Driving assistance device, driving assistance method, computer program product, and computer-readable storage medium

Abstract

The invention provides a driving assistance apparatus, a driving assistance method, a computer program product, and a computer readable storage medium. A driving assistance device is provided with: a storage means for storing a plurality of intersection positions, each of which indicates a position at which a travel trajectory of a host vehicle and a travel trajectory of another vehicle intersect in the past; an acquisition means for acquiring peripheral vehicle information of peripheral vehicles by means of vehicle-to-vehicle communication; a prediction means for predicting, on the basis of the host vehicle information and the surrounding vehicle information, the possibility of a collision between the host vehicle and the surrounding vehicle in a target area ahead of the host vehicle; and an assistance means for assisting the driving of the host vehicle on the basis of the prediction result of the prediction means, the prediction means predicting the possibility of collision using the target region as a first region when none of the plurality of intersection positions is within a predetermined distance ahead of the host vehicle. When at least one of the plurality of intersection positions is within the predetermined distance, the target area is set to a second area larger than the first area to predict the possibility of collision.

Description

Technical Field

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

[0002] There are known devices that provide driving assistance for preventing collisions with other vehicles (surrounding vehicles) without using map information. Patent document 1 discloses a driving assistance device that pre-registers position information of an intersection where the driving track of the own vehicle intersects the driving track of other vehicles in a storage unit and provides driving assistance for the own vehicle when the vehicle passes through the intersection again. Prior Art Literature Patent Literature Patent Document 1: Japanese Patent No. 7054636 Summary of the invention Problem that the invention aims to solve In a driving assistance device, the possibility of a collision of the vehicle can be predicted for a target area in front of the vehicle, and driving assistance for the vehicle can be performed based on the prediction result. However, for example, when entering a trunk road with multiple lanes, even if an intersection position (intersection point) where the driving track of the vehicle and the driving track of other vehicles have intersected in the past is stored for the trunk road, there is a case where the intersection position is not included in the target area for driving assistance and driving assistance cannot be performed appropriately.

[0003] Therefore, an object of the present invention is to provide a technology capable of appropriately performing driving assistance for a host vehicle.

[0004] Means for solving problems In order to achieve the above-mentioned purpose, one aspect of the present invention is a driving assistance device, characterized in that the driving assistance device comprises: a storage device, which stores a plurality of intersection positions respectively representing positions where the driving trajectory of the own vehicle and the driving trajectory of other vehicles have intersected in the past; an acquisition device, which acquires surrounding vehicle information including the current position, speed and driving trajectory of the surrounding vehicles from surrounding vehicles existing around the own vehicle through vehicle-to-vehicle communication; and a prediction device, which predicts the position of the own vehicle and the surrounding vehicles in an object area in front of the own vehicle based on the own vehicle information including the current position, speed and driving trajectory of the own vehicle and the surrounding vehicle information acquired by the acquisition device. The prediction mechanism includes: a first area for predicting the collision possibility; and an auxiliary mechanism for performing driving assistance of the vehicle, including at least one of notification to passengers of the vehicle and deceleration assistance of the vehicle, based on the prediction result of the prediction mechanism. When any of the multiple intersection positions stored in the storage mechanism is not within a predetermined distance in front of the vehicle, the prediction mechanism predicts the collision possibility with the object area as a first area. When at least one of the multiple intersection positions stored in the storage mechanism is within the predetermined distance, the prediction mechanism predicts the collision possibility by setting the object area to a second area larger than the first area.

[0005] In order to achieve the above-mentioned purpose, one aspect of the present invention is a driving assistance method, characterized in that the driving assistance method includes: a storage step, in which a plurality of intersection positions respectively representing positions where the driving trajectory of the own vehicle and the driving trajectory of other vehicles have intersected in the past are stored; an acquisition step, in which surrounding vehicle information including the current position, speed and driving trajectory of the surrounding vehicles existing around the own vehicle is acquired from the surrounding vehicles existing around the own vehicle through vehicle-to-vehicle communication; a prediction step, in which the own vehicle and the surrounding vehicles in the object area in front of the own vehicle are predicted based on the own vehicle information including the current position, speed and driving trajectory of the own vehicle and the surrounding vehicle information acquired in the acquisition step. the possibility of collision with the surrounding vehicles; and an auxiliary step, in which, based on the prediction result of the prediction step, driving assistance of the vehicle including at least one of notification to the passengers of the vehicle and deceleration assistance of the vehicle is performed, and in the prediction step, when any of the multiple intersection positions stored in the storage step does not exist within a predetermined distance in front of the vehicle, the object area is set to a first area to predict the collision possibility, and when at least one of the multiple intersection positions stored in the storage step exists within the predetermined distance, the object area is set to a second area larger than the first area to predict the collision possibility.

[0006] In order to achieve the above-mentioned purpose, one aspect of the present invention is a computer program product, which is a computer program product including a computer program for causing a computer to execute a driving assistance method, characterized in that the driving assistance method includes: a storage step, in which a plurality of intersection positions respectively representing positions where the driving trajectory of the own vehicle and the driving trajectory of other vehicles have intersected in the past are stored; an acquisition step, in which surrounding vehicle information including the current position, speed and driving trajectory of the surrounding vehicles existing around the own vehicle is acquired from the surrounding vehicles existing around the own vehicle through vehicle-to-vehicle communication; a prediction step, in which the prediction of the own vehicle is predicted based on the own vehicle information including the current position, speed and driving trajectory of the own vehicle and the surrounding vehicle information acquired in the acquisition step. a first area in which the first and second intersection positions are located in a predetermined distance in front of the vehicle, and a second area in which the first and second intersection positions are located in a predetermined distance in front of the vehicle, respectively; and a second area in which the first and second intersection positions are located in a predetermined distance in front of the vehicle, respectively.

[0007] In order to achieve the above-mentioned purpose, one aspect of the present invention is a computer-readable storage medium, which is a computer-readable storage medium storing a computer program for causing a computer to execute a driving assistance method, characterized in that the driving assistance method includes: a storage step, in which a plurality of intersection positions respectively representing positions where the driving trajectory of the own vehicle and the driving trajectory of other vehicles have intersected in the past are stored; an acquisition step, in which surrounding vehicle information including the current position, speed and driving trajectory of the surrounding vehicles existing around the own vehicle is acquired through vehicle-to-vehicle communication; a prediction step, in which the prediction step is based on the own vehicle information including the current position, speed and driving trajectory of the own vehicle and the surrounding vehicle information acquired in the acquisition step. the possibility of a collision between the vehicle and the surrounding vehicles within an object area in front of the vehicle; and an auxiliary step, in which driving assistance for the vehicle, including at least one of notification to passengers of the vehicle and deceleration assistance for the vehicle, is performed based on the prediction result of the prediction step, and in the prediction step, when any of the multiple intersection positions stored in the storage step does not exist within a predetermined distance in front of the vehicle, the object area is set to a first area to predict the possibility of a collision, and when at least one of the multiple intersection positions stored in the storage step exists within the predetermined distance, the object area is set to a second area larger than the first area to predict the possibility of a collision.

[0008] Effects of the Invention According to the present invention, for example, a technique capable of appropriately assisting driving of a host vehicle can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a diagram showing a configuration example of a driving assistance device according to an embodiment of the present invention.

[0010] Figure 2 It is a diagram showing an example of the structure of a cross position database.

[0011] Figure 3 This is a diagram for explaining the intersection position.

[0012] Figure 4 This is a diagram for explaining problems of conventional driving assistance devices.

[0013] Figure 5 This is a diagram for explaining the change in the size of the target area for performing driving assistance of the host vehicle.

[0014] Figure 6This is a flowchart showing a driving assistance process according to one embodiment of the present invention.

[0015] Figure 7 This is a flowchart showing a method (first embodiment) for predicting the possibility of a collision of a host vehicle.

[0016] Figure 8 This is a diagram for explaining the method of predicting the possibility of collision in the first embodiment.

[0017] Fig. 9 This is a diagram showing the relationship between the speed of surrounding vehicles and the stop time.

[0018] Fig.10 This is a flowchart showing a method (Example 2) for predicting the possibility of a collision of a host vehicle.

[0019] Fig.11 This is a diagram for explaining the method of predicting the possibility of collision in the second embodiment.

[0020] Fig.12 This is a flowchart showing a method (third embodiment) for predicting the possibility of a collision of a host vehicle.

[0021] Fig.13 This is a diagram for explaining the method of predicting the possibility of collision in the third embodiment.

[0022] Fig.14 is a flowchart showing a method for registering a new intersection position.

[0023] Fig.15 This is a diagram for explaining the intersection between the host vehicle and surrounding vehicles.

[0024] Fig.16 This is a diagram for explaining the registration of the travel tracks (passing points) of surrounding vehicles.

[0025] Description of Reference Numerals 11: sensor group; 12: GNSS antenna; 13: inter-vehicle communication antenna; 14: notification device; 15: braking device; 20: control device; 21: processing unit; 22: storage unit; 23: GNSS module; 23: inter-vehicle communication module; 100: driving assistance device. DETAILED DESCRIPTION

[0026] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiments, but also includes changes and deformations of the configuration within the scope of the gist of the present invention. In addition, the combination of features described in the present embodiments is not necessarily required for the present invention. It should be noted that the same components are marked with the same reference numerals and their descriptions are omitted.

[0027] <Configuration of driving assistance devices> Figure 1 1 is a diagram showing a configuration example of a driving assistance device 100 according to an embodiment of the present invention. The driving assistance device 100 is a device mounted on the vehicle in order to assist driving of the vehicle. In the case of the present embodiment, the driving assistance device 100 performs collision prevention assistance for preventing (reducing) collision with surrounding vehicles as driving assistance of the vehicle without using map information. In addition, the driving assistance device 100 according to the present embodiment can include a sensor group 11, a GNSS (Global Navigation Satellite System) antenna 12, an inter-vehicle communication antenna 13, a notification device 14, a braking device 15, and a control device 20. It should be noted that in the following description, "other vehicles" means all vehicles different from the vehicle, and specifically, can be defined as vehicles that have performed inter-vehicle communication with the vehicle. In addition, "surrounding vehicles" means vehicles currently existing around the vehicle, and specifically, can be defined as vehicles that are currently performing inter-vehicle communication with the vehicle.

[0028] The sensor group 11 includes various sensors mounted on the vehicle for performing driving assistance of the vehicle. For example, the sensor group 11 can include a speed sensor for detecting the speed of the vehicle, an acceleration sensor for detecting the acceleration of the vehicle, etc. In addition, the sensor group 11 can also include external detection sensors such as cameras, millimeter wave radars, and laser radars (LIDAR: Light Detection and Ranging) that can detect objects around the vehicle. The sensor group 11 outputs its detection results to the control device 20.

[0029] The GNSS antenna 12 receives radio waves for position determination sent from GNSS satellites. For example, the GNSS antenna 12 can be used to obtain information related to the current position of the vehicle. In addition, the inter-vehicle communication antenna 13 is an antenna that can send and receive various data with surrounding vehicles. For example, the inter-vehicle communication antenna 13 can be used to obtain information related to the current position, speed, and driving trajectory of surrounding vehicles.

[0030] The notification device 14 is a device for notifying passengers (e.g., the driver) of the vehicle. When the vehicle may collide with surrounding vehicles, the driving assistance device 100 of the present embodiment can notify passengers of the vehicle of the possibility of collision with surrounding vehicles through the notification device 14 as driving assistance. For example, the notification device 14 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.

[0031] The braking device 15 is, for example, a brake, and is a device for performing a braking action of the vehicle. When the vehicle may collide with a surrounding vehicle, the driving assistance device 100 of this embodiment can assist in decelerating the vehicle and avoid a collision with the surrounding vehicle as driving assistance by actuating the braking device 15.

[0032] The control device 20 is a device (computer) for controlling driving assistance of the vehicle, and can be composed of, for example, an ECU (Electric Control Unit). The control device 20 of this embodiment performs driving assistance through inter-vehicle communication with other vehicles (surrounding vehicles) and processing within the vehicle. That is, the control device 20 performs driving assistance without using map information. The control device 20 includes a processing unit 21, a storage unit 22, a GNSS module 23, and an inter-vehicle communication module 24, which are connected by a bus not shown.

[0033] The processing unit 21 is a processor represented by a CPU (Central Processing Unit), and executes a program stored in the storage unit 22. The storage unit 22 includes, for example, a RAM, a ROM, a hard disk, etc., and stores various data on the basis of storing a program (driving assistance program) for the processing unit 21 to execute driving assistance processing of the vehicle. In the case of the present embodiment, the storage unit 22 stores a database (information) of multiple intersection positions, which respectively represent the positions where the driving trajectory of the vehicle and the driving trajectory of other vehicles intersected in the past. In addition, the GNSS module 23 receives the position information of the vehicle from the GNSS satellite via the GNSS antenna 12. In addition, the inter-vehicle communication module 24 receives various information from other vehicles via the inter-vehicle communication antenna 13.

[0034] The processing unit 21 of this embodiment can include an acquisition unit 21a, a prediction unit 21b, a driving assistance unit 21c, a determination unit 21d, and a registration unit 21e in order to perform driving assistance (collision prevention assistance in this embodiment) of the vehicle. It should be noted that the processing unit 21 is not limited to the configuration including the units 21a to 21e, and other units may be added or some units may be omitted corresponding to the type of driving assistance performed by the vehicle.

[0035] The acquisition unit 21a acquires surrounding vehicle information including the current position, speed and driving track of the surrounding vehicles from the surrounding vehicles via the inter-vehicle communication antenna 13 (inter-vehicle communication module 24). The acquisition unit 21a may also include a function of acquiring the vehicle information including the current position, speed and driving track of the own vehicle via the sensor group 11 and the GNSS antenna 12 (GNSS module 23).

[0036] The prediction unit 21b predicts the possibility of collision of the vehicle in the target area in front of the vehicle based on the vehicle information and surrounding vehicle information acquired by the acquisition unit 21a. The details of the target area will be described later, and it can be understood as the area (driving assistance area) for which driving assistance for preventing the collision of the vehicle with the surrounding vehicles is performed. In addition, the driving assistance unit 21c performs driving assistance for preventing the collision of the vehicle with the surrounding vehicles based on the prediction result of the prediction unit 21b. In the case of this embodiment, the driving assistance unit 21c can perform at least one of notification to the passengers of the vehicle based on the notification device 14 and deceleration assistance of the vehicle based on the braking device 15 as driving assistance for the vehicle.

[0037] The determination unit 21d determines the position where the own vehicle intersects with the surrounding vehicles as a new intersection position based on the own vehicle information and the surrounding vehicle information acquired by the acquisition unit 21a. In addition, when the new intersection position is determined by the determination unit 21d, the registration unit 21e registers the new intersection position determined by the determination unit 21d in the storage unit 22 (a database of multiple intersection positions).

[0038] Next, the database of a plurality of intersection positions stored in the storage unit 22 will be described. Figure 2 The following is an example of a structure of a database of a plurality of intersection positions stored in the storage unit 22. In addition, in the following, the database of a plurality of intersection positions stored in the storage unit 22 is sometimes referred to as an "intersection position database", and the intersection position registered in the intersection position database is sometimes referred to as a "registered intersection position". It should be noted that Figure 2 The intersection position database shown is merely an example, and the items included in the intersection position database can be changed as appropriate.

[0039] The intersection position database can include information related to the intersection position ID, registration date and time, coordinates, and passing direction for each registered intersection position. The intersection position ID is an identification number for each registered intersection position. The registration date and time is the date and time when the registered intersection position is registered in the intersection position database. Coordinates are data used to determine the registered intersection position, for example, represented by latitude and longitude data. The coordinates can also include altitude data such as altitude on the basis of latitude and longitude data. The passing direction is the direction (direction, angle) that the vehicle is facing when passing through the registered intersection position. In the present embodiment, the passing direction of the vehicle at the registered intersection position is defined as 0° for the north, 90° for the east, 180° for the south, and 270° for the west.

[0040] Here, refer to Figure 3 The intersection position is described. Figure 3 1 is a diagram for explaining the intersection position. As mentioned above, the intersection position refers to the position where the driving track of the own vehicle and the driving track of other vehicles have intersected in the past. It should be noted that in this embodiment, right-hand traffic is illustrated and explained, but the same applies to left-hand traffic.

[0041] exist Figure 3 In the example shown in (a), the position where the driving trajectory 31a of the host vehicle SV traveling straight in the north direction intersects with the driving trajectory 32a of the other vehicle OVa traveling straight in the west is determined as the "intersection position CPa" and registered in the intersection position database of the storage unit 22. It should be noted that since the time point (moment) when the host vehicle SV passes through the intersection position CPa and the time point (moment) when the other vehicle OVa passes through the intersection position CPa are different, there will be no collision between the host vehicle SV and the other vehicle OVa. In addition, the driving trajectory 31a of the host vehicle SV is included in the host vehicle information acquired by the acquisition unit 21a via the sensor group 11 and the GNSS antenna 12 (GNSS module 23). The driving trajectory 32a of the other vehicle OVa is included in the other vehicle information acquired by the acquisition unit 21a via the inter-vehicle communication antenna 13 (inter-vehicle communication module 24). Since the other vehicle OVa at the time of acquisition is a surrounding vehicle existing around the host vehicle SV, the other vehicle information can also be understood as surrounding vehicle information.

[0042] exist Figure 3In the example shown in (b), the position where the driving trajectory 31b of the host vehicle SV, which is traveling straight in the north direction and turning left, intersects with the driving trajectory 32b of the other vehicle OVb, which is traveling straight in the south direction, is determined as the "intersection position CPb" and is registered in the intersection position database of the storage unit 22. It should be noted that since the time point (moment) when the host vehicle SV passes through the intersection position CPb is different from the time point (moment) when the other vehicle OVb passes through the intersection position CPb, there is no collision between the host vehicle SV and the other vehicle OVb. In addition, the driving trajectory 31b of the host vehicle SV is included in the host vehicle information acquired by the acquisition unit 21a via the sensor group 11 and the GNSS antenna 12 (GNSS module 23) in the same way as the driving trajectory 31a. The driving trajectory 32b of the other vehicle OVb is included in the other vehicle information (surrounding vehicle information) acquired by the acquisition unit 21a via the inter-vehicle communication antenna 13 (inter-vehicle communication module 24) in the same way as the driving trajectory 32a.

[0043] It should be noted that the functions of the control device 20 can be implemented by either hardware or software. For example, the functions of the control device 20 can be implemented by the processing unit 21 (CPU) executing the driving assistance program as described above, or can be implemented by a well-known semiconductor device such as a PLD (Programmable Logic Device) or an ASIC (Application Specific Integrated Circuit). In addition, in the present embodiment, the control device 20 is represented as a single element, but it can also be divided into two or more elements as needed.

[0044] However, as described above, the processing unit 21 (prediction unit 21b, driving assistance unit 21c) in the driving assistance device 100 predicts the possibility of collision of the host vehicle SV in the target area TA in front of the host vehicle SV and performs driving assistance of the host vehicle SV based on the prediction result. However, in the case of entering a trunk road including multiple lanes, for example, Figure 4 As shown in FIG. 1 , even if the registered intersection position CP exists on the trunk road, there is a case where the registered intersection position CP is not included in the target area TA for driving assistance, and driving assistance may not be performed appropriately.

[0045] Therefore, if Figure 5 As shown in (a) of FIG. 1 , the driving assistance device 100 of this embodiment sets the target area TA to the first area TA1 and performs driving assistance for the host vehicle SV when none of the registered intersection positions stored in the storage unit 22 is within the predetermined distance D in front of the host vehicle SV. On the other hand, Figure 5As shown in (b), when at least one registered intersection position CP among the multiple registered intersection positions stored in the storage unit 22 exists within a predetermined distance D in front of the vehicle SV, the target area TA is set to the second area TA2 to perform driving assistance for the vehicle SV. The second area TA2 is an area larger than the first area TA1, and is set to be longer than the first area TA1 at least in the direction of travel of the vehicle SV. The second area TA2 can also be set to be longer in the vehicle width direction of the vehicle SV than the first area TA1. It should be noted that the predetermined distance D can also be understood as a predetermined range (search range) for searching for the registered intersection position CP in front of the vehicle SV. The predetermined distance D can be set arbitrarily, for example, it can be set to a distance (range) that can cover the maximum road width assumed for a trunk road including multiple lanes.

[0046] <Driving Assistance Process> Hereinafter, the driving assistance process according to the present embodiment will be described. Figure 6 : is a flowchart showing the driving assistance process according to the present embodiment. Figure 6 The driving assistance process shown in the flowchart is executed by the processing unit 21 in the driving assistance device 100 according to the driving assistance program read from the storage unit 22. Figure 6 The flowchart can be repeatedly executed, for example, until the setting of the driving assistance is turned off or the ignition of the host vehicle SV is turned off.

[0047] In step S101, the processing unit 21 (predicting unit 21b) determines whether there is a registered intersection position CP in the predetermined area D in front of the host vehicle SV by referring to the plurality of registered intersection positions CP stored in the storage unit 22. For example, the processing unit 21 can determine whether there is a registered intersection position CP in the predetermined area D in front of the host vehicle SV by comparing the current position of the host vehicle SV acquired by the acquisition unit 21a via the GNSS antenna 12 (GNSS module 23) and the coordinates (latitude, longitude) of each registered intersection position CP stored in the storage unit 22. If there is no registered intersection position CP in the predetermined area D, the process proceeds to step S102, and the processing unit 21 (predicting unit 21b) sets the target area TA for driving assistance in front of the host vehicle SV to the first area TA1. On the other hand, if there is a registered intersection position CP in the predetermined area D, the process proceeds to step S103, and the processing unit 21 (predicting unit 21b) sets the target area TA to the second area TA2. That is, the processing unit 21 changes the target area TA from the first area TA1 to the second area TA2.

[0048] In step S104, the processing unit 21 determines whether there is a surrounding vehicle RV. As described above, the surrounding vehicle RV refers to a vehicle currently existing around the host vehicle SV. For example, the processing unit 21 can determine that there is a surrounding vehicle RV when inter-vehicle communication is performed via the inter-vehicle communication antenna 13 (inter-vehicle communication module 24). If it is determined that there is no surrounding vehicle RV, the process proceeds to step S101, and if it is determined that there is a surrounding vehicle RV, the process proceeds to step S105.

[0049] In step S105, the processing unit 21 (acquisition unit 21a) acquires the vehicle information and the surrounding vehicle information. For example, the processing unit 21 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 inter-vehicle communication antenna 13 (inter-vehicle communication module 24). In addition, the processing unit 21 acquires the vehicle information including the current position, speed and driving track of the vehicle SV via the sensor group 11 and the GNSS antenna 12 (GNSS module 23).

[0050] In step S106, the processing unit 21 (prediction unit 21b) predicts the possibility of collision between the host vehicle SV and the surrounding vehicles RV in the target area TA based on the host vehicle information and the surrounding vehicle information acquired in step S105. The target area TA for predicting the possibility of collision between the host vehicle SV and the surrounding vehicles RV is set to the first area TA1 in step S102, or is set to the second area TA2 in step S103. It should be noted that the details of the prediction of the possibility of collision in the target area TA will be described later.

[0051] In step S107, the processing unit 21 (driving assistance unit 21c) determines whether there is a possibility of collision between the host vehicle SV and the surrounding vehicle RV based on the prediction result in step S106. If it is determined that there is no possibility of collision, the process proceeds to step S101, and if it is determined that there is a possibility of collision, the process proceeds to step S108.

[0052] In step S108, the processing unit 21 (driving assistance unit 21c) determines whether the speed of the surrounding vehicle RV is within a prescribed range based on the surrounding vehicle information acquired in step S105. The prescribed range can be preset 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 below the speed lower limit value of the prescribed range, it is highly likely that the driver of the surrounding vehicle RV notices the own vehicle SV and decelerates the surrounding vehicle RV without colliding with the own vehicle SV. In other words, 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 own vehicle SV. In addition, when the speed of the surrounding vehicle RV is above the upper limit value of the prescribed range, it is highly likely that the surrounding vehicle RV is not a vehicle traveling on a highway near the road entered by the own vehicle SV, etc., or a vehicle traveling on a road entered by the own vehicle SV. In other words, 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 traveling on the road entered by the own vehicle SV or a vehicle traveling on a highway near the road. In this way, by executing or suppressing driving assistance in accordance with 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 host vehicle SV feels annoyed by driving assistance.

[0053] In step S108, when it is determined that the speed of the surrounding vehicle RV is not within the prescribed range, that is, outside the prescribed range, the process proceeds to step S101. In other words, in the case of the present embodiment, the processing unit 21 is not related to the collision possibility predicted in steps S106 to S107, and when the speed of the surrounding vehicle RV is outside the prescribed range, the driving assistance of the host vehicle SV is not performed. On the other hand, when it is determined that the speed of the surrounding vehicle RV is within the prescribed range, the process proceeds to step S109, and the processing unit 21 (driving assistance unit 21c) performs driving assistance of the host vehicle SV. The processing unit 21 can notify the passengers of the host vehicle SV of the collision possibility through the notification device 14 or perform the braking action of the host vehicle SV through the braking device 15 as driving assistance of the host vehicle SV.

[0054] <Method of predicting the possibility of collision> Next, the method for predicting the collision possibility of the host vehicle SV in the above-mentioned step S106 is described. As the prediction method of the collision possibility, the following embodiments 1 to 3 can be listed. The processing unit 21 can predict the collision possibility of the host vehicle SV using the prediction method of the embodiment selected according to the situation and setting in the first to third embodiments.

[0055] [Example 1] Hereinafter, a first embodiment related to a method for predicting the possibility of collision of the host vehicle SV will be described. In the first embodiment, an example of predicting the possibility of collision of the host vehicle SV using the collision margin time (TTC: Time To Collision) will be described. Figure 7 1 is a flowchart showing a method (first embodiment) of predicting the possibility of collision of the host vehicle SV in step S106 . Figure 7 The flowchart can be executed by the processing unit 21 (prediction unit 21b). Figure 8 This is a diagram for explaining the method of predicting the possibility of collision in the first embodiment.

[0056] In step S201, the processing unit 21 infers the route that the host vehicle SV will travel in the future (future travel route) based on the host vehicle information acquired in step S105. Figure 8 As shown, the processing unit 21 can estimate the future travel route 41 b of the own vehicle SV by extending the travel trajectory 41 a along the past travel trajectory 41 a of the own vehicle SV included in the own vehicle information.

[0057] In step S202, the processing unit 21 infers the route that the surrounding vehicle RV will travel in the future (future travel route) based on the surrounding vehicle information acquired in step S105. Figure 8 As shown, the processing unit 21 can estimate the future travel route 42b of the surrounding vehicle RV by extending the travel trajectory 42a along the past travel trajectory 42a of the surrounding vehicle RV included in the surrounding vehicle information.

[0058] In step S203, the processing unit 21 determines whether the future travel route 41b of the host vehicle SV estimated in step S201 and the future travel route 42b of the surrounding vehicle RV estimated in step S202 will intersect. If it is determined that the future travel route 41b of the host vehicle SV and the future travel route 42b of the surrounding vehicle RV will not intersect, the process proceeds to step S209, and the processing unit 21 proceeds to step S209 after determining that there is no possibility of a collision between the host vehicle SV and the surrounding vehicle RV. Figure 6 On the other hand, when it is determined that the future travel route 41b of the host vehicle SV and the future travel route 42b of the surrounding vehicle RV will intersect, the process proceeds to step S204.

[0059] In step S204, the processing unit 21 obtains the position where the future travel route 41b of the host vehicle SV estimated in step S201 and the future travel route 42b of the surrounding vehicle RV estimated in step S202 will intersect as the estimated intersection position CPe. The estimated intersection position CPe is a position where the host vehicle SV and the surrounding vehicle RV pass together. When the estimated intersection position CPe is within the object area TA, it can be determined that there is a possibility that the host vehicle SV and the surrounding vehicle RV may collide at the estimated intersection position CPe. It should be noted that, as mentioned above, the object area TA is an area (driving assistance area) where driving assistance is performed to prevent a collision between the host vehicle SV and the surrounding vehicle RV. Figure 6 In step S102 of the flowchart, the first area TA1 is set, or in step S103, the second area TA2 is set.

[0060] In step S205, the processing unit 21 determines whether the estimated intersection position CPe obtained in step S204 is within the target area TA. If it is determined that the estimated intersection position CPe is not within the target area TA, the process proceeds to step S209, where the processing unit 21 determines that there is no possibility of a collision between the host vehicle SV and the surrounding vehicle RV. Figure 6 On the other hand, if it is determined that the estimated intersection position CPe is within the target area TA, the process proceeds to step S206. Figure 8 , an example is shown in which the estimated intersection position CPe is located within the target area TA.

[0061] In step S206, the processing unit 21 predicts the arrival time until the surrounding vehicle RV reaches the estimated intersection position CPe as the possibility of collision based on the surrounding vehicle information acquired in step S105. For example, the processing unit 21 can predict the arrival time (hereinafter sometimes simply expressed as "arrival time") of the surrounding vehicle RV to the estimated intersection position CPe by dividing the distance between the surrounding vehicle RV and the estimated intersection position CPe by the speed of the surrounding vehicle RV based on the current position and speed of the surrounding vehicle RV included in the surrounding vehicle information.

[0062] In step S207, the processing unit 21 determines whether the arrival time obtained in step S206 is less than the time threshold. The time threshold can be set by the passengers of the host vehicle SV. If the arrival time is less than the time threshold, the processing unit 21 proceeds to step S208, where the processing unit 21 determines that there is a possibility of a collision between the host vehicle SV and the surrounding vehicle RV. Figure 6 On the other hand, if the arrival time is greater than the time threshold, the process proceeds to step S209, and the processing unit 21 proceeds to step S209 after determining that there is no possibility of collision between the host vehicle SV and the surrounding vehicle RV. Figure 6 Step S107 of the flowchart.

[0063] Here, the processing unit 21 may change the time threshold value according to the speed of the surrounding vehicle RV included in the surrounding vehicle information. Fig. 9 : is a graph showing the relationship between the speed of the surrounding vehicle RV and the stopping time of the surrounding vehicle RV. The stopping time of the surrounding vehicle RV is the time until the surrounding vehicle RV comes to a stop at a deceleration (for example, 0.4G) based on a general brake operation. Fig. 9 In the figure, the prescribed range (speed upper limit value, speed lower limit value) related to the speed of the surrounding vehicle RV, the time upper limit value and the time lower limit value related to the collision margin time (TTC) are shown. As described above, the prescribed range is the speed range of the surrounding vehicle RV for which the driving assistance of the host vehicle SV is performed in step S108. The time upper limit value is the upper limit value of the collision margin time arbitrarily set by the driver, etc., and the time lower limit value is the lower limit value of the collision margin time set according to the measurement position accuracy of the GNSS.

[0064] The processing unit 21 is based on Fig. 9 The stop time corresponding to the speed of the surrounding vehicle RV is set as the time threshold based on the “relationship between the speed and the stop time of the surrounding vehicle RV” indicated by the line 50 in FIG. 5 . In the area 51 above the line 50, if the arrival time is longer than the stop time and the driver of the surrounding vehicle RV can perform a general brake operation (for example, the deceleration is 0.4G), the surrounding vehicle RV can be stopped before the surrounding vehicle RV reaches the estimated intersection position CPe. Therefore, when the arrival time is longer than the time threshold (stop time), the driving assistance of the host vehicle SV can be suppressed. On the other hand, in the area 52 below the line 50, even if the arrival time is shorter than the stop time, the driver of the surrounding vehicle RV performs a general brake operation (for example, the deceleration is 0.4G), and the surrounding vehicle RV can reach the estimated intersection position CPe before stopping. Therefore, when the arrival time is less than the time threshold (stop time), the driving assistance of the host vehicle SV can be performed. It should be noted that the processing unit 21 can continuously change the time threshold in accordance with the speed of the surrounding vehicle RV, or can change the time threshold in stages in accordance with the speed of the surrounding vehicle RV.

[0065] [Example 2] The following is a description of a second embodiment of a method for predicting the possibility of a collision of the vehicle SV. In the second embodiment, as in the first embodiment, an example of predicting the possibility of a collision of the vehicle SV using the collision margin time (TTC) is described. In the second embodiment, when there is at least one registered intersection position CP in the target area TA, the possibility of a collision is predicted using information related to the registered intersection position CP. In the method of the second embodiment, the possibility of a collision can be predicted by a simpler process than the method of the first embodiment. Fig.10 1 is a flowchart showing a method (second embodiment) of predicting the possibility of collision of the host vehicle SV in step S106 . Fig.10 The flowchart can be executed by the processing unit 21 (prediction unit 21b). Fig.11 This is a diagram for explaining the method of predicting the possibility of collision in Embodiment 2. It should be noted that, in the following, an example in which there is only one registered intersection position CP within the predetermined distance D will be described.

[0066] Here, in the method of the second embodiment, it is a condition that at least one registered intersection position CP exists within a predetermined distance D, and the object area TA is set to the second area TA2 through step S103. Further, in the method of the second embodiment, it is a condition that the surrounding vehicle RV exists (positioned) on the driving trajectory of the other vehicle OV used when registering the registered intersection position CP within the object area TA (second area TA2) in the intersection position database of the storage unit 22. The driving trajectory of the other vehicle OV is stored in the storage unit 22 corresponding to the registered intersection position CP, and the processing unit 21 can determine whether the surrounding vehicle RV exists on the driving trajectory of the other vehicle OV based on the driving trajectory of the other vehicle OV and the surrounding vehicle information (the current position of the surrounding vehicle RV). When these conditions are not met, the processing unit 21 can use other prediction methods such as the above-mentioned first embodiment to predict the possibility of collision.

[0067] In step S301, the processing unit 21 obtains the distance 43 between the surrounding vehicle RV and the registered intersection position CP based on the surrounding vehicle information acquired in step S105 and the registered intersection position CP in the target area TA (second area TA2). For example, in the storage unit 22, the driving trajectory 32 of the other vehicle OV used when registering the registered intersection position CP is stored corresponding to the registered intersection position CP. The processing unit 21 can obtain the distance 43 between the surrounding vehicle RV on the driving trajectory 32 and the registered intersection position CP based on the driving trajectory 32 of the other vehicle OV stored corresponding to the registered intersection position CP.

[0068] In step S302, the processing unit 21 predicts the arrival time until the surrounding vehicle RV reaches the registered intersection position CP as the possibility of collision based on the distance 43 obtained in step S301 and the surrounding vehicle information acquired in step S105. For example, the processing unit 21 can predict the arrival time (hereinafter sometimes simply expressed as "arrival time") of the surrounding vehicle RV to the registered intersection position CP by dividing the distance 43 by the speed of the surrounding vehicle RV included in the surrounding vehicle information.

[0069] In step S303, the processing unit 21 determines whether the arrival time obtained in step S302 is less than the time threshold. If the arrival time is less than the time threshold, the processing unit 21 proceeds to step S304, where the processing unit 21 determines that there is a possibility of a collision between the host vehicle SV and the surrounding vehicle RV. Figure 6 On the other hand, if the arrival time is greater than the time threshold, the process proceeds to step S305, and the processing unit 21 proceeds to step S306 after determining that there is no possibility of collision between the host vehicle SV and the surrounding vehicle RV. Figure 6 Here, the time threshold value can be set by the passenger of the host vehicle SV. In addition, the processing unit 21 can also change the time threshold value according to the speed of the surrounding vehicle RV included in the surrounding vehicle information as in the first embodiment.

[0070] [Example 3] Hereinafter, a third embodiment related to a method for predicting the possibility of collision of the host vehicle SV will be described. In the third embodiment, an example of predicting the possibility of collision of the host vehicle SV using the stop position of the surrounding vehicle RV will be described. Fig.12 1 is a flowchart showing a method (third embodiment) of predicting the possibility of collision of the host vehicle SV in step S106 . Fig.12 The flowchart can be executed by the processing unit 21 (prediction unit 21b). Fig.13 This is a diagram for explaining the method of predicting the possibility of collision in the third embodiment.

[0071] In step S401, the processing unit 21 infers the route (future route) that the host vehicle SV will travel in the future based on the host vehicle information acquired in step S105. Next, in step S402, the processing unit 21 infers the route (future route) that the surrounding vehicle RV will travel in the future based on the surrounding vehicle information acquired in step S105. It should be noted that steps S401 to S402 are related to Figure 7 Steps S201 to S202 of the flowchart are the same steps, so detailed description is omitted here.

[0072] In step S403, the processing unit 21 determines whether the future travel route of the host vehicle SV estimated in step S401 and the future travel route of the surrounding vehicle RV estimated in step S402 will intersect. If it is determined that the future travel route of the host vehicle SV and the future travel route of the surrounding vehicle RV will not intersect, the process proceeds to step S409, and the processing unit 21 proceeds to step S409 after determining that there is no possibility of a collision between the host vehicle SV and the surrounding vehicle RV. Figure 6 On the other hand, if it is determined that the future travel route of the host vehicle SV will intersect with the future travel route of the surrounding vehicle RV, the process proceeds to step S404. It should be noted that step S403 is related to Figure 7 The step is the same as step S203 of the flowchart, so the detailed description is omitted here.

[0073] In step S404, the processing unit 21 obtains the position where the future travel route of the host vehicle SV estimated in step S401 and the future travel route of the surrounding vehicle RV estimated in step S402 will intersect as the estimated intersection position CPe. Next, in step S405, the processing unit 21 determines whether the estimated intersection position CPe obtained in step S404 is within the target area TA. If it is determined that the estimated intersection position CPe is not within the target area TA, the processing unit 21 proceeds to step S409. After determining that there is no possibility of a collision between the host vehicle SV and the surrounding vehicle RV, the processing unit 21 proceeds to step S409. Figure 6 On the other hand, if it is determined that the estimated intersection position CPe is within the target area TA, the process proceeds to step S406. It should be noted that steps S404 to S405 are related to Figure 7 Steps S204 to S205 of the flowchart are the same steps, so detailed description is omitted here.

[0074] In step S406, the processing unit 21 predicts the stopping position 44 of the surrounding vehicle RV when it decelerates from the current position at a predetermined deceleration as the collision possibility based on the surrounding vehicle information acquired in step S105. As the predetermined deceleration, a deceleration based on a general brake operation (for example, 0.4G) can be used. For example, the processing unit 21 can calculate the distance from the current speed of the surrounding vehicle RV to the stop when the surrounding vehicle RV decelerates at a predetermined deceleration based on the current position and speed of the surrounding vehicle RV included in the surrounding vehicle information, and add the distance to the current position of the surrounding vehicle RV, thereby Fig.13 The estimated stop position 44 of the surrounding vehicle RV is shown (hereinafter, sometimes simply referred to as “stop position 44 ”).

[0075] In step S407, the processing unit 21 determines whether the stop position 44 is ahead of the estimated intersection position CPe in the direction of travel of the surrounding vehicle RV. If the stop position 44 is ahead of the estimated intersection position CPe in the direction of travel of the surrounding vehicle RV, the processing unit 21 proceeds to step S408, and after determining that there is a possibility of a collision between the host vehicle SV and the surrounding vehicle RV, the processing unit 21 proceeds to step S409. Figure 6 On the other hand, if the stop position 44 is not ahead of the estimated intersection position CPe in the direction of travel of the surrounding vehicle RV, that is, if the stop position 44 is behind the estimated intersection position CPe in the direction of travel of the surrounding vehicle RV (sooner in the direction of travel), the process proceeds to step S409, and the processing unit 21 proceeds to step S409 after determining that there is no possibility of collision between the host vehicle SV and the surrounding vehicle RV. Figure 6 Step S107 of the flowchart. It should be noted that Fig.13 , an example is shown in which the stop position 44 is located behind the estimated intersection position CPe in the traveling direction of the surrounding vehicle RV.

[0076] <Registration of new intersection position> Next, a method of registering a new intersection position in the intersection position database of the storage unit 22 will be described. The new intersection position is a position where the host vehicle SV intersects with the surrounding vehicle RV, and is determined by the determination unit 21d of the processing unit 21 and registered in the intersection position database of the storage unit 22 by the registration unit 21e. Fig.14 is a flowchart showing a method for registering a new intersection position. Fig.14 The flowchart can be Figure 6 The flowchart is executed in parallel by the processing unit 21. It should be noted that, Fig.14 The flowchart can be repeatedly executed, for example, until the setting of the driving assistance is turned off or the ignition of the host vehicle SV is turned off.

[0077] In step S501, the processing unit 21 determines whether there is a surrounding vehicle RV. If it is determined that there is no surrounding vehicle RV, step S501 is repeated. If it is determined that there is a surrounding vehicle RV, the processing unit 21 proceeds to step S502. Figure 6 The same step as step S104 of the flowchart of FIG. 1 is omitted here for detailed description. In addition, this step S501 can also be Figure 6 That is, this step S501 can also be performed using step S104 of the flowchart. Figure 6 The determination result of step S104 of the flowchart.

[0078] In step S502, the processing unit 21 (the acquisition unit 21a) acquires the vehicle information and the surrounding vehicle information. Figure 6The same steps as step S105 of the flowchart of FIG. 1 are omitted here for detailed description. In addition, in this step S502, it is also possible to use Figure 6 The vehicle information and surrounding vehicle information are obtained in step S105 of the flowchart.

[0079] In step S503, the processing unit 21 (determining unit 21d) determines whether the vehicle SV and the surrounding vehicle RV have intersected based on the vehicle information and the surrounding vehicle information acquired in step S502. The intersection of the vehicle SV and the surrounding vehicle RV means that the vehicle SV and the surrounding vehicle RV pass through a common position at different times, and there will be no collision between the vehicle SV and the other vehicle OVa. For example, the processing unit 21 can determine whether the vehicle SV and the surrounding vehicle RV have intersected based on the driving trajectory of the vehicle SV included in the vehicle information and the driving trajectory of the surrounding vehicle RV included in the surrounding vehicle information. If it is determined that the vehicle SV and the surrounding vehicle RV have not intersected, the process goes to step S504, and if it is determined that the vehicle SV and the surrounding vehicle RV have intersected, the process goes to step S505.

[0080] In step S504, the processing unit 21 (determining unit 21d) determines whether the host vehicle SV and the surrounding vehicle RV will not intersect in the future based on the host vehicle information and the surrounding vehicle information. Fig.15 As shown in (a) of FIG. 1 , when the host vehicle SV and the surrounding vehicle RV move in a direction away from each other after being offset, the processing unit 21 can determine that the host vehicle SV and the surrounding vehicle RV will not intersect in the future. Fig.15 As shown in (b) in FIG. 1 , when the surrounding vehicle RV is traveling in a parking lot or the like and the host vehicle SV and the surrounding vehicle RV are moving in a direction away from each other, the processing unit 21 can determine that the host vehicle SV and the surrounding vehicle RV will not intersect in the future. If it is determined that the host vehicle SV and the surrounding vehicle RV will not intersect in the future, the process proceeds to step S501, and if it is determined that the host vehicle SV and the surrounding vehicle RV may intersect in the future, the process proceeds to step S502.

[0081] In step S505, the processing unit 21 (determining unit 21d) determines the position where the host vehicle SV intersects with the surrounding vehicle RV as a new intersection position CPn based on the host vehicle information and the surrounding vehicle information acquired in step S502. For example, the processing unit 21 can determine the position where the driving trajectory of the host vehicle SV intersects with the driving trajectory of the surrounding vehicle RV as the new intersection position CPn based on the driving trajectory of the host vehicle SV included in the host vehicle information and the driving trajectory of the surrounding vehicle RV included in the surrounding vehicle information.

[0082] In step S506, the processing unit 21 (registration unit 21e) registers the new intersection position CPn determined in step S505 in the intersection position database of the storage unit 22. When the number of registered intersection positions that can be registered in the intersection position database of the storage unit 22 is limited, the processing unit 21 deletes the old registered intersection positions in the intersection position database in sequence and registers the new intersection position CPn in the intersection position database.

[0083] In step S507, the processing unit 21 (registering unit 21e) registers the travel trajectory of the surrounding vehicle RV until reaching the new intersection position CPn in the intersection position database of the storage unit 22 in correspondence with the new intersection position CPn based on the surrounding vehicle information acquired so far. Fig.16 As shown, the driving trajectory of the surrounding vehicle RV is composed of a data column of a plurality of passing points 45 passed by the surrounding vehicle RV, that is, a data column of the current position contained in the surrounding vehicle information acquired so far. The plurality of passing points 45 are sometimes referred to as the passing history (path history) related to the surrounding vehicle RV. The processing unit 21 (registration unit 21e) registers the passing points that meet the predetermined conditions among the plurality of passing points 45 as the driving trajectory of the surrounding vehicle RV and in correspondence with the new intersection position CPn in the intersection position database of the storage unit 22, and does not register (i.e., deletes) other passing points. The predetermined conditions can include, for example, a first condition that the passing point 45 is located within a specified distance from the new intersection position CPn, and a second condition that the difference between the direction (passing direction) of the surrounding vehicle RV when passing the passing point 45 and the direction (passing direction) of the surrounding vehicle RV when passing the new intersection position CPn is less than a threshold.

[0084] exist Fig.16In the example, three passing points 45c-45e among the plurality of passing points 45a-45e are within the prescribed distance 46 from the new intersection position CPn, and therefore satisfy the first condition. In addition, when the passing direction of the surrounding vehicle RV at the new intersection position CPn is taken as the reference direction 47, the difference between two passing directions 48d-48e among the passing directions 48a-48e of the surrounding vehicles RV at each passing point 45a-45e and the reference direction 47 is less than the threshold value. Therefore, the passing points 45d-45e corresponding to the passing directions 48d-48e respectively satisfy the second condition. In this case, the processing unit 21 (registration unit 21e) registers the passing points 45d-45e satisfying the predetermined conditions (first condition, second condition) among the plurality of passing points 45 in the intersection position database of the storage unit 22 in correspondence with the new intersection position CPn, and deletes the other passing points 45a-45c. Thus, the amount of data stored in the intersection position database of the storage unit 22 can be reduced (reduced). It should be noted that the threshold value related to the difference between the passing direction (reference direction) of the surrounding vehicle RV at the new intersection position CPn and the passing direction of the surrounding vehicle RV at each passing point can be arbitrarily set according to the amount of data in the storage unit 22. Fig.16 In FIG. 5 , five passing points 45 are illustrated, but the number of passing points 45 is not limited to five, and there may be more.

[0085] As described above, the driving assistance device 100 of the present embodiment sets the target area TA to the first area TA1 and performs driving assistance for the host vehicle SV when none of the plurality of registered intersection positions stored in the storage unit 22 exists within the predetermined distance in front of the host vehicle SV. On the other hand, when at least one registered intersection position CP among the plurality of registered intersection positions stored in the storage unit 22 exists within the predetermined distance in front of the host vehicle SV, the target area TA is set to the second area TA2 larger than the first area TA1 and performs driving assistance for the host vehicle SV. Thus, driving assistance for the host vehicle can be appropriately performed.

[0086] <Summary of implementation methods> 1. The driving assistance device (eg 100 ) of the above embodiment includes: A storage device (eg, 22 ) storing a plurality of intersection positions (eg, CP) respectively indicating positions where the driving trajectory of the own vehicle (eg, SV) and the driving trajectory of other vehicles (eg, OV) have intersected in the past; An acquisition unit (eg, 21a) that acquires surrounding vehicle information including a current position, speed, and driving track of the surrounding vehicle (eg, RV) from surrounding vehicles existing around the host vehicle through inter-vehicle communication; A prediction mechanism (e.g., 21b) that predicts the possibility of a collision between the host vehicle and the surrounding vehicles in a target area (e.g., TA) in front of the host vehicle based on the host vehicle information including the current position, speed, and driving trajectory of the host vehicle and the surrounding vehicle information acquired by the acquisition mechanism; and an assisting means (e.g., 21c) for performing driving assistance of the host vehicle including at least one of notification to a passenger of the host vehicle and deceleration assistance of the host vehicle based on the prediction result of the prediction means, When any of the plurality of intersection positions stored in the storage means is not within a predetermined distance (e.g., D) in front of the host vehicle, the prediction means sets the target area to a first area (e.g., TA1) and predicts the collision possibility, When at least one intersection position among the plurality of intersection positions stored in the storage means exists within the predetermined distance, the prediction means predicts the collision possibility by setting the target area to a second area (eg, TA2) larger than the first area.

[0087] According to this embodiment, when a location where the driving track of the own vehicle and the driving track of other vehicles have intersected in the past is stored for a road including multiple lanes, the intersection location can be brought into the target area for driving assistance and driving assistance of the own vehicle can be appropriately performed. In other words, the safety of the own vehicle can be improved.

[0088] 2. Based on the above implementation, The storage means stores each of the plurality of intersection positions in correspondence with the travel trajectory of the other vehicle. When the at least one intersection position exists within the predetermined distance, the prediction unit predicts the possibility of collision based on the travel trajectory of the other vehicle stored in the storage unit corresponding to the at least one intersection position.

[0089] According to this embodiment, the possibility of collision of the own vehicle can be predicted by a simpler process based on the travel trajectory of the other vehicle stored in the storage means.

[0090] 3. Based on the above implementation method, The prediction means obtains a position where a future travel route of the surrounding vehicle estimated based on the surrounding vehicle information acquired by the acquisition means and a future travel route of the own vehicle estimated based on the own vehicle information intersect as an estimated intersection position (e.g., CPe), and predicts an arrival time until the surrounding vehicle reaches the estimated intersection position as the collision possibility, The assisting mechanism performs the driving assist when the arrival time is equal to or less than a time threshold, and does not perform the driving assist when the arrival time is greater than the time threshold.

[0091] According to this embodiment, the possibility of a collision of the host vehicle with surrounding vehicles can be predicted with high accuracy, and driving assistance of the host vehicle can be appropriately performed according to the possibility of the collision.

[0092] 4. Based on the above implementation methods, The storage means stores each of the plurality of intersection positions in correspondence with the travel trajectory of the other vehicle. When the at least one intersection position exists within the predetermined distance, the prediction unit calculates the distance (e.g., 43) between the at least one intersection position and the surrounding vehicles based on the driving trajectory of the other vehicles stored in the storage unit corresponding to the at least one intersection position, and predicts the arrival time of the surrounding vehicles to the at least one intersection position as the collision possibility based on the distance and the surrounding vehicle information. The assisting mechanism performs the driving assist when the arrival time is equal to or less than a time threshold, and does not perform the driving assist when the arrival time is greater than the time threshold.

[0093] According to this embodiment, the possibility of a collision of the host vehicle with respect to surrounding vehicles can be predicted with high accuracy, and driving assistance of the host vehicle can be appropriately performed in accordance with the possibility of a collision. In addition, the possibility of a collision of the host vehicle can be predicted by a simpler processing based on the driving trajectory of the other vehicles stored in the storage device.

[0094] 5. Based on the above implementation method, The assisting means changes the time threshold value according to the speed of the surrounding vehicle in the surrounding vehicle information.

[0095] According to this embodiment, the possibility of a collision of the host vehicle can be predicted with high accuracy according to the speed of surrounding vehicles.

[0096] 6. Based on the above implementation method, The time threshold may be set by a passenger of the host vehicle.

[0097] According to this embodiment, the possibility of a collision of the host vehicle can be predicted with high accuracy in response to the request of the passenger of the host vehicle.

[0098] 7. Based on the above implementation method, The prediction means obtains a position where a future travel route of the surrounding vehicle estimated based on the surrounding vehicle information acquired by the acquisition means and a future travel route of the own vehicle estimated based on the own vehicle information intersect as an estimated intersection position (e.g., CPe), and predicts a stop position (e.g., 44) of the surrounding vehicle after decelerating from a current position at a predetermined deceleration rate as the collision possibility, The assist mechanism performs the driving assist when the stop position is ahead of the estimated intersection position in the traveling direction of the surrounding vehicles, and does not perform the driving assist when the stop position is behind the estimated intersection position in the traveling direction of the surrounding vehicles.

[0099] According to this embodiment, the possibility of a collision of the host vehicle with surrounding vehicles can be predicted with high accuracy, and driving assistance of the host vehicle can be appropriately performed according to the possibility of the collision.

[0100] 8. Based on the above implementation method, The assisting means does not perform the driving assist when the speed of the surrounding vehicle in the surrounding vehicle information is outside a predetermined range, regardless of the possibility of collision predicted by the predicting means.

[0101] According to this embodiment, it is possible to appropriately perform driving assistance for the host vehicle in accordance with the speed of surrounding vehicles.

[0102] 9. Based on the above implementation methods, The driving assistance device (eg 100) further comprises: a determination unit (eg, 21d) that determines a position where the host vehicle intersects the surrounding vehicles as a new intersection position (eg, CPn) based on the host vehicle information and the surrounding vehicle information; and A registration mechanism (eg 21e) registers the new intersection position determined by the determination mechanism in the storage mechanism.

[0103] According to this embodiment, the newly determined new intersection position can be stored in the storage means, and the plurality of intersection positions stored in the storage means can be appropriately updated.

[0104] 10. Based on the above implementation method, The driving track of the surrounding vehicle in the surrounding vehicle information is composed of a plurality of passing points (for example, 45) passed by the surrounding vehicle. The registration unit registers the passing points satisfying the predetermined condition among the plurality of passing points in correspondence with the new intersection position in the storage unit, The predetermined conditions include a condition that a passing point is located within a predetermined distance from the new intersection position and a condition that a difference between the orientation of the surrounding vehicle when passing the passing point and the orientation of the surrounding vehicle when passing the new intersection position is less than a threshold.

[0105] According to this embodiment, since the passage points satisfying the predetermined conditions among the acquired plurality of passage points are selected and stored in the storage means, the amount of data stored in the storage means can be reduced.

[0106] 11. Based on the above implementation method, The second region is longer than the first region at least in the traveling direction of the host vehicle.

[0107] According to this embodiment, the size of the target area can be changed so that the vehicle can enter the intersection position in front of the vehicle, thereby improving the safety of the vehicle.

[0108] The present invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the spirit and scope of the present invention.

Claims

1. A driving assistance device, characterized in that: The driving assistance device comprises: A storage device storing a plurality of intersection positions respectively indicating positions where the driving track of the own vehicle and the driving tracks of other vehicles have intersected in the past; an acquisition mechanism for acquiring surrounding vehicle information including a current position, speed, and driving track of the surrounding vehicles from surrounding vehicles existing around the host vehicle through inter-vehicle communication; A prediction mechanism that predicts the possibility of a collision between the host vehicle and the surrounding vehicles in a target area in front of the host vehicle based on the host vehicle information including the current position, speed, and driving trajectory of the host vehicle and the surrounding vehicle information acquired by the acquisition mechanism; as well as an assisting means for performing driving assistance of the host vehicle including at least one of notification to a passenger of the host vehicle and deceleration assistance of the host vehicle based on the prediction result of the predicting means, When any of the plurality of intersection positions stored in the storage means is not within a predetermined distance in front of the host vehicle, the prediction means sets the target area as a first area and predicts the collision possibility, When at least one intersection position among the plurality of intersection positions stored in the storage means exists within the predetermined distance, the prediction means predicts the possibility of collision by setting the target area to a second area larger than the first area.

2. The driving assistance device according to claim 1, characterized in that: The storage means stores each of the plurality of intersection positions in correspondence with the travel trajectory of the other vehicle. When the at least one intersection position exists within the predetermined distance, the prediction unit predicts the possibility of collision based on the travel trajectory of the other vehicle stored in the storage unit corresponding to the at least one intersection position.

3. The driving assistance device according to claim 1, characterized in that: The prediction unit obtains a position where a future travel route of the surrounding vehicle estimated based on the surrounding vehicle information acquired by the acquisition unit and a future travel route of the own vehicle estimated based on the own vehicle information intersect as an estimated intersection position, and predicts an arrival time until the surrounding vehicle reaches the estimated intersection position as the collision possibility, The assisting mechanism performs the driving assist when the arrival time is equal to or less than a time threshold, and does not perform the driving assist when the arrival time is greater than the time threshold.

4. The driving assistance device according to claim 1, characterized in that: The storage means stores each of the plurality of intersection positions in correspondence with the travel trajectory of the other vehicle. When the at least one intersection position exists within the predetermined distance, the prediction unit calculates the distance between the at least one intersection position and the surrounding vehicles based on the driving trajectory of the other vehicles stored in the storage unit corresponding to the at least one intersection position, and predicts the arrival time of the surrounding vehicles to the at least one intersection position as the collision possibility based on the distance and the surrounding vehicle information. The assisting mechanism performs the driving assist when the arrival time is equal to or less than a time threshold, and does not perform the driving assist when the arrival time is greater than the time threshold.

5. The driving assistance device according to claim 3 or 4, characterized in that: The assisting means changes the time threshold value according to the speed of the surrounding vehicle in the surrounding vehicle information.

6. The driving assistance device according to claim 3 or 4, characterized in that: The time threshold may be set by a passenger of the host vehicle.

7. The driving assistance device according to claim 1, characterized in that: The prediction unit obtains a position where a future travel route of the surrounding vehicle estimated based on the surrounding vehicle information acquired by the acquisition unit and a future travel route of the own vehicle estimated based on the own vehicle information intersect as an estimated intersection position, and predicts a stop position of the surrounding vehicle after decelerating from a current position at a predetermined deceleration as the collision possibility, The assist mechanism performs the driving assist when the stop position is ahead of the estimated intersection position in the traveling direction of the surrounding vehicles, and does not perform the driving assist when the stop position is behind the estimated intersection position in the traveling direction of the surrounding vehicles.

8. The driving assistance device according to claim 1, characterized in that: The assisting means does not perform the driving assist when the speed of the surrounding vehicle in the surrounding vehicle information is outside a predetermined range, regardless of the possibility of collision predicted by the predicting means.

9. The driving assistance device according to claim 1, characterized in that: The driving assistance device further comprises: a determination unit that determines, based on the own vehicle information and the surrounding vehicle information, a position where the own vehicle intersects the surrounding vehicles as a new intersection position; and A registration mechanism registers the new intersection position determined by the determination mechanism in the storage mechanism.

10. The driving assistance device according to claim 9, characterized in that: The driving track of the surrounding vehicle in the surrounding vehicle information is composed of a plurality of passing points passed by the surrounding vehicle. The registration unit registers the passing points satisfying the predetermined condition among the plurality of passing points in correspondence with the new intersection position in the storage unit, The predetermined conditions include a condition that a passing point is located within a predetermined distance from the new intersection position and a condition that a difference between the orientation of the surrounding vehicle when passing the passing point and the orientation of the surrounding vehicle when passing the new intersection position is less than a threshold.

11. The driving assistance device according to claim 1, characterized in that: The second region is longer than the first region at least in the traveling direction of the host vehicle.

12. A driving assistance method, characterized in that: The driving assistance method comprises: A storing step, in which a plurality of intersection positions are stored, each representing a position where the driving track of the own vehicle and the driving tracks of other vehicles have intersected in the past; an acquisition step, in which surrounding vehicle information including a current position, speed, and driving track of the surrounding vehicles is acquired from surrounding vehicles existing around the host vehicle through inter-vehicle communication; a prediction step in which the possibility of a collision between the host vehicle and the surrounding vehicles in a target area in front of the host vehicle is predicted based on the host vehicle information including the current position, speed and driving trajectory of the host vehicle and the surrounding vehicle information acquired in the acquisition step; and an assisting step, in which driving assistance of the host vehicle is performed including at least one of notification to a passenger of the host vehicle and deceleration assistance of the host vehicle based on the prediction result of the predicting step, In the prediction step, When any of the plurality of intersection positions stored in the storing step does not exist within a predetermined distance in front of the host vehicle, the collision possibility is predicted by setting the target area as a first area, When at least one of the plurality of intersection positions stored in the storing step exists within the predetermined distance, the collision possibility is predicted by setting the target region to a second region larger than the first region.

13. A computer program product, comprising a computer program for causing a computer to execute a driving assistance method, characterized in that: The driving assistance method comprises: A storing step, in which a plurality of intersection positions are stored, each representing a position where the driving track of the own vehicle and the driving tracks of other vehicles have intersected in the past; an acquisition step, in which surrounding vehicle information including a current position, speed, and driving track of the surrounding vehicles is acquired from surrounding vehicles existing around the host vehicle through inter-vehicle communication; a prediction step in which the possibility of a collision between the host vehicle and the surrounding vehicles in a target area in front of the host vehicle is predicted based on the host vehicle information including the current position, speed and driving trajectory of the host vehicle and the surrounding vehicle information acquired in the acquisition step; and an assisting step, in which driving assistance of the host vehicle is performed including at least one of notification to a passenger of the host vehicle and deceleration assistance of the host vehicle based on the prediction result of the predicting step, In the prediction step, When any of the plurality of intersection positions stored in the storing step does not exist within a predetermined distance in front of the host vehicle, the collision possibility is predicted by setting the target area as a first area, When at least one of the plurality of intersection positions stored in the storing step exists within the predetermined distance, the collision possibility is predicted by setting the target region to a second region larger than the first region.

14. A computer-readable storage medium storing a computer program for causing a computer to execute a driving assistance method, characterized in that: The driving assistance method comprises: A storing step, in which a plurality of intersection positions are stored, each representing a position where the driving track of the own vehicle and the driving tracks of other vehicles have intersected in the past; an acquisition step, in which surrounding vehicle information including a current position, speed, and driving track of the surrounding vehicles is acquired from surrounding vehicles existing around the host vehicle through inter-vehicle communication; a prediction step in which the possibility of a collision between the host vehicle and the surrounding vehicles in a target area in front of the host vehicle is predicted based on the host vehicle information including the current position, speed and driving trajectory of the host vehicle and the surrounding vehicle information acquired in the acquisition step; and an assisting step, in which driving assistance of the host vehicle is performed including at least one of notification to a passenger of the host vehicle and deceleration assistance of the host vehicle based on the prediction result of the predicting step, In the prediction step, When any of the plurality of intersection positions stored in the storing step does not exist within a predetermined distance in front of the host vehicle, the collision possibility is predicted by setting the target area as a first area, When at least one of the plurality of intersection positions stored in the storing step exists within the predetermined distance, the collision possibility is predicted by setting the target region to a second region larger than the first region.

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