in front of the vehicle 100. Figure 5B An example is shown in which a risk position RP exists in the target area TA in front of the vehicle 100 .

[0047] When the risk position RP does not exist in the target area TA, the processing unit 110 transfers the processing to step S402. The processing unit 110 (for example, the auxiliary unit 110b thereof) sets the driving assistance intensity, which is the degree of driving assistance, to a low level. On the other hand, when the risk position RP exists in the target area TA, the processing unit 110 transfers the processing to step S403. The processing unit 110 (for example, the auxiliary unit 110b thereof) sets the driving assistance intensity to a high level. The high level is set so that the degree of driving assistance (driving assistance intensity) is greater than the low level. For example, when the driving assistance intensity is a high level, the operating conditions of driving assistance can be relaxed compared to when the driving assistance intensity is a low level. That is, when the driving assistance intensity is a high level, driving assistance can be easily performed compared to when the driving assistance intensity is a low level. For example, even in a situation where driving assistance is not performed when the driving assistance intensity is a low level (for example, the vehicle 100 is in a specific driving state, the vehicle 100 is traveling on a specific road, etc.), driving assistance can be performed when the driving assistance intensity is a high level. In addition, in the present embodiment, two types of driving assistance intensities, low level and high level, are exemplified, but the driving assistance level is not limited to two and may be three or more.

[0048] In step S404, the processing unit 110 determines whether there is a surrounding vehicle RV. As described above, the surrounding vehicle RV refers to a vehicle currently existing around the vehicle 100. For example, the processing unit 110 can determine that there is a surrounding vehicle RV when vehicle-to-vehicle communication is possible via the vehicle-to-vehicle communication antenna 103 (vehicle-to-vehicle communication module 114). When the processing unit 110 determines that there is no surrounding vehicle RV, the processing is transferred to step S401, and when it is determined that there is a surrounding vehicle RV, the processing is transferred to step S405.

[0049] In step S405, the processing unit 110 (acquisition unit 110a) acquires the vehicle information and the surrounding vehicle information. For example, the processing unit 110 acquires the surrounding vehicle information including the current position, speed and driving track of the surrounding vehicle RV from the surrounding vehicle RV via the vehicle-to-vehicle communication antenna 103 (vehicle-to-vehicle communication module 114). In addition, the processing unit 110 acquires the vehicle information including the current position, speed and driving track of the vehicle 100 via the sensor group 101 and the GNSS antenna 102 (GNSS module 113).

[0050] In step S406, the processing unit 110 (for example, its auxiliary unit 110b) predicts the possibility of collision between the vehicle 100 and the surrounding vehicle RV in the target area TA based on the own vehicle information and the surrounding vehicle information acquired in step S405. Then, in step S407, the processing unit 110 (for example, its auxiliary unit 110b) determines whether there is a possibility of collision between the vehicle 100 and the surrounding vehicle RV based on the prediction result in step S406. If the processing unit 110 determines that there is no possibility of collision, the processing is transferred to step S401, and if it is determined that there is a possibility of collision, the processing is transferred to step S408.

[0051] In step S408, the processing unit 110 (for example, its auxiliary unit 110b) determines whether the speed of the surrounding vehicle RV is within a prescribed range based on the surrounding vehicle information acquired in step S405. The prescribed range can be set in advance based on the speed lower limit value and the speed upper limit value related to the speed of the surrounding vehicle RV. When the speed of the surrounding vehicle RV is less than the speed lower limit value of the prescribed range, it is highly likely that the driver of the surrounding vehicle RV notices the vehicle 100 and decelerates the surrounding vehicle RV without colliding with the vehicle 100. That is, the speed lower limit value of the prescribed range related to the speed of the surrounding vehicle RV can be set to a value that can decelerate the surrounding vehicle RV without colliding with the vehicle 100. In addition, when the speed of the surrounding vehicle RV is more than the upper limit value of the prescribed range, it is highly likely that the surrounding vehicle RV is not a vehicle that is traveling on the road that the vehicle 100 is going to enter, such as traveling on a highway near the road that the vehicle 100 is going to enter. That is, the upper limit value of the prescribed range related to the speed of the surrounding vehicle RV can be set to a value that can distinguish whether it is a vehicle that is traveling on the road that the vehicle 100 is going to enter or a vehicle that is traveling on a highway near the road. In this way, by executing or suppressing driving assistance according to whether the speed of the surrounding vehicle RV is within a predetermined range, it is possible to reduce the situation where the driver of the vehicle 100 feels annoyed by the driving assistance.

[0052] If the processing unit 110 determines in step S408 that the speed of the surrounding vehicle RV is not within the prescribed range, that is, outside the prescribed range, the processing is transferred to step S401. Figure 4 In the case of the method, the processing unit 110 does not perform driving assistance for the vehicle 100 when the speed of the surrounding vehicle RV is outside the prescribed range, regardless of the collision possibility predicted in steps S406 and S407. On the other hand, when the processing unit 110 determines that the speed of the surrounding vehicle RV is within the prescribed range, the processing is transferred to step S409. In step S409, the processing unit 110 (assisting unit 110b) performs driving assistance for the vehicle 100. As driving assistance for the vehicle 100, the processing unit 110 may report the possibility of collision to the occupants of the vehicle 100 through the reporting device 104, or perform braking action on the vehicle 100 through the braking device 105.

[0053] In this way, the control device 106 changes the degree of driving assistance (driving assistance intensity) of the vehicle 100 according to whether or not the risk position RP exists in the target area TA in front of the vehicle 100 .

[0054] <Learning Process of Risky Locations> Reference Figure 6~Figure 11A and Fig. 11B , the learning process of risk locations is explained. Figure 6 An example of a process for managing surrounding vehicles will be described. Figure 6 The processing shown in the flowchart is performed according to the learning program read from the storage unit 111. Figure 4 The flowcharts are executed in parallel by the processing unit 110. Figure 6 The processing may be started, for example, when the ignition switch of the vehicle 100 is turned on. Figure 6 The process may be repeatedly executed until the ignition switch of the vehicle 100 is turned off.

[0055] In step S601, the processing unit 110 (for example, the acquisition unit 110a thereof) determines whether there are other vehicles around the host vehicle 100. If the processing unit 110 determines that there are other vehicles around the host vehicle 100, the processing proceeds to step S602. Otherwise, the processing proceeds to step S604. For example, the processing unit 110 may also Figure 4 Similarly, in step S404 , when inter-vehicle communication is possible via the inter-vehicle communication antenna 103 (inter-vehicle communication module 114 ), it is determined that another vehicle exists around the host vehicle 100 .

[0056] In step S602, the processing unit 110 (for example, the acquisition unit 110a thereof) registers the other vehicles found in step S601 as surrounding vehicles. For example, the storage unit 111 may store a list of surrounding vehicles, and the processing unit 110 may add information of the found surrounding vehicles to the list. As described later, the surrounding vehicles are used as the objects of the intersection determination operation.

[0057] In step S603, the processing unit 110 (for example, the acquisition unit 110a thereof) starts acquiring surrounding vehicle information from surrounding vehicles based on vehicle-to-vehicle communication. As described above, the surrounding vehicle information may also indicate the speed, position, and driving trajectory of the surrounding vehicles. After the processing unit 110 starts acquiring surrounding vehicle information in step S603, it repeatedly acquires surrounding vehicle information periodically (for example, every 100 milliseconds) until vehicle-to-vehicle communication with the surrounding vehicles is no longer possible.

[0058] After the acquisition of the surrounding vehicle information starts, in step S604, the processing unit 110 (for example, its acquisition unit 110a) determines whether there is a vehicle that cannot perform vehicle-to-vehicle communication among the one or more registered surrounding vehicles. The processing unit 110 transfers the processing to step S605 if there is such a vehicle, and transfers the processing to step S601 otherwise. For example, when the surrounding vehicle deviates from the communication range of vehicle-to-vehicle communication or the power of the surrounding vehicle is disconnected, the vehicle 100 cannot perform vehicle-to-vehicle communication with the surrounding vehicles.

[0059] In step S605, the processing unit 110 (for example, the acquisition unit 110a thereof) cancels the registration of the surrounding vehicles that cannot perform vehicle-to-vehicle communication. In other words, the processing unit 110 does not process the vehicles that cannot perform vehicle-to-vehicle communication as surrounding vehicles. For example, the processing unit 110 deletes the information of the surrounding vehicles that have become unable to perform vehicle-to-vehicle communication from the list of surrounding vehicles stored in the storage unit 111.

[0060] As described above, the processing unit 110 executes Figure 6 The processing can periodically obtain the latest surrounding vehicle information from other vehicles (ie, surrounding vehicles) located around the vehicle 100.

[0061] Next, a method for learning a risk position using the surrounding vehicle information thus acquired will be described. Figure 3A As described above, if the other vehicle is included in the range to the side of the host vehicle 100, there is a possibility that these vehicles will collide if the host vehicle 100 and the other vehicle both travel straight. Figure 3BAs described above, when other vehicles are included in the range in front of the host vehicle 100, if the host vehicle 100 turns left and other vehicles go straight, there is a possibility that these vehicles will collide. In this way, the positions (i.e., risk positions) where these vehicles may collide may be different depending on the positions of other vehicles relative to the host vehicle 100. Therefore, in some embodiments, the control device 106 learns the risk positions in different ways depending on whether the surrounding vehicles are in the range in front or in the range on the side relative to the host vehicle 100.

[0062] Reference Figure 7 , the range of the learning method for selecting the risk position is described. The range 700 is located in front of the vehicle 100. The front of the vehicle 100 may also be a range including the front of the vehicle 100. Figure 7 As shown, range 700 may be a sector-shaped area or may have other shapes. Range 700 may also be symmetrical with respect to the front direction of vehicle 100. The central angle of range 700 may be, for example, about 100 to 110 degrees. Range 701 is located to the side of vehicle 100. The side of vehicle 100 may also be a range including the oblique front of vehicle 100. Range 701 may also include the direction directly to the side of vehicle 100. Figure 7 As shown, the range 701 may be a sector-shaped area or may have other shapes. Figure 7 In the example of FIG. 1 , the range 701 is located on the right side and the left side of the vehicle 100. The central angle of the range 701 may be about 80 to 90 degrees, for example. Figure 7 In the example, a portion of range 700 overlaps a portion of range 701. The central angle of the overlapping portion may be, for example, about 10 to 20 degrees. When a surrounding vehicle exists in the overlapping portion, the surrounding vehicle becomes a Figure 3A The intersection point determination operation (described later) and the operation for determining the trajectory intersection point CPa Figure 3B The intersection point of the trajectory intersection point CPb determines the objects of both sides of the action (described later). Figure 7 For example, range 700 and range 701 may be merely connected or may be separated from each other.

[0063] When the surrounding vehicles are included in the range 701, the control device 106 Figure 3A As shown in FIG. 1 , the track intersection CPa may be generated due to the vehicle 100 going straight. Therefore, the control device 106 performs the intersection determination operation in a manner that can appropriately determine the track intersection CPa. Figure 8 as well as Fig. 9A and Fig. 9B On the other hand, when the surrounding vehicles are included in the range 700, the control device 106 Figure 3BAs shown in FIG. 1 , the track intersection point CPb may be generated due to the vehicle 100 turning left. Therefore, the control device 106 performs the intersection point determination operation in a manner that can appropriately determine the track intersection point CPb. Fig.10 as well as Fig.11A and Fig. 11B The positions of the range 700 and the range 701 relative to the vehicle 100 may be set in advance (for example, when the vehicle 100 is manufactured or when the software is updated) and stored in the storage unit 111 .

[0064] Figure 8 For use in surrounding vehicles RV ( Fig. 9A ) is present in the range 701 on the side of the vehicle 100, and an example of performing the intersection determination action is described. Figure 8 The processing shown in the flowchart is executed by the processing unit 110 according to the learning program read from the storage unit 111. Figure 8 The processing can also be done whenever Figure 6 When a surrounding vehicle RV is newly registered in step S602, the process is executed for the surrounding vehicle RV. Figure 6 In the process of , multiple other vehicles can be registered as surrounding vehicles. Figure 8 processing.

[0065] In step S801, the processing unit 110 (for example, its determination unit 110c) determines whether the surrounding vehicle RV exists in the range 701 on the side of the host vehicle 100. When the processing unit 110 determines that the surrounding vehicle RV exists in the range 701 on the side of the host vehicle 100, the processing is transferred to step S802, and step S801 is repeated in other cases. This determination may also be performed based on the current position of the surrounding vehicle RV included in the latest surrounding vehicle information acquired from the surrounding vehicle RV. Fig. 9A In the example shown, the surrounding vehicle RV exists within the range 701 .

[0066] In step S802, the processing unit 110 (for example, its determination unit 110c) determines whether the predicted route of the host vehicle 100 intersects with the predicted route of the surrounding vehicle RV. If the processing unit 110 determines that these predicted routes intersect, the processing moves to step S803, and in other cases, repeats step S802. The predicted route may also be a half straight line extending from the vehicle to the front. Fig. 9AIn the example shown, the predicted route 900 of the host vehicle 100 intersects with the predicted route 901 of the surrounding vehicle RV. The intersection of the predicted route 900 of the host vehicle 100 and the predicted route 901 of the surrounding vehicle RV is expressed as a predicted intersection 902. The predicted route 900 of the host vehicle 100 can also be determined based on the host vehicle information (specifically, the current position and the driving trajectory). The processing unit 110 can also obtain the latest host vehicle information at this time point. The predicted route 901 of the surrounding vehicle RV can also be determined based on the latest surrounding vehicle information (specifically, the current position and the driving trajectory).

[0067] In step S803, the processing unit 110 (for example, the determination unit 110c thereof) sets a determination area using the predicted intersection 902 as a reference position, and stores the reference position and the determination area in the storage unit 111. The determination area may be an area used for determination of the start of execution of the intersection determination operation described later. Fig. 9A , an example of a determination area 903 set with the predicted intersection 902 as a reference position is described. The determination area 903 may also be a square centered on the predicted intersection 902 and including sides parallel to the predicted travel route 900 of the vehicle 100. One side of the square may be, for example, a length equivalent to three lanes (for example, about 9m to 11m). The determination area 903 is a planar area including the predicted intersection 902. Alternatively, the determination area 903 may have other shapes.

[0068] exist Fig. 9A In the example of , the determination area 903 is a planar area. Fig. 9B As shown, the determination area 903 may also be a linear area. Fig. 9B In the example of FIG. 1 , the determination area 903 is an L-shaped area consisting of a side located away from the host vehicle 100 and a side located on the opposite lane side (the left side in this example) in a square having the predicted intersection point 902 as the center and including sides parallel to the predicted travel route 900 of the host vehicle 100. The position of the determination area 903 relative to the reference position may be set in advance (for example, when the vehicle 100 is manufactured or when the software is updated) and stored in the storage unit 111.

[0069] In step S806, the processing unit 110 (eg, the determination unit 110c thereof) determines Figure 8The processing unit 110 determines whether both the surrounding vehicle RV and the vehicle 100 have passed through the determination area 903. When the processing unit 110 determines that both the surrounding vehicle RV and the vehicle 100 have passed through the determination area 903, the processing is transferred to step S808. In other cases, the processing is transferred to step S807. This determination can also be performed based on the latest vehicle information (specifically, the current position and the driving trajectory) and the latest surrounding vehicle information (specifically, the current position and the driving trajectory). Passing through the determination area 903 can also mean that the current position of the vehicle no longer has a common part with the determination area 903 after having a common part with the determination area 903.

[0070] In step S808, the processing unit 110 (for example, its determination unit 110c) performs an intersection determination action. Specifically, the processing unit 110 determines the intersection (i.e., the trajectory intersection) of the driving trajectory of the vehicle 100 and the driving trajectory of the surrounding vehicle RV after the determination area is set in step S803. The intersection determination action can also be performed based on the latest vehicle information and the latest surrounding vehicle information. In this way, the intersection determination action is performed based on the determination area set with the predicted intersection 902 as the reference position. Therefore, the intersection determination action can be regarded as being performed with the predicted intersection 902 as the reference position. In step S808, the driving trajectory of the vehicle 100 and the driving trajectory of the surrounding vehicle RV may not have an intersection. In this case, even if the intersection determination action is performed, the trajectory intersection cannot be determined.

[0071] In step S809, the processing unit 110 (for example, its updating unit 110d) updates the risk position information 112 based on the trajectory intersection determined by the intersection determination action in step S808. For example, when the risk position information 112 does not include a risk position in the vicinity of the trajectory intersection (for example, within 20m), the processing unit 110 may include the trajectory intersection as a new risk position in the risk position information 112. When the risk position information 112 includes a risk position in the vicinity of the trajectory intersection (for example, within 20m), the processing unit 110 may correct the risk position based on the trajectory intersection. The correction may be, for example, a weighted average of the risk position and the trajectory intersection. The weight of the risk position may be the number of trajectory intersections used to determine the risk position. When the risk position information 112 is updated, the processing unit 110 also registers Figure 2 If the track intersection cannot be determined by the intersection determination operation (ie, the travel track of the host vehicle 100 does not intersect the travel track of the surrounding vehicle RV), step S809 is skipped (the risk position information 112 is not updated).

[0072] In step S810, the processing unit 110 (for example, the determination unit 110c thereof) deletes the reference position and determination area (the reference position and determination area stored in step S803) that become unnecessary due to the completion of the intersection determination operation from the storage unit 111. This prevents the capacity of the storage unit 111 from being consumed by unnecessary information.

[0073] If it is determined in step S806 that at least one of the surrounding vehicle RV and the host vehicle 100 has not passed through the determination area 903, step S807 is executed. In step S807, the processing unit 110 (for example, its determination unit 110c) determines whether the host vehicle 100 has moved away from the reference position stored in step S803 by a predetermined distance (for example, 30 meters) or more. If the processing unit 110 determines that the host vehicle 100 has moved away from the reference position by a predetermined distance or more, the processing is transferred to step S810, and otherwise, the processing is transferred to step S804. If the host vehicle 100 has moved away from the reference position by a predetermined distance or more before both the surrounding vehicle RV and the host vehicle 100 pass through the determination area 903, for example, the surrounding vehicle RV or the host vehicle 100 may turn forward without passing through the determination area 903. Therefore, the processing unit 110 ends the processing without performing the intersection determination operation. In this case, in step S810 , the processing unit 110 (for example, the specifying unit 110 c thereof) also deletes unnecessary reference positions and determination areas from the storage unit 111 .

[0074] If it is determined in step S807 that the host vehicle 100 is not more than the predetermined distance away from the reference position, step S804 is executed. In step S804, the processing unit 110 (for example, the determination unit 110c thereof) determines the predicted intersection 902 again and determines whether its position has changed. If the processing unit 110 determines that the position of the predicted intersection 902 has changed, the processing is transferred to step S805, and otherwise, the processing is transferred to step S806. For example, when a vehicle (the host vehicle 100 or the surrounding vehicle RV) changes its position in the lane or changes lanes, the position of the predicted intersection 902 may change. Since the surrounding vehicle information is repeatedly acquired, the processing unit 110 can detect such a change in the position of the predicted intersection 902. Therefore, in step S805, the processing unit 110 (for example, the determination unit 110c thereof) updates the reference position stored in the storage unit 111 based on the newly acquired surrounding vehicle information, and updates the determination area stored in the storage unit 111 accordingly. Thus, the determination of step S806 is performed based on the updated determination area. In addition, the determination of step S807 is performed based on the updated reference position. In step S804, when the predicted intersection 902 cannot be determined again (for example, when the predicted route 900 of the vehicle 100 and the predicted route 901 of the surrounding vehicle RV no longer intersect), the most recently determined reference position and determination area are maintained.

[0075] exist Figure 8 In the method, as long as it is determined in step S801 that the surrounding vehicles exist within the range 701, and it is determined in step S802 that the predicted routes of the surrounding vehicles intersect with the predicted route of the vehicle 100, and it is not determined in step S806 that these vehicles have passed through the determination area, the intersection determination action of step S808 is not performed. In this way, it is possible to suppress the risk position information from being improperly updated. Figure 6 Step S605 is released Figure 8 In the case of registration of surrounding vehicles of the object of processing, the processing unit 110 may also terminate Figure 8 processing.

[0076] according to Figure 8 In the method, when there are multiple surrounding vehicles in the range 701 on the side of the host vehicle 100, separate reference positions are used for each of the multiple surrounding vehicles. Specifically, Figure 8The method is executed separately for each of the plurality of surrounding vehicles. As a result, the predicted intersection of the predicted route of the host vehicle 100 and the predicted route of the surrounding vehicles is also determined for each of the plurality of surrounding vehicles. As a result, a separate determination area is set for each of the plurality of surrounding vehicles based on a separate reference position. Thus, the positions of intersections, etc., where the plurality of surrounding vehicles intersect with each other, can be appropriately estimated.

[0077] Fig.10 For use in surrounding vehicles RV ( Fig.11A ) is present in the range 700 in front of the host vehicle 100, and an example of processing for performing the intersection determination action is described. Fig.10 The processing shown in the flowchart is executed by the processing unit 110 according to the learning program read from the storage unit 111. Fig.10 The processing may be started, for example, when the ignition switch of the vehicle 100 is turned on. Fig.10 The processing can be repeatedly executed until the ignition switch of the vehicle 100 is turned off.

[0078] In step S1001, the processing unit 110 (for example, its determination unit 110c) determines whether the vehicle 100 has accelerated after decelerating below a threshold value or whether the vehicle 100 has temporarily stopped. When the processing unit 110 determines that the vehicle 100 has accelerated after decelerating below a threshold value or that the vehicle 100 has temporarily stopped, the processing is transferred to step S1002, and step S1001 is repeated in other cases. This determination may also be made based on the vehicle speed and acceleration of the vehicle 100 included in the latest vehicle information. The threshold used in step S1001 is the value below which the vehicle speed of the vehicle 100 is lower than after decelerating in order to turn (for example, turn left or right), and may be, for example, 20 km / h. The position where the vehicle 100 has accelerated after decelerating below the threshold value or the position where the vehicle 100 has temporarily stopped is expressed as a turning preparation position 1101 ( Fig.11A ). In addition, even if the vehicle 100 is not turning, it is possible that the vehicle 100 accelerates or stops temporarily after decelerating to below the threshold. In this case, the processing unit 110 also detects the turning preparation position 1101 and executes the processing after step S1002.

[0079] In step S1002, the processing unit 110 (for example, the determination unit 110c thereof) sets a determination area using the steering preparation position 1101 as a reference position, and stores the reference position and the determination area in the storage unit 111. The determination area may be an area used for determination of the start of execution of the intersection determination operation described later. Fig.11A, an example of a determination area 1102 set with the steering preparation position 1101 as a reference position is described. The determination area 1102 may be a square centered at the left front position of the steering preparation position 1101 and including sides parallel to the predicted route 900 of the host vehicle 100. One side of the square may be, for example, a length equivalent to three lanes (for example, approximately 9m to 11m). The determination area 1102 is a planar area. Alternatively, the determination area 1102 may also have other shapes. For example, the determination area 1102 may also be a rectangle with the long side being parallel to the predicted route 900 of the host vehicle 100. The processing unit 110 includes the steering preparation position 1101 (i.e., the reference position) to determine the determination area 1102 relative to the host vehicle 100 toward the opposite lane (in a direction orthogonal to the predicted route 900 of the host vehicle 100). Fig.11A The determination area 1102 is set in a manner that is offset from the left side (in the example of the left side). In this way, the intersection point of the track caused by the left turn of the host vehicle 100 can be appropriately determined.

[0080] exist Fig.11A In the example of , the determination area 1102 is a planar area. Fig. 11B As shown, the determination area 1102 may also be a linear area. Fig. 11B In the example of FIG. 1 , the determination area 1102 is a U-shaped area consisting of three sides of a square centered on the left front position of the steering preparation position 1101 and including sides parallel to the predicted travel path 900 of the host vehicle 100, except for the sides located away from the host vehicle 100. The position of the determination area 1102 relative to the reference position may be set in advance (for example, when the vehicle 100 is manufactured or when the software is updated) and stored in the storage unit 111.

[0081] In step S1003, the processing unit 110 (for example, the determination unit 110c thereof) determines the surrounding vehicle RV existing in the range 700 in front of the host vehicle 100 as the target vehicle for subsequent processing. If there is no surrounding vehicle RV in the range 700, the target vehicle is not determined. If there are multiple surrounding vehicles RV in the range 700, all of these multiple surrounding vehicles RV are determined as the target vehicle. This determination can be performed based on the current position of the surrounding vehicle RV contained in the latest surrounding vehicle information obtained from the surrounding vehicle RV. Fig.11A In the example shown, a surrounding vehicle RV exists within range 700 .

[0082] In step S1004, the processing unit 110 (for example, the determination unit 110c thereof) determines whether the vehicle 100 has passed through the determination area 1102. When the processing unit 110 determines that the vehicle 100 has passed through the determination area 1102, the processing is transferred to step S1006. Otherwise, the processing is transferred to step S1005. This determination can be made based on the latest vehicle information (specifically, the current position and the driving trajectory). Passing through the determination area 1102 may also mean that the current position of the vehicle no longer has a common part with the determination area 1102 after having a common part with the determination area 1102.

[0083] In step S1006, the processing unit 110 (for example, its determination unit 110c) performs an intersection determination action on each of the vehicles that have passed through the determination area 1102 among all the target vehicles determined in S1003. Specifically, the processing unit 110 determines the intersection (i.e., the track intersection) between the driving track of the host vehicle 100 after the determination area is set in step S1002 and the driving track of the target vehicle. The intersection determination action can be performed based on the latest information of the host vehicle and the latest information of the surrounding vehicles. In this way, the intersection determination action is performed based on the determination area set with the steering preparation position 1101 as the reference position. Therefore, the intersection determination action can be regarded as being performed with the steering preparation position 1101 as the reference position. In step S1006, the driving track of the host vehicle 100 and the driving track of the surrounding vehicle RV may not have an intersection. In this case, even if the intersection determination action is performed, the track intersection cannot be determined.

[0084] In step S1007, the processing unit 110 (eg, the updating unit 110d thereof) updates the risk position information 112 based on the trajectory intersection determined by the intersection determination operation in step S1006. The process of step S1007 may be the same as the process of step S809, and thus repeated description is omitted.

[0085] If there is no surrounding vehicle RV identified as the target vehicle in step S1003 , or if there is no target vehicle that has passed through the determination area 1102 , steps S1006 and S1007 are skipped.

[0086] The process of step S1008 may be the same as the process of step S810 , and thus repeated descriptions are omitted.

[0087] If it is determined in step S1004 that the vehicle 100 has not passed through the determination area 1102, step S1005 is executed. In step S1005, the processing unit 110 (for example, its determination unit 110c) determines whether the vehicle 100 has moved away from the reference position (that is, the turn preparation position 1101) stored in step S1002 by a predetermined distance (for example, 30 meters) or more. If the processing unit 110 determines that the vehicle 100 has moved away from the reference position by a predetermined distance or more, the processing is transferred to step S1008. Otherwise, the processing is transferred to step S1003. If the vehicle 100 has moved away from the reference position by a predetermined distance or more before the vehicle 100 passes through the determination area 1102, for example, the vehicle 100 may turn forward without passing through the determination area 1102. Therefore, the processing unit 110 ends the processing without performing the intersection determination operation. In this case, in step S1008 , the processing unit 110 (for example, the specifying unit 110 c thereof) also deletes unnecessary reference positions and determination areas from the storage unit 111 .

[0088] If it is determined in step S1005 that the host vehicle 100 is not more than the predetermined distance away from the reference position, step S1003 is executed again. In step S1003, the processing unit 110 (for example, its determination unit 110c) determines the surrounding vehicle RV newly included in the range 700 as the target vehicle for subsequent processing. Even if there is a new surrounding vehicle in the range 700, the determination area 1102 is set in step S1002, and the processing unit 110 does not execute step S1002 (that is, does not set a new determination area 1102) until the determination area 1102 is deleted in step S1008.

[0089] exist Fig.10 In the method, as long as it is determined in step S1001 that the host vehicle 100 is re-accelerating or temporarily stopped, and in step S1004 it is not determined that the surrounding vehicle RV and the host vehicle 100 are present in the range 700 and have passed the determination area, the intersection determination action of step S1006 is not performed. In this way, it is possible to suppress the risk position information from being improperly updated.

[0090] according to Fig.10 According to the method, when there are multiple surrounding vehicles in the range 700 in front of the host vehicle 100, a common reference position (i.e., the turn preparation position 1101) is used for the multiple surrounding vehicles. As a result, a common determination area is set for each of the multiple surrounding vehicles based on the common reference position. Thus, the position of the intersection when the host vehicle 100 turns to the opposite lane side (for example, when turning left) can be appropriately estimated.

[0091] In the above driving assistance method, based on the surrounding vehicle RV being located Figure 7 If the surrounding vehicle RV is within the range 700 or the range 701, the surrounding vehicle RV is taken as the object of risk position learning. The processing unit 110 may also determine whether to take the surrounding vehicle RV as the object of risk position learning based on other information. Fig.12 , an example of a method for determining a surrounding vehicle RV as a learning target of a risk position will be described.

[0092] The processing unit 110 may also determine whether to take the surrounding vehicle RV as a learning object of the risk position based on the rotation angle 1203 of the route vector 1202 of the surrounding vehicle RV relative to the route vector 1201 of the host vehicle 100. The route vector 1201 may also be a unit vector facing the direction of travel of the vehicle. For the sake of explanation, the rotation angle 1203 is positive in the clockwise direction and negative in the counterclockwise direction. The processing unit 110 can determine the approach direction of the surrounding vehicle RV based on the direction of the surrounding vehicle RV relative to the host vehicle 100 and the rotation angle 1203 of the route vector 1202 of the surrounding vehicle RV relative to the route vector 1201 of the host vehicle 100.

[0093] Even if the surrounding vehicle RV is included in the range 700 in front of the host vehicle 100, if the surrounding vehicle RV is traveling in the same direction as the host vehicle 100 or traveling to the right or left relative to the host vehicle 100, it is considered that there is no possibility of collision between the host vehicle 100 and the surrounding vehicle RV. Therefore, the processing unit 110 may also include the surrounding vehicle RV in the range 700 in front of the host vehicle 100 and the rotation angle 1203 is included in a predetermined range (for example, 160° to 200°). Figure 4 In the process of , the risk position is set as the object of learning.

[0094] Even if the surrounding vehicle RV is included in the range 701 located on the right side of the host vehicle 100, if the surrounding vehicle RV is traveling in the same direction as or in the opposite direction to the host vehicle 100, or traveling to the right relative to the host vehicle 100, it is considered that there is no possibility of collision between the host vehicle 100 and the surrounding vehicle RV. Therefore, the processing unit 110 may also treat the surrounding vehicle RV as being within the range 701 located on the right side of the host vehicle 100 and the rotation angle 1203 is within a predetermined range (for example, -110° to -70°). Figure 4 In the process of , the risk position is set as the object of learning.

[0095] Even if the surrounding vehicle RV is included in the range 701 located on the left side of the host vehicle 100, if the surrounding vehicle RV is traveling in the same direction as or in the opposite direction to the host vehicle 100, or is traveling to the left of the host vehicle 100, it is considered that there is no possibility of collision between the host vehicle 100 and the surrounding vehicle RV. Therefore, the processing unit 110 may also include the surrounding vehicle RV in the range 701 located on the left side of the host vehicle 100 and the rotation angle 1203 is included in a predetermined range (for example, 70° to 110°). Figure 4 In the process of , the risk position is set as the object of learning.

[0096] According to the above-described embodiment, an appropriate intersection identification operation is performed according to the positions of the surrounding vehicles, so that risk position information can be determined with high accuracy. As a result, driving assistance for the host vehicle 100 can be appropriately performed.

[0097] <Summary of Implementation Methods> [Project 1] A driving assistance device (106), wherein: The driving assistance device comprises: A storage device (111) storing risk position information (112), wherein the risk position information indicates a position where a host vehicle (100) equipped with the driving assistance device may collide with another vehicle (RV); An assisting mechanism (110b) for assisting driving of the vehicle based on the risk position information; An acquisition unit (111a) acquires surrounding vehicle information indicating the speed, position and driving track of the surrounding vehicles from surrounding vehicles existing around the host vehicle through vehicle-to-vehicle communication; a determination mechanism (110c) for performing an intersection determination operation of determining an intersection point (CPa, CPb) between the driving trajectory of the own vehicle and the driving trajectory of the surrounding vehicles; and an updating mechanism (110d) for updating the risk position information based on the intersection determined by the intersection determination operation, When the surrounding vehicle is within the first range (700) in front of the host vehicle, the determination means uses the position where the host vehicle is accelerated after decelerating to below a threshold value or the position where the host vehicle is temporarily stopped as a first reference position (1101) to perform the intersection determination action, When the surrounding vehicle is within a second range (701) to the side of the host vehicle, the determination mechanism uses the intersection of the predicted travel route (900) of the host vehicle and the predicted travel route (901) of the surrounding vehicle as a second reference position (902) to perform the intersection determination action.

[0098] [Project 2] The driving assistance device according to item 1, wherein: When there are a plurality of surrounding vehicles within the first range, the determining means uses the first reference position that is common to the plurality of surrounding vehicles. When there are a plurality of surrounding vehicles within the second range, the determination unit uses a separate second reference position for each of the plurality of surrounding vehicles.

[0099] According to this item, the risk position information can be updated more appropriately.

[0100] [Item 3] The driving assistance device according to item 1 or 2, wherein: When the surrounding vehicle exists within the first range, the determining means sets a first determination area (1102) for the first reference position, and when both the surrounding vehicle and the own vehicle pass through the first determination area, the determining means performs the intersection determination operation. When the surrounding vehicle exists within the second range, the determination unit sets a second determination area (903) for the second reference position, and when both the surrounding vehicle and the own vehicle pass through the second determination area, the determination unit performs the intersection determination operation.

[0101] According to this item, the risk position information can be updated more appropriately.

[0102] [Item 4] The driving assistance device according to item 3, wherein the determination unit sets the first determination area so as to include the first reference position and to be offset toward an oncoming lane relative to the host vehicle in a direction orthogonal to a predicted course of the host vehicle.

[0103] According to this item, the risk position information can be updated more appropriately.

[0104] [Item 5] The driving assistance device according to item 3 or 4, wherein the determination unit sets the second determination area so as to include the second reference position.

[0105] According to this item, the risk position information can be updated more appropriately.

[0106] [Item 6] A driving assistance device according to any one of items 3 to 5, wherein: The acquisition unit repeatedly acquires the surrounding vehicle information from the surrounding vehicles. When a new surrounding vehicle different from the surrounding vehicle exists within the first range and the first determination area is set, the determination unit does not reset the first determination area. When the surrounding vehicle exists within the second range, the specifying unit updates the second reference position based on the newly acquired surrounding vehicle information, and accordingly updates the second determination area.

[0107] According to this item, the risk position information can be updated more appropriately.

[0108] [Item 7] A driving assistance device according to any one of items 3 to 6, wherein: After the first determination area is set, when the intersection determination operation is completed or when the host vehicle is more than a predetermined distance away from the first reference position, the determination unit deletes the first determination area. After the second determination area is set, the determination unit deletes the second determination area when the intersection determination operation is completed or when the host vehicle is separated from the updated second reference position by a predetermined distance or more.

[0109] According to this item, the capacity of the storage unit can be used appropriately.

[0110] [Item 8] A driving assistance method is performed by a vehicle (100), wherein: The host vehicle comprises a storage device (111), wherein the storage device stores risk position information (112), wherein the risk position information indicates a position where the host vehicle may collide with another vehicle (RV). The driving assistance method comprises: an assisting step (S409), in which driving assistance of the host vehicle is performed based on the risk position information; an acquisition step (S603), in which surrounding vehicle information indicating the speed, position and driving track of the surrounding vehicles (RV) existing around the host vehicle is acquired from the surrounding vehicles (RV) through vehicle-to-vehicle communication; a determination step (S808, S1006), in which an intersection determination action of determining the intersection points (CPa, CPb) between the driving trajectory of the own vehicle and the driving trajectory of the surrounding vehicles is performed; and an updating step (S809, S1007), in which the risk position information is updated based on the intersection determined by the intersection determination action, The determining step comprises: When the surrounding vehicle is within a first range (700) in front of the host vehicle, the intersection determination operation is performed using a position where the host vehicle is accelerated after decelerating to below a threshold value or a position where the host vehicle is temporarily stopped as a first reference position (1101); and When the surrounding vehicle is within a second range (701) on the side of the host vehicle, the intersection determination action is performed using the intersection of the predicted travel route (900) of the host vehicle and the predicted travel route (901) of the surrounding vehicle as a second reference position (902).

[0111] According to this item, risk position information can be appropriately updated, and as a result, driving assistance can be appropriately provided.

[0112] [Item 9] A program for causing a computer mounted on a vehicle (100) to execute each step of a driving assistance method, wherein: The host vehicle comprises a storage device (111), wherein the storage device stores risk position information (112), wherein the risk position information indicates a position where the host vehicle may collide with another vehicle (RV). The driving assistance method comprises: an assisting step (S409), in which driving assistance of the host vehicle is performed based on the risk position information; an acquisition step (S603), in which surrounding vehicle information indicating the speed, position and driving track of the surrounding vehicles (RV) existing around the host vehicle is acquired from the surrounding vehicles (RV) through vehicle-to-vehicle communication; a determination step (S808, S1006), in which an intersection determination action of determining the intersection points (CPa, CPb) between the driving trajectory of the own vehicle and the driving trajectory of the surrounding vehicles is performed; and an updating step (S809, S1007), in which the risk position information is updated based on the intersection determined by the intersection determination action, The determining step comprises: When the surrounding vehicle is within a first range (700) in front of the host vehicle, the intersection determination operation is performed using a position where the host vehicle is accelerated after decelerating to below a threshold value or a position where the host vehicle is temporarily stopped as a first reference position (1101); and When the surrounding vehicle is within a second range (701) on the side of the host vehicle, the intersection determination action is performed using the intersection of the predicted travel route (900) of the host vehicle and the predicted travel route (901) of the surrounding vehicle as a second reference position (902).

[0113] According to this item, risk position information can be appropriately updated, and as a result, driving assistance can be appropriately provided.

[0114] The present invention is not limited to the above-described embodiments, and various modifications and changes can be made within the scope of the gist of the present invention.

Claims

1. A driving assistance device, wherein: The driving assistance device comprises: a storage device for storing risk position information, wherein the risk position information indicates a position where a host vehicle equipped with the driving assistance device may collide with another vehicle; an assisting mechanism for performing driving assistance for the host vehicle based on the risk position information; an acquisition unit that acquires surrounding vehicle information indicating the speed, position, and driving track of the surrounding vehicles from surrounding vehicles existing around the host vehicle through vehicle-to-vehicle communication; a determination mechanism for performing an intersection determination operation of determining an intersection point between the driving track of the host vehicle and the driving track of the surrounding vehicles; as well as an updating mechanism for updating the risk position information based on the intersection determined by the intersection determination operation, When the surrounding vehicle exists within a first range in front of the host vehicle, the determination means performs the intersection determination operation using a position where the host vehicle is accelerated after decelerating to below a threshold value or a position where the host vehicle is temporarily stopped as a first reference position, When the surrounding vehicle exists within a second range on the side of the host vehicle, the identification unit performs the intersection identification operation using an intersection of the predicted travel path of the host vehicle and the predicted travel path of the surrounding vehicle as a second reference position.

2. The driving assistance device according to claim 1, wherein: When there are a plurality of surrounding vehicles within the first range, the determining means uses the first reference position that is common to the plurality of surrounding vehicles. When there are a plurality of surrounding vehicles within the second range, the determination unit uses a separate second reference position for each of the plurality of surrounding vehicles.

3. The driving assistance device according to claim 1, wherein: When the surrounding vehicle exists within the first range, the determining means sets a first determination area for the first reference position, and when both the surrounding vehicle and the own vehicle pass through the first determination area, the determining means performs the intersection determination operation. When the surrounding vehicle exists within the second range, the determining means sets a second determination area for the second reference position, and when both the surrounding vehicle and the host vehicle pass through the second determination area, the determining means performs the intersection determining operation.

4. The driving assistance device according to claim 3, wherein: The determination unit sets the first determination area so as to include the first reference position and to be offset toward an oncoming lane relative to the host vehicle in a direction orthogonal to a predicted course of the host vehicle.

5. The driving assistance device according to claim 3, wherein: The determination unit sets the second determination area so as to include the second reference position.

6. The driving assistance device according to claim 3, wherein: The acquisition unit repeatedly acquires the surrounding vehicle information from the surrounding vehicles. When a new surrounding vehicle different from the surrounding vehicle exists within the first range and the first determination area is set, the determination unit does not reset the first determination area. When the surrounding vehicle exists within the second range, the specifying unit updates the second reference position based on the newly acquired surrounding vehicle information, and accordingly updates the second determination area.

7. The driving assistance device according to claim 3, wherein: After the first determination area is set, when the intersection determination operation is completed or when the host vehicle is more than a predetermined distance away from the first reference position, the determination unit deletes the first determination area. After the second determination area is set, the determination unit deletes the second determination area when the intersection determination operation is completed or when the host vehicle is separated from the updated second reference position by a predetermined distance or more.

8. A driving assistance method, which is performed by the vehicle, wherein: The host vehicle includes a storage device, the storage device stores risk position information, the risk position information indicates a position where the host vehicle may collide with another vehicle. The driving assistance method comprises: an assisting step, in which driving assistance of the host vehicle is performed based on the risk position information; an acquisition step, in which surrounding vehicle information indicating the speed, position and driving track of the surrounding vehicles is acquired from surrounding vehicles existing around the host vehicle through vehicle-to-vehicle communication; a determination step, in which an intersection determination action is performed to determine the intersection of the driving track of the host vehicle and the driving track of the surrounding vehicles; as well as an updating step, in which the risk position information is updated based on the intersection determined by the intersection determination operation, The determining step comprises: When the surrounding vehicle exists within a first range in front of the host vehicle, the intersection determination operation is performed using a position where the host vehicle is accelerated after decelerating to below a threshold or a position where the host vehicle is temporarily stopped as a first reference position; as well as When the surrounding vehicle exists within a second range on the side of the host vehicle, the intersection identification operation is performed using an intersection of a predicted travel route of the host vehicle and a predicted travel route of the surrounding vehicle as a second reference position.

9. A storage medium storing a program for causing a computer mounted on a vehicle to execute each step of a driving assistance method, wherein: The host vehicle includes a storage device, the storage device stores risk position information, the risk position information indicates a position where the host vehicle may collide with another vehicle. The driving assistance method comprises: an assisting step, in which driving assistance of the host vehicle is performed based on the risk position information; an acquisition step, in which surrounding vehicle information indicating the speed, position and driving track of the surrounding vehicles is acquired from surrounding vehicles existing around the host vehicle through vehicle-to-vehicle communication; a determination step, in which an intersection determination action is performed to determine the intersection of the driving track of the host vehicle and the driving track of the surrounding vehicles; as well as an updating step, in which the risk position information is updated based on the intersection determined by the intersection determination operation, The determining step comprises: When the surrounding vehicle exists within a first range in front of the host vehicle, the intersection determination operation is performed using a position where the host vehicle is accelerated after decelerating to below a threshold or a position where the host vehicle is temporarily stopped as a first reference position; as well as When the surrounding vehicle exists within a second range on the side of the host vehicle, the intersection identification operation is performed using an intersection of a predicted travel route of the host vehicle and a predicted travel route of the surrounding vehicle as a second reference position.

10. A program product for causing a computer mounted on a vehicle to execute each step of a driving assistance method, wherein: The host vehicle includes a storage device, the storage device stores risk position information, the risk position information indicates a position where the host vehicle may collide with another vehicle. The driving assistance method comprises: an assisting step, in which driving assistance of the host vehicle is performed based on the risk position information; an acquisition step, in which surrounding vehicle information indicating the speed, position and driving track of the surrounding vehicles is acquired from surrounding vehicles existing around the host vehicle through vehicle-to-vehicle communication; a determination step, in which an intersection determination action is performed to determine the intersection of the driving track of the host vehicle and the driving track of the surrounding vehicles; as well as an updating step, in which the risk position information is updated based on the intersection determined by the intersection determination operation, The determining step comprises: When the surrounding vehicle exists within a first range in front of the host vehicle, the intersection determination operation is performed using a position where the host vehicle is accelerated after decelerating to below a threshold or a position where the host vehicle is temporarily stopped as a first reference position; as well as When the surrounding vehicle exists within a second range on the side of the host vehicle, the intersection identification operation is performed using an intersection of a predicted travel route of the host vehicle and a predicted travel route of the surrounding vehicle as a second reference position.

Images