Vehicle travel control device

Abstract

A vehicle travel control device is provided with a driving assistance ECU configured so as to assist the driving assistance ECU when it is determined that a host vehicle is likely to enter a narrow road having a road width less than a reference value and the host vehicle is likely to meet with another vehicle on the narrow road, and to assist the driving assistance ECU in driving the host vehicle when it is determined that the host vehicle is likely to enter the narrow road having the road width less than the reference value. And a notification to at least one of the occupant of the host vehicle and the occupant of the other vehicle for avoiding an attention alert to the host vehicle and the other vehicle from meeting on the narrow road.

Description

Technical Field

[0001] The present invention relates to a driving control device for vehicles such as automobiles. More specifically, the present invention relates to a driving control device that gives a warning for attention when driving on a narrow road. Background Art

[0002] As one of the driving control devices for vehicles such as automobiles, there is known a driving control device that, when the own vehicle meets an oncoming vehicle on a road with a small width, controls the driving of the own vehicle so that the own vehicle can meet the oncoming vehicle without the need for the driver's driving.

[0003] For example, Japanese Unexamined Patent Application Publication No. 2008-174023 discloses a driving control device configured to perform automatic driving of the own vehicle while transmitting and receiving driving status information between the own vehicle and the oncoming vehicle through vehicle-to-vehicle communication, so that the own vehicle can meet the oncoming vehicle without the need for the driver's driving. Summary of the Invention

[0004] In a conventional driving control device such as the driving control device described in Japanese Unexamined Patent Application Publication No. 2008-174023, the own vehicle is automatically driven on the premise that the own vehicle meets an oncoming vehicle. Therefore, depending on the behavior of the oncoming vehicle, the own vehicle may come into contact with the oncoming vehicle, and the risk of contact when the own vehicle meets the oncoming vehicle cannot be completely eliminated.

[0005] In addition, in a conventional driving control device such as the driving control device described in Japanese Unexamined Patent Application Publication No. 2008-174023, there is a problem that it cannot cope with a situation where "the own vehicle and the oncoming vehicle are about to enter a narrow road where it is difficult or impossible to meet".

[0006] The present invention provides a driving control device improved to "reduce the possibility of meeting by reducing the possibility of both the own vehicle and other vehicles entering a narrow road when the own vehicle is likely to meet other vehicles on a narrow road where it is difficult or impossible to meet".

[0007] According to the present invention, there is provided a driving control device for a vehicle including a control unit (driving support ECU), the control unit (driving support ECU) being configured to, when it is determined that the own vehicle is likely to enter a narrow road having a road width smaller than a preset reference value and the own vehicle is likely to meet other vehicles on the narrow road, give a warning for attention to at least one of the occupants of the own vehicle and the occupants of other vehicles to avoid the own vehicle from meeting other vehicles on the narrow road.

[0008] According to the above configuration, when it is determined that this vehicle may enter a narrow road and this vehicle may meet other vehicles on the narrow road, at least one of the occupants of this vehicle and the occupants of other vehicles is notified of an attention reminder for avoiding meeting other vehicles on the narrow road.

[0009] Thereby, at least one of the occupants of this vehicle and the occupants of other vehicles controls the driving of their own vehicle due to the attention reminder, so that the possibility of both this vehicle and other vehicles entering the narrow road can be reduced, and thereby the possibility of this vehicle meeting other vehicles on the narrow road can be reduced.

[0010] In one technical solution of the present invention, the control unit (driving assistance ECU) is configured to change the content of the attention reminder according to the driving conditions of this vehicle and other vehicles on and around the narrow road.

[0011] According to the above technical solution, since the content of the attention reminder is changed according to the driving conditions of this vehicle and other vehicles on and around the narrow road, it is possible to notify the attention reminder with content corresponding to the driving conditions of this vehicle and other vehicles.

[0012] In another technical solution of the present invention, the control unit (driving assistance ECU) is configured to, when it is determined that other vehicles have entered the narrow road, notify the occupants of this vehicle to wait in front of the narrow road without entering.

[0013] According to the above technical solution, when it is determined that other vehicles have entered the narrow road, the occupants of this vehicle are notified to wait in front of the narrow road without entering, so that the possibility of this vehicle other than other vehicles entering the narrow road can be reduced.

[0014] In another technical solution of the present invention,

[0015] The control unit (driving assistance ECU) is configured to, when it is determined that other vehicles have not entered the narrow road, estimate the time required for this vehicle and other vehicles to enter the narrow road.

[0016] The control unit is configured to determine the priority order of this vehicle and other vehicles to enter the narrow road in such a way that the vehicle with a shorter estimated time has a higher priority.

[0017] The control unit is configured to notify the attention reminder with content corresponding to the determined priority order.

[0018] According to the above technical solution, when it is determined that no other vehicle has entered the narrow road, the priority order for entering the narrow road is determined in such a way that the vehicle with a shorter required time for the vehicle itself and other vehicles to enter the narrow road has a higher priority. A notification for attention reminder is given according to the determined priority order. Thereby, the possibility of both the vehicle itself and other vehicles entering the narrow road can be reduced, and the order of entering the narrow road can be determined based on the required time for the vehicle itself and other vehicles to enter the narrow road.

[0019] In addition, in another technical solution of the present invention,

[0020] The control unit (driving assistance ECU) is configured to estimate the required time for the vehicle itself and another vehicle to enter the narrow road when there is another vehicle that wants to enter the narrow road.

[0021] The control unit is configured to determine the priority order for the vehicle itself and another vehicle to enter the narrow road in such a way that the vehicle with a shorter estimated time has a higher priority.

[0022] The control unit is configured to give a notification for attention reminder to at least one of the vehicle itself and another vehicle according to the determined priority order.

[0023] According to the above technical solution, when there is another vehicle that wants to enter the narrow road, the required time for the vehicle itself and another vehicle to enter the narrow road is estimated. In addition, the priority order for the vehicle itself and another vehicle to enter the narrow road is determined in such a way that the vehicle with a shorter estimated time has a higher priority, and a notification for attention reminder is given to at least one of the vehicle itself and another vehicle according to the determined priority order. Thereby, the possibility of both the vehicle itself and another vehicle entering the narrow road can be reduced, and the order of entering the narrow road can be determined based on the required time for the vehicle itself and another vehicle to enter the narrow road.

[0024] In addition, in this application, the "reference value" of the road width can be a value that is larger than the vehicle width of a general vehicle and smaller than the width at which it is difficult for two general vehicles to "safely and easily pass each other". For example, the reference value can be a value of 2 m or more and 4 m or less. A "narrow road" means a road with a width less than the reference value, and a "wide road" means a road with a width of the reference value or more.

[0025] In the above description, to facilitate the understanding of the present invention, names and / or reference numerals used in the corresponding embodiment are added in brackets to the components of the invention. However, each component of the present invention is not limited to the components of the embodiment corresponding to the names and / or reference numerals added in brackets. Other objects, other features, and attendant advantages of the present invention should be readily understood from the description of the embodiments of the present invention described with reference to the following drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the drawings, in which like reference numerals denote like elements, and in which:

[0027] Figure 1 is a schematic configuration diagram showing a driving control device according to an embodiment;

[0028] Figure 2 is a flowchart corresponding to an attention reminder control program during driving on a narrow road in an embodiment;

[0029] Figure 3 is a diagram showing a situation where the host vehicle is driving on a wide road and approaching a narrow road, and another vehicle has entered the narrow road and is driving in a direction approaching the host vehicle;

[0030] Figure 4 is a diagram showing a situation where the host vehicle is driving on a wide road and approaching a narrow road, another vehicle has entered the narrow road and is driving in a direction approaching the host vehicle, and still another vehicle is driving on the wide road and is about to enter the narrow road after the other vehicle;

[0031] Figure 5 is a diagram showing a situation where the host vehicle is driving on a wide road and approaching a narrow road, and other vehicles are driving on the wide road in a direction approaching the host vehicle and approaching the narrow road;

[0032] Figure 6 is a diagram showing a situation where the host vehicle is driving on a wide road and approaching a narrow road, other vehicles are driving on the wide road in a direction approaching the host vehicle, and are about to move to a branch road (fork); DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The driving control device according to the embodiment of the present invention will be described in detail below with reference to the drawings.

[0034] As Figure 1As shown, the driving control device 100 according to an embodiment of the present invention is applicable to a vehicle 102 and includes a driving assistance ECU 10. The vehicle 102 is a vehicle capable of autonomous driving and includes a drive ECU 20, a brake ECU 30, and an instrument ECU 50. An ECU refers to an electronic control unit (Electronic Control Unit) having a microcomputer as a main part. In addition, with respect to the vehicle 102, for the purpose of distinguishing it from other vehicles, it is referred to as the host vehicle as needed.

[0035] The microcomputer of each ECU includes a CPU, a ROM, a RAM, a rewritable non-volatile memory (N / M), and an interface (I / F), etc. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM. In addition, these ECUs are connected to each other via a controller area network (CAN: Controller Area Network) 104 in a manner capable of exchanging data (capable of communication). Therefore, detection values of sensors (including switches) connected to a specific ECU are also sent to other ECUs.

[0036] The driving assistance ECU 10 is a central control device that performs driving assistance driving control such as attention reminder control, following vehicle distance control, and lane keeping control during narrow road driving. In the embodiment, as will be described in detail later, the driving assistance ECU 10 cooperates with other ECUs to execute attention reminder control for the vehicle 102 and other vehicles during narrow road driving.

[0037] A camera sensor 12, a radar sensor 14, an in-vehicle communication device 16, and a setting operator 18 are connected to the driving assistance ECU 10. The camera sensor 12 and the radar sensor 14 each include a plurality of camera devices and a plurality of radar devices and function as an object information acquisition device 17 for acquiring object information around the vehicle 102.

[0038] Although not shown, each camera device of the camera sensor 12 includes a camera head and an identification unit. The camera head captures the surroundings of the vehicle 102, and the identification unit analyzes the image data captured by the camera head to identify objects such as white lines on the road and other vehicles. The identification unit supplies information related to the identified objects to the driving assistance ECU 10 at predetermined intervals.

[0039] Each radar device of the radar sensor 14 includes a radar transceiver unit and a signal processing unit (not shown). The radar transceiver unit transmits radio waves in the millimeter wave band (hereinafter referred to as "millimeter waves"), and receives millimeter waves (i.e., reflected waves) reflected by solid objects (such as other vehicles, bicycles, etc.) existing within the transmission range. The signal processing unit supplies information indicating the distance between the host vehicle and the solid object, the relative speed between the host vehicle and the solid object, the relative position (direction) of the solid object with respect to the host vehicle, etc. to the driving assistance ECU 10 at predetermined intervals based on the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, and the time from when the millimeter wave is transmitted until the reflected wave is received. In addition, a lidar (LiDAR (Light Detection And Ranging)) can be used instead of the radar sensor 14, or in addition to the radar sensor 14, a lidar can also be used.

[0040] The vehicle exterior communication device 16 is a device that transmits and receives information (position, speed, vehicle control information, etc.) of surrounding vehicles through wireless communication between the host vehicle 102 and surrounding vehicles, road infrastructure, vehicle exterior information centers, etc. As will be described in detail later, the vehicle exterior communication device 16 transmits and receives notification information for attention reminder to avoid oncoming vehicles on a narrow road through wireless communication.

[0041] A braking device 32 is connected to the braking ECU 30. The braking device 32 decelerates the vehicle 102 by applying a braking force to the wheels 34. The braking ECU 30 controls the braking device in a manner such that the braking force generated by the braking device 32 changes according to the driver's braking operation during normal times, and when receiving a command signal from the driving assistance ECU 10, controls the braking device 32 based on the command signal to perform automatic braking.

[0042] Thus, the braking ECU 30 and the braking device 32 cooperate with each other to function as an automatic braking device 36. In addition, when a braking force is applied to the wheels through collision prevention control or the like, Figure 1 a brake light (not shown) is lit.

[0043] A touch panel type display 52 for displaying the status of control performed by the driving assistance ECU 10 and an alarm device 54 for issuing an alarm are connected to the instrument ECU 50. The display 52 can be, for example, an instrument panel and a multi-information display for displaying various information, or a display of a navigation device 80 described later. As described below, when receiving a signal from the driving assistance ECU 10, the display 52 displays information for attention reminder to avoid oncoming vehicles on a narrow road.

[0044] The driving operation sensor 60 and the vehicle state sensor 70 are connected to the CAN 104. The information detected by the driving operation sensor 60 and the vehicle state sensor 70 (referred to as sensor information) is sent to the CAN 104. The sensor information sent to the CAN 104 can be appropriately utilized in each ECU. In addition, the sensor information may also be the information of a sensor connected to a specific ECU and sent from the specific ECU to the CAN 104.

[0045] The driving operation sensor 60 includes a drive operation amount sensor that detects the operation amount of the accelerator pedal, a brake operation amount sensor that detects the master cylinder pressure or the stepping force on the brake pedal, and a brake switch that detects the operation of the brake pedal. In addition, the driving operation sensor 60 includes a steering angle sensor that detects the steering angle, a steering torque sensor that detects the steering torque, and the like.

[0046] The vehicle state sensor 70 includes a vehicle speed sensor that detects the vehicle speed V of the vehicle 102, a longitudinal acceleration sensor that detects the acceleration in the longitudinal direction of the vehicle, a lateral acceleration sensor that detects the acceleration in the lateral direction of the vehicle, and a yaw rate sensor that detects the yaw rate of the vehicle, and the like.

[0047] In addition, the navigation device 80 is also connected to the CAN 104. The navigation device 80 includes a GPS receiver that detects the position of the vehicle 102, a storage device that stores map information and road information, and a communication device that obtains the latest information of the map information and the road information from the outside. In particular, the road information may include information on narrow roads where it is impossible or difficult for vehicles traveling in opposite directions to pass each other. In addition, the navigation device 80 may not be provided.

[0048] In the embodiment, the ROM of the driving assistance ECU 10 stores the Figure 2 attention reminder control program during narrow road driving corresponding to the flowchart shown.

[0049] Attention reminder control during narrow road driving ( Figure 2 )

[0050] Next, the attention reminder control during narrow road driving in the embodiment will be described with reference to the Figure 2 flowchart shown. "Attention reminder control during narrow road driving based on the Figure 2 flowchart shown" is repeatedly executed by the CPU of the driving assistance ECU 10 at a predetermined time interval in the case where the switch of the setting operator 18 is turned on. In addition, in the following description, the attention reminder control during narrow road driving is referred to as "this control".

[0051] In addition, the subsequent S20, S50, S80, S100, S150, and S170 are steps for notifying the driver of the vehicle. In contrast, the subsequent S60, S90, S110, S130, S160, and S180 are steps for notifying the drivers of vehicles other than the vehicle.

[0052] First, in S10, the CPU determines whether there is a narrow road with a road width smaller than the reference value of the road width around the vehicle 102, including the front, based on the information of the target obtained by the target information acquisition device 17 and / or the information from the navigation device 80 and / or the information from the vehicle exterior communication device 16, etc. When a negative determination is made, this control is temporarily terminated. In contrast, when an affirmative determination is made, the CPU determines whether the vehicle 102 has entered the narrow road based on the information of the target obtained by the target information acquisition device 17 and / or the information from the navigation device 80 and / or the information from the vehicle exterior communication device 16, etc. When a negative determination is made, this control proceeds to S30, and when an affirmative determination is made, this control proceeds to S20.

[0053] In S20, the CPU outputs an instruction signal to the vehicle exterior communication device 16, thereby notifying the drivers of the surrounding vehicles of the message that the vehicle has entered the narrow road through vehicle exterior communication.

[0054] In S30, the CPU determines whether other vehicles have entered the narrow road based on the information of the target obtained by the target information acquisition device 17 and / or the information from the navigation device 80 and / or the information from the vehicle exterior communication device 16, etc. When a negative determination is made, this control proceeds to S120, and when an affirmative determination is made, this control proceeds to S40.

[0055] In S40, the CPU determines whether there is a possibility that another vehicle, that is, a vehicle other than the vehicle itself and the other vehicles that have entered the narrow road, enters the narrow road based on the information of the target obtained by the target information acquisition device 17 and / or the information from the vehicle exterior communication device 16, etc. When an affirmative determination is made, this control proceeds to S70, and when a negative determination is made, this control proceeds to S50.

[0056] In S50, the CPU notifies the driver of the vehicle 102 of the message that other vehicles have entered the narrow road and prompts the vehicle to wait in front of the narrow road by displaying the message that other vehicles have entered the narrow road on the display 52 by outputting an instruction signal to the instrument ECU50.

[0057] In S60, the CPU outputs an instruction signal to the vehicle exterior communication device 16, thereby notifying the drivers of the surrounding vehicles of the message that the vehicle is waiting in front of the narrow road through vehicle exterior communication.

[0058] In S70, the CPU estimates the time To required for the host vehicle 102 to reach the narrow road and the time Tf required for another vehicle to reach the narrow road based on the information of the target object obtained by the target object information acquisition device 17 and / or the information from the vehicle exterior communication device 16, etc. Further, the CPU determines whether the time To is greater than the time Tf. When a negative determination is made, it is determined that the priority of the host vehicle is higher than the priority of the other vehicle, and this control proceeds to S100. In contrast, when an affirmative determination is made, it is determined that the priority of the other vehicle is higher than the priority of the host vehicle, and this control proceeds to S80.

[0059] In addition, the driving distance Lo between the host vehicle 102 and the entrance of the narrow road and the average vehicle speed Voa of the host vehicle can be estimated, and the time To is estimated by dividing the driving distance Lo by the average vehicle speed Voa. Similarly, the driving distance Lf between the other vehicle and the entrance of the narrow road and the average vehicle speed Vfa of the other vehicle can be estimated, and the time Tf is estimated by dividing the driving distance Lf by the average vehicle speed Vfa.

[0060] In S80, the CPU outputs an instruction signal to the meter ECU 50 to display a message "The priority of vehicles other than the host vehicle, that is, the priority of other vehicles and another vehicle is higher than the priority of the host vehicle, prompting the host vehicle to wait in front of the narrow road" on the display 52, thereby notifying the driver of the host vehicle of the above message.

[0061] In S90, the CPU outputs an instruction signal to the vehicle exterior communication device 16 to notify the drivers of the other vehicle and the another vehicle of the messages "Prompting the another vehicle to follow the other vehicle into the narrow road" and "The host vehicle waits in front of the narrow road".

[0062] In S100, the CPU outputs an instruction signal to the meter ECU 50 to display a message "The priority of the other vehicle is higher than the priority of the host vehicle, prompting the host vehicle to wait in front of the narrow road" on the display 52, thereby notifying the driver of the host vehicle of the above message. In addition, the CPU notifies the driver of the host vehicle of the above message by displaying a message on the display 52 that the priority of the host vehicle is higher than the priority of the another vehicle.

[0063] In S110, the CPU outputs an instruction signal to the vehicle exterior communication device 16 to notify the drivers of the other vehicle and the another vehicle of the message that the host vehicle waits in front of the narrow road and the message that the priority of the host vehicle is higher than the priority of the another vehicle.

[0064] In S120, the CPU determines whether there is a possibility that another vehicle may enter the narrow road (the possibility of another vehicle entering the narrow road) based on the information of the target object acquired by the target object information acquisition device 17 and / or the information from the vehicle exterior communication device 16, etc. When a positive determination is made, this control proceeds to S140; when a negative determination is made, this control proceeds to S130.

[0065] In S130, the CPU outputs an instruction signal to the vehicle exterior communication device 16, thereby notifying the drivers of surrounding vehicles of the intention to enter the narrow road of this vehicle in advance.

[0066] In S140, the CPU estimates the time To required for this vehicle 102 to reach the narrow road and the time Ta required for another vehicle to reach the narrow road based on the information of the target object acquired by the target object information acquisition device 17 and / or the information from the vehicle exterior communication device 16, etc. In addition, the CPU determines whether the time To is greater than the time Ta. When a negative determination is made, it is determined that the priority of this vehicle is higher than that of the other vehicle, and this control proceeds to S170. In contrast, when a positive determination is made, it is determined that the priority of the other vehicle is higher than that of this vehicle, and this control proceeds to S150.

[0067] In addition, the driving distance Lo between this vehicle 102 and the entrance of the narrow road and the average vehicle speed Voa of this vehicle can be estimated, and the time To is estimated by dividing the driving distance Lo by the average vehicle speed Voa. Similarly, the driving distance La between the other vehicle and the entrance of the narrow road and the average vehicle speed Vaa of the other vehicle can be estimated, and the time Ta is estimated by dividing the driving distance La by the average vehicle speed Vaa.

[0068] In S150, the CPU outputs an instruction signal to the meter ECU 50, and displays a message "The priority of the other vehicle is higher than that of this vehicle, prompting this vehicle to wait in front of the narrow road" on the display 52, thereby notifying the driver of this vehicle of the above message.

[0069] In S160, the CPU outputs an instruction signal to the vehicle exterior communication device 16, thereby notifying the driver of the other vehicle of the message "The priority of the other vehicle is higher than that of this vehicle, prompting the other vehicle to enter the narrow road carefully (prudently)".

[0070] In S170, the CPU outputs an instruction signal to the meter ECU 50, and displays a message "Prompting this vehicle to enter the narrow road carefully" on the display 52, thereby notifying the driver of this vehicle of the above message.

[0071] In S180, the CPU outputs an instruction signal to the vehicle exterior communication device 16, thereby notifying the driver of another vehicle of a notice meaning that "the priority of this vehicle is higher than that of other vehicles, and this vehicle is about to enter a narrow road".

[0072] Operations of the Embodiment

[0073] Next, with reference to Figures 3 to 6 , the operations of the embodiment will be described for various cases where the positional relationships of this vehicle 102 and other vehicles with respect to the narrow road are different.

[0074] A: Case where this vehicle has not entered the narrow road while other vehicles have already entered the narrow road

[0075] A-1: Case where there is no possibility of another vehicle entering the narrow road ( Figure 3 )

[0076] Figure 3 Fig. shows a situation where this vehicle 102 is traveling on the wide road 110 and approaching the narrow road 112, and other vehicles 114 have already entered the narrow road 112 and are traveling in the direction approaching this vehicle 102.

[0077] In this case, negative determinations, affirmative determinations, and negative determinations are respectively made in S10, S30, and S40. Accordingly, in S50, the driver of this vehicle 102 is notified of the message "Other vehicles have entered the narrow road. Please wait in front of the narrow road." In addition, in S60, the driver of surrounding vehicles is notified of the message "This vehicle is waiting in front of the narrow road" through vehicle exterior communication.

[0078] Therefore, the driver of this vehicle can make a judgment to wait in front of the narrow road so that this vehicle will not meet other vehicles on the narrow road 112. In addition, the driver of other vehicles expects this vehicle to wait in front of the narrow road so that they can drive on the narrow road.

[0079] A-2: Case where there is a possibility of another vehicle entering the narrow road ( Figure 4 )

[0080] Figure 4 Fig. shows a situation where this vehicle 102 is traveling on the wide road 110 and approaching the narrow road 112, other vehicles 114 have already entered the narrow road 112 and are traveling in the direction approaching this vehicle 102, and another vehicle 116 is traveling on the wide road 118 and is about to enter the narrow road 112 after other vehicles.

[0081] In this case, a negative determination is made in S10, and affirmative determinations are made in S30 and S40. Accordingly, for times To and Tf, the determination in S70 is performed.

[0082] (1) Case where time To is greater than time Tf

[0083] A positive determination is made in S70. Accordingly, in S80, a message is notified to the driver of the own vehicle that "the priority order of other vehicles and yet other vehicles is higher than that of the own vehicle, prompting the own vehicle to wait in front of the narrow road". In addition, in S90, messages are notified to the drivers of other vehicles and yet other vehicles that "prompt yet other vehicles to follow other vehicles into the narrow road" and "the own vehicle waits in front of the narrow road".

[0084] Therefore, the driver of the own vehicle can make a judgment to wait in front of the narrow road so that the own vehicle does not meet other vehicles and yet other vehicles on the narrow road 112. In addition, the drivers of other vehicles and yet other vehicles expect the own vehicle to wait in front of the narrow road so that they can drive on the narrow road.

[0085] (2) Case where time To is less than or equal to time Tf

[0086] A negative determination is made in S70. Accordingly, in S100, a message is notified to the driver of the own vehicle that "the priority order of other vehicles is higher than that of the own vehicle, and the priority order of the own vehicle is higher than that of yet other vehicles, prompting the own vehicle to wait in front of the narrow road". In addition, in S110, messages are notified to the drivers of other vehicles and yet other vehicles that the own vehicle waits in front of the narrow road and the priority order of the own vehicle is higher than that of yet other vehicles.

[0087] Therefore, the driver of the own vehicle can wait in front of the narrow road so that the own vehicle does not meet other vehicles on the narrow road 112, and when the narrow road driving of other vehicles is completed, can make a judgment to enter the narrow road earlier than yet other vehicles. In addition, the driver of other vehicles expects the own vehicle to wait in front of the narrow road so that they can drive on the narrow road, and the driver of yet other vehicles can make a judgment to wait in front of the narrow road until the narrow road driving of the own vehicle is completed.

[0088] B: Case where the own vehicle does not enter the narrow road and there is a possibility that other vehicles enter the narrow road ( Figure 5 )

[0089] Figure 5 A state is shown in which the own vehicle 102 travels on the wide road 110 and approaches the narrow road 112, and other vehicles 114 travel on the wide road 118 in a direction approaching the own vehicle 102 and approach the narrow road 112.

[0090] In this case, negative determinations are made in S10 and S30, and a positive determination is made in S120. Accordingly, for time To and Ta, the determination in S140 is performed.

[0091] (1) The case where time To is greater than time Ta

[0092] A positive determination is made in S140. Accordingly, in S150, a message "The priority of the other vehicle is higher than that of this vehicle, prompting this vehicle to wait in front of the narrow road" is notified to the driver of this vehicle. In addition, in S160, a message "The priority of the other vehicle is higher than that of this vehicle, prompting the other vehicle to carefully enter the narrow road" is notified to the driver of the other vehicle.

[0093] Therefore, the driver of this vehicle can make a judgment to wait in front of the narrow road until the other vehicle finishes driving on the narrow road. In addition, the driver of the other vehicle can make a judgment to enter the narrow road 112 with his own vehicle.

[0094] (2) The case where time To is less than or equal to time Ta

[0095] A negative determination is made in S140. Accordingly, in S170, a message prompting this vehicle to carefully enter the narrow road is notified to the driver of this vehicle. In addition, in S180, a message "The priority of this vehicle is higher than that of the other vehicle, and this vehicle is about to enter the narrow road" is notified to the driver of the other vehicle.

[0096] Therefore, the driver of this vehicle can make a judgment to enter the narrow road 112 with this vehicle. In addition, the driver of the other vehicle can make a judgment to wait in front of the narrow road until this vehicle finishes driving on the narrow road.

[0097] C: The case where this vehicle has not entered the narrow road and there is no possibility of other vehicles entering the narrow road ( Figure 6 )

[0098] Figure 6 It shows a situation where the vehicle 102 is driving on the wide road 110 and approaching the narrow road 112, and the other vehicle 114 is driving on the wide road 118 in a direction approaching the vehicle 102 and is about to move to the branch road 120.

[0099] In this case, negative determinations are made in S10, S30, and S120. Accordingly, in S130, a message that this vehicle is about to enter the narrow road is notified to the drivers of the surrounding vehicles. Therefore, the drivers of the surrounding vehicles can be aware that this vehicle is about to enter the narrow road.

[0100] From the above description, it can be seen that according to the present invention, when it is determined that there is a possibility that the vehicle 102 enters the narrow road 112 (S10), and there is a possibility that this vehicle meets another vehicle on the narrow road (S120), at least one of the passengers of this vehicle and the passengers of the other vehicle is notified of an attention reminder for avoiding the two vehicles meeting on the narrow road (S140 to S180).

[0101] Thus, at least one of the occupants of this vehicle and the occupants of other vehicles can reduce the possibility of both this vehicle and other vehicles entering a narrow road by controlling the driving of their own vehicles according to the attention reminder. Thus, the possibility of this vehicle and other vehicles meeting in a narrow road can be reduced.

[0102] In addition, according to the present invention, the content of the attention reminder is changed according to the driving conditions of the own vehicle 102 and other vehicles 114 around the narrow road 112 (S40 to S180). Therefore, it is possible to notify the attention reminder with content corresponding to the driving conditions of the own vehicle and other vehicles.

[0103] Furthermore, according to the present invention, when it is determined that the other vehicle 114 has entered the narrow road 112 (S30), a notification is given to the occupants of the own vehicle 102 to prompt them not to enter the narrow road and wait in front of the narrow road (S90). Therefore, the possibility of the own vehicle other than the other vehicle entering the narrow road can be reduced.

[0104] Furthermore, according to the present invention, when it is determined that the other vehicle 114 has not entered the narrow road 112 (S30), the priority order of entering the narrow road is determined (S140) in such a way that the vehicle with a shorter time required for the own vehicle 102 and other vehicles to enter the narrow road has a higher priority, and a notification of the attention reminder is given with content corresponding to the determined priority order (S150 to S180). Thus, the possibility of both the own vehicle and other vehicles entering the narrow road can be reduced, and the order of entering the narrow road can be determined based on the time required for the own vehicle and other vehicles to enter the narrow road.

[0105] Furthermore, according to the present invention, when there is another other vehicle 116 that is about to enter the narrow road 112, the time required for the own vehicle and the other other vehicle to enter the narrow road is estimated. In addition, the priority order of the own vehicle and the other other vehicle for entering the narrow road is determined (S70) in such a way that the vehicle with a shorter estimated time has a higher priority, and a notification of the attention reminder is given to at least one of the own vehicle and the other other vehicle with content corresponding to the determined priority order (S80 to S110). Thus, the possibility of both the own vehicle and the other other vehicle entering the narrow road can be reduced, and the order of entering the narrow road can be determined based on the time required for the own vehicle and the other other vehicle to enter the narrow road.

[0106] As described above, specific embodiments of the present invention have been described in detail, but the present invention is not limited to the above embodiments, and it is obvious to those skilled in the art that various other embodiments can be implemented within the scope of the present invention.

[0107] For example, in the above-described embodiment, when a negative determination is made in S10, the steps below S30 are executed. However, when a negative determination is made in S10, it may also be determined whether a warning has been notified from another vehicle equipped with a driving control device similar to the driving control device of the present invention. And the steps below S30 may be executed when a negative determination is made, and the warning from the other vehicle may be followed when a positive determination is made.

[0108] In addition, in the above-described embodiment, the types of the other vehicle and another other vehicle are not determined, but it may also be determined whether the other vehicle or another other vehicle is an emergency vehicle such as an ambulance, a fire truck, or a patrol car. When a positive determination is made, the priority of the vehicle may be set to the highest priority, and a corresponding warning may be notified.

Claims

1. A vehicle driving control device, comprising a control unit, The control unit is configured to, when it is determined that the vehicle is likely to enter a narrow road having a road width smaller than a preset reference value and that the vehicle is likely to meet another vehicle on the narrow road, issue a warning notification to at least one of the occupants of the vehicle and the occupants of the other vehicle to avoid the vehicle from meeting the other vehicle on the narrow road.

2. The vehicle travel control device according to claim 1, The control unit is configured to change the content of the caution reminder according to the driving conditions of the host vehicle and the other vehicles on the narrow road and its surroundings.

3. The vehicle travel control device according to claim 1, The control unit is configured to, when determining that the other vehicle has entered the narrow road, notify the occupant of the own vehicle to urge the occupant not to enter the narrow road but to wait in front of the narrow road.

4. The vehicle travel control device according to claim 1, The control unit is configured to estimate the time required for the host vehicle and the other vehicle to enter the narrow road when it is determined that the other vehicle has not entered the narrow road; The control unit is configured to determine the priority of the own vehicle and the other vehicles for entering the narrow road in such a manner that the priority of the vehicle with the shorter estimated time is higher; and The control unit is configured to issue a notification of a caution with contents corresponding to the determined priority.

5. The vehicle travel control device according to claim 3, The control unit is configured to estimate the time required for the host vehicle and the other vehicle to enter the narrow road when there is another vehicle that is about to enter the narrow road; The control unit is configured to determine the priority of the own vehicle and the other vehicles for entering the narrow road in such a manner that the priority of the vehicle with the shorter estimated time is higher; and The control unit is configured to issue a notification of a cautionary urge to at least one of the own vehicle and the other vehicle with contents corresponding to the determined priority.

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