Driving assistance system, driving assistance method, and driving assistance program product

Abstract

A driving assistance system that assists driving of a host vehicle (2) has a processor (12) configured to perform: planning a change in driving behavior controlled in the host vehicle, i.e., a behavior change; and projecting a notification image (Ia) notifying a change condition of the behavior change onto the travel path (90) in a manner recognizable from other road users (3) predicted to interact with the host vehicle.

Description

Technical Field

[0001] This disclosure relates to a driving assistance technology that assists in driving a main vehicle. Background Technology

[0002] Patent Document 1 discloses a technology for controlling lane changing based on the speed of following vehicles among other road users, thereby controlling changes in the driving behavior of the main vehicle. Patent Document 2 discloses a technology for controlling left and right turns at intersections based on traffic conditions, thereby preventing the main vehicle from remaining within the intersection.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2022-72222

[0006] Patent Document 2: Japanese Patent Application Publication No. 2018-173787 Summary of the Invention

[0007] However, in either of the disclosed technologies in Patent Documents 1 and 2, since it is difficult for other road users to grasp changes in the planned driving behavior in the main vehicle, there is a concern that unexpected interactions may occur in order to ensure the safe and secure relationship between the main vehicle and other road users.

[0008] The objective of this disclosure is to provide a driving assistance system that ensures safe and reliable interaction between the host vehicle and other road users. Another objective of this disclosure is to provide a driving assistance method that ensures safe and reliable interaction between the host vehicle and other road users.

[0009] Another objective of this disclosure is to provide a driver assistance program that ensures safe and secure interaction between the primary vehicle and other road users.

[0010] The first aspect of this disclosure is a driving assistance system.

[0011] This driver assistance system has a processor that assists the driver of the main vehicle, wherein...

[0012] The processor is configured to execute:

[0013] Planning behavior changes, which are changes in driving behavior controlled within the master vehicle; and

[0014] The notification image of the change in the notification behavior is projected onto the driving path in a way that can be recognized by other road users who are expected to interact with the main vehicle.

[0015] The second aspect of this disclosure is a driving assistance method.

[0016] This driving assistance method is executed by the processor to assist the driving of the main vehicle, and includes:

[0017] Planning behavior changes, which are changes in driving behavior controlled within the master vehicle; and

[0018] The notification image of the change in the notification behavior is projected onto the driving path in a way that can be recognized by other road users who are expected to interact with the main vehicle.

[0019] The third aspect of this disclosure is a driving assistance program.

[0020] The driving assistance program is stored in a storage medium to assist the driving of the main vehicle and contains instructions for instructing the processor to execute the assistance. The driving assistance program contains instructions for performing the following processes:

[0021] Planning behavior changes, which are changes in driving behavior controlled within the master vehicle; and

[0022] The notification image of the change in the notification behavior is projected onto the driving path in a way that can be recognized by other road users who are expected to interact with the main vehicle.

[0023] Thus, according to the first to third aspects, the planned changes in driving behavior controlled within the master vehicle are defined as behavioral changes. Therefore, in the first to third aspects, a notification image, which indicates the status of the behavioral changes and can be recognized by other road users interacting with the master vehicle, is projected onto the driving path. Therefore, since other road users can promptly grasp the status of the planned behavioral changes within the master vehicle by recognizing the notification image, safe and secure interactions between the master vehicle and other road users can be ensured. Attached Figure Description

[0024] Figure 1 This is a block diagram illustrating the physical configuration of a driving assistance system according to one embodiment.

[0025] Figure 2 This is a schematic diagram illustrating the driving environment of a main vehicle using one implementation method.

[0026] Figure 3 This is a block diagram illustrating the functional configuration of a driving assistance system according to one embodiment.

[0027] Figure 4 This is a flowchart illustrating one implementation of a driving assistance process.

[0028] Figure 5 This is a schematic diagram illustrating a driving assistance process in one implementation.

[0029] Figure 6 This is a schematic diagram illustrating a driving assistance process in one implementation.

[0030] Figure 7 This is a schematic diagram illustrating a driving assistance process in one implementation.

[0031] Figure 8 This is a schematic diagram illustrating a driving assistance process in one implementation.

[0032] Figure 9 This is a schematic diagram illustrating a driving assistance process in one implementation.

[0033] Figure 10 This is a schematic diagram illustrating a driving assistance process in one implementation. Detailed Implementation

[0034] An embodiment of this disclosure will now be described with reference to the accompanying drawings.

[0035] Figure 1 The driving assistance system 1 shown in one embodiment assists the driving of a host vehicle 2. At least a portion of the driving assistance system 1 is installed on the host vehicle 2. The host vehicle 2 to which the driving assistance system 1 is applied can achieve a level of manual driving assistance task, such as that specified in SAE J3016, where both automatic driving tasks and manual driving operations by an assisted operator are simultaneously present. Here, the host vehicle 2 is, for example, a road user such as a car or truck, and can also be referred to as an ego-vehicle from a viewpoint centered on the host vehicle 2. Thus, in the driving assistance system 1 of this embodiment, the driver who sits in the driver's seat inside the host vehicle 2 and is capable of performing manual driving operations becomes the object of driving assistance.

[0036] like Figure 2 As shown, in a traffic environment where the main vehicle 2 is traveling, a traffic scenario is envisioned where other road users 3 besides the main vehicle 2 exist. Depending on their vulnerability, other road users 3 include non-vulnerable road users and vulnerable road users. Non-vulnerable road users include, for example, at least one type of mobile vehicle carried by humans, such as cars, trucks, motorcycles, and bicycles. Vulnerable road users include, for example, pedestrians. In the envisioned traffic scenario, these other road users 3 can be in either a stopped or moving state.

[0037] like Figure 1As shown, the main vehicle 2 is equipped with an actuator system 4, a sensor system 5, a communication system 6, a map database (DB) 7, and an information presentation system 8, along with at least a portion of the driver assistance system 1. Among these, Figure 1 A representative example is shown in which a driver assistance system 1, implemented as a driver assistance device such as a processing device (e.g., a processing ECU) or a semiconductor device (e.g., a semiconductor chip), is entirely mounted on the main vehicle 2.

[0038] Figure 1 , Figure 3 The actuator system 4 shown is configured to control the main vehicle 2 based on control commands provided from the driver assistance system 1. The actuator system 4 may be at least one power transmission actuator 40, such as an internal combustion engine or an electric generator motor. The actuator system 4 may be at least one brake actuator 41, such as a braking unit. The actuator system 4 may be at least one steering actuator 42, such as a power steering unit. The actuator system 4 may also be at least one projection actuator 43, such as an adaptive headlight unit or a projection unit. The actuator system 4 may be at least one horn actuator 44, such as an electronic horn unit.

[0039] The sensor system 5 acquires sensing information available in the driver assistance system 1 by sensing the external and internal environments of the main vehicle 2. Therefore, the sensor system 5 includes an external sensor 50 and an internal sensor 52.

[0040] External sensors 50 detect objects present outside the main vehicle 2. The external sensors 50 for object detection are, for example, at least one of the following: an onboard camera, LiDAR (light detection and ranging / laserimaging detection and ranging), a laser sensor, a millimeter-wave sensor, and a sonar sensor. Various types of external sensors 50 for object detection can be combined and installed to detect objects in various directions, including the front, sides, and rear of the main vehicle 2.

[0041] Internal sensors 52 sense specific motion physical quantities related to vehicle motion within the main vehicle 2. Motion sensing type internal sensors 52 include, for example, at least one of speed sensors, acceleration sensors, gyroscope sensors, and inertial sensors. Internal sensors 52 can also sense the operation or state of occupants, including the driver, within the main vehicle 2. Occupant sensing type internal sensors 52 include, for example, at least one of accelerator pedal sensors, brake pedal sensors, gear shift sensors, steering angle sensors, steering torque sensors, occupant cameras, occupant seat switches, gesture sensors, biometric sensors, and seating sensors.

[0042] Communication system 6 acquires communication information available in driver assistance system 1 via wireless communication. Communication system 6 can also receive positioning signals from satellites of a Global Navigation Satellite System (GNSS) located outside the main vehicle 2. Positioning-type communication system 6 may be, for example, a GNSS receiver. Communication system 6 can also transmit and receive communication signals with V2X systems located outside the main vehicle 2. V2X communication-type communication system 6 may be, for example, at least one of a dedicated short-range communications (DSRC) communicator and a cellular V2X (C-V2X) communicator. Communication system 6 can also transmit and receive communication signals with mobile terminals located inside the main vehicle 2. Terminal communication-type communication system 6 may be, for example, at least one of a Bluetooth device, a Wi-Fi device, and an infrared communication device.

[0043] Map DB7 stores map information available in the driver assistance system 1. Map DB7 is constructed using at least one non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media. Map DB7 can also be the DB of a locator used to estimate the position of the main vehicle 2. Map DB can also be the DB of a navigation unit used to navigate the driving route of the main vehicle 2. Map DB7 can also be constructed using a combination of various DBs.

[0044] Map DB7 can download digital maps and update map information in real time, for example, through V2X communication with an external center via communication system 6. Map information, representing the external environment in which the main vehicle 2 travels, is digitized in two or three dimensions. As three-dimensional map information, high-precision map digital data can also be used. Map information includes road information, representing at least one of the following: the location, shape, and size of roads. Map information may also include information on structures, representing at least one of the following: the location, shape, and size of buildings and traffic signals facing the road. Map information may also include information on road signs, representing at least one of the following: the location, shape, and size of road signs and boundary lines.

[0045] The information presentation system 8 presents notification information to occupants, including the driver of the main vehicle 2. The information presentation system 8 presents the notification information by stimulating the visual senses of the occupants in the main vehicle 2. The visual information presentation system 8 is, for example, at least one of an in-vehicle display, a head-up display (HUD), a combination meter, a navigation unit, and a lighting unit. The information presentation system 8 can also present notification information by stimulating the auditory senses of the occupants. The auditory information presentation system 8 is, for example, at least one of a speaker, a buzzer, and a vibration unit. The information presentation system 8 can also present notification information by stimulating the tactile senses of the occupants. The tactile sense information presentation system 8 is, for example, at least one of a vibration unit, a reaction force unit, and an air conditioning unit.

[0046] The driver assistance system 1 is connected to the actuator system 4, sensor system 5, communication system 6, map DB 7, and information presentation system 8 via at least one of the following: local area network (LAN), wiring harness, internal bus, and wireless communication line. The driver assistance system 1 is configured to include at least one dedicated computer.

[0047] The dedicated computer constituting the driving assistance system 1 can be an integrated ECU (electronic control unit) that integrates the driving control of the main vehicle 2. Alternatively, the dedicated computer constituting the driving assistance system 1 can be a sensing ECU that processes sensing information within the driving control of the main vehicle 2. It can also be an identification ECU that identifies external components within the driving control of the main vehicle 2. Finally, the dedicated computer constituting the driving assistance system 1 can be a locator ECU that estimates the position of the main vehicle 2.

[0048] The dedicated computer constituting the driving assistance system 1 can also be a planning ECU that plans the driving control of the main vehicle 2. The dedicated computer constituting the driving assistance system 1 can also be a navigation ECU that navigates the driving route during the driving control of the main vehicle 2. The dedicated computer constituting the driving assistance system 1 can also be an actuator ECU that controls the actuator system 4 as the driving control of the main vehicle 2.

[0049] The dedicated computer constituting the driving assistance system 1 may also be the information management ECU of the control information presentation system 8 as the driving control of the main vehicle 2. The dedicated computer constituting the driving assistance system 1 may also be at least one external computer, such as an external center or mobile terminal capable of communication via the communication system 6.

[0050] The dedicated computer constituting the driving assistance system 1 has at least one memory 10 and a processor 12. The memory 10 is at least one non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media, that stores programs and data that can be read by the computer. The processor 12 includes at least one of the following as its core: CPU (central processing unit), GPU (graphics processing unit), and RISC (reduced instruction set computer)-CPU.

[0051] The processor 12 executes multiple instructions contained in the driving assistance program stored as software in the memory 10. Thus, the driving assistance system 1 constructs multiple functional blocks for performing driving assistance processing on the host vehicle 2. For example, Figure 3 As shown, the multiple functional blocks constructed by the driving assistance system 1 include an identification block 100, a planning block 110, and a control block 120.

[0052] Recognition block 100 acquires sensing information from sensor system 5. Recognition block 100 acquires communication information from communication system 6. Recognition block 100 acquires map information stored in map DB7. Recognition block 100 acquires past information on control commands from control block 120 to master vehicle 2 from memory 10. By processing and fusing this acquired information separately, recognition block 100 identifies the state of the external and internal environments for each driving scenario of master vehicle 2 and generates recognition data.

[0053] Specifically, the identification block 100 generates identification data by identifying the localization of its own state, including the position of the main vehicle 2. The identification data related to its own state can also represent at least one of the following appearing in the main vehicle 2 according to the control commands of the control block 120: latitude and longitude and altitude, i.e., its own position, attitude angle, steering angle, speed, acceleration, jerk, and yaw rate.

[0054] Recognition block 100 generates recognition data by identifying object targets, including other road users 3, obstacles, and structures existing outside the main vehicle 2. The object target-related recognition data can represent at least one of the following motion physical quantities: distance, direction of motion, relative velocity, relative acceleration, collision margin time, etc. The object target-related recognition data can also represent a classification of object targets clustered based on these motion physical quantities.

[0055] The identification block 100 generates identification data by identifying the road on which the main vehicle 2 is traveling. The road-related identification data can represent at least one road structure. Specifically, the road-related identification data can also represent the driving lane 900 of the general road that constitutes the driving path 90 of the main vehicle 2 and other road users 3 (see [link to relevant documentation]). Figure 2 And the following Figure 5 , 6 The road structure includes, for example, at least one of the following: quantity, location, width, length, shape, curvature of curves, radius of curves, and nodes. Road-related identification data can also represent intersections 91 (see below) at nodes of the travel path 90 traversed by the main vehicle 2 and other road users 3 on a general road. Figure 7 , 8 The road structure includes, for example, location, width and node status of driving path 90, width and node status of driving lane 900, width of pedestrian walkway, and width of pedestrian crossing. Road-related identification data may also represent the passage space 920 and parking space 922 (see below) constituting the driving path 90 within the parking facility 92. Figure 9 , 10 ( ) at least one of the following road structures, such as location, width, length, shape, and nodes.

[0056] Recognition block 100 generates recognition data by recognizing road signs associated with the road on which the main vehicle 2 is traveling. The recognition data associated with road signs can represent at least one sign status, such as road markings, dividing lines, and traffic signals. The recognition data associated with road signs can also represent at least one of traffic rules on the road, such as direction of travel, speed limits, and stopping positions, as identified from these sign statuses. Thus, particularly in the context of the travel path 90 on a general road (see...),... Figure 2 , 5 6) The relevant identification data can be supplemented with identification data for the driving lanes 900 of the main vehicle 2 and other road users 3, respectively. In the general road driving path 90, at the intersection 91 (see... Figure 7 , 8 The relevant identification data can be supplemented with identification data showing the passage locations of the main vehicle 2 and other road users 3. Within parking facility 92 (see...) Figure 9 The identification data related to the driving road 90 in 10) may include identification data of at least one of the following: parking space 922 in an idle state, parking space 922 in a parked or stopped state, and passage space 920 in which the main vehicle 2 and / or other road users 3 are driving.

[0057] In addition, the recognition block 100 generates recognition data by recognizing the actions of the driver as an operator on the main vehicle 2. Specifically, the recognition data regarding driver operations providing manual driving assistance to the main vehicle 2 can represent at least one of, for example, accelerator pedal operation amount, brake pedal operation amount, gear shift position, steering angle, and steering torque. Furthermore, the recognition data regarding driver operations switching the driving tasks provided to the main vehicle 2 between automatic driving tasks and manual driving assistance tasks can also represent, for example, the operating state of at least one of, a task switching switch and an assistance switch, i.e., an occupant seat switch.

[0058] Figure 3 The planning block 110 shown obtains recognition data from the recognition block 100. The planning block 110 obtains past information about control commands to the master vehicle 2 by reading from the memory 10. Based on this obtained data and information, the planning block 110 plans a driving trajectory Td (see [reference]) as the target for the future driving of the master vehicle 2. Figures 5-10 ).

[0059] The driving trajectory Td refers to the time series changes of motion parameters of the target, the master vehicle 2, in each control cycle, as envisioned in the distant future. Specifically, the driving trajectory Td can represent the position coordinates of the master vehicle 2 in each control cycle along the trajectory it will follow in the future. Alternatively, the driving trajectory Td can also represent at least one of the following physical quantities of motion, such as velocity, acceleration, jerk, yaw rate, and yaw angle, as motion parameters occurring in each control cycle along this trajectory.

[0060] Figure 3 The control block 120 shown obtains recognition data from the recognition block 100. The control block 120 obtains driving trajectory Td data from the planning block 110. The control block 120 obtains past information about control commands for the main vehicle 2 by reading from the memory 10. Based on this obtained data and information, the control block 120 generates control commands set in the main vehicle 2. At this time, control commands are generated to instruct the actuator system 4 to control the driving behavior in the main vehicle 2 in both the automatic driving task and the manual driving assistance task, corresponding to the level of automatic driving adjusted according to the driving scenario. The data of the control commands thus generated is stored in the memory 10.

[0061] Controls of driving behaviors corresponding to the level of autonomous driving can include, for example, adaptive cruise control, collision mitigation braking, lane keeping assist, lane change assist, left and right turn assist, and parking assist. Therefore, adjusting the level of autonomous driving may also include the handover of driving tasks between the driver assistance system 1 and the driver through the shift of driving modes between autonomous driving tasks and manual driving assistance tasks. This handover can be achieved at at least one of the following times: upon a handover request from the driver, upon entering or leaving the operational design domain (ODD) of autonomous driving, and upon the necessity of minimum risk maneuvering (MRM).

[0062] (Driving assistance procedures)

[0063] Through the combined action of blocks 100, 110, and 120 as described above, the driving assistance system 1 controls the driving assistance method of the main vehicle 2 during the starting process of the main vehicle 2 according to... Figure 4 The driving assistance process shown is executed repeatedly. Furthermore, in the following explanation, each "S" in the driving assistance process refers to a series of steps executed by multiple commands contained in the driving assistance program.

[0064] In S100, the recognition block 100 generates recognition data that identifies the external and internal environments of the main vehicle 2 in the current driving scenario. In S110, the planning block 110 plans the driving trajectory Td of the main vehicle 2 from the current driving scenario to the future driving scenario based on the recognition data (hereinafter referred to as recognition data) generated by S100 in the current process and at least in the past processes.

[0065] In S120, control block 120 determines whether the driving trajectory Td planned by the current process S110 specifies a specific behavior change Cb in the main vehicle 2. At this time, the specific behavior change Cb is defined as a notification image Ia (see below) that needs to be projected in detail later, among the changes in driving behavior controlled by control block 120 in the main vehicle 2. Figures 5-10 Therefore, a specific behavioral change Cb can arise from, for example, a shift from a manual driving assistance task to an autonomous driving task, such as a switching switch or auxiliary switch for an operating task, or from a change in an autonomous driving task related to driving behavior.

[0066] Specifically, such as Figure 5 , 6 As shown, a specific behavioral change Cb can be a lane change Cb1 in a driving path 90 with multiple driving lanes 900 side by side, where the main vehicle 2 moves from its current driving lane 900 to another driving lane 900. For example... Figure 7 ,8 As shown, a specific behavioral change Cb can also be a turn Cbt defined as a right or left turn of the main vehicle 2 from its current driving lane 900 towards another driving lane 900 at an intersection 91 where driving paths 90, each with at least one driving lane 900, intersect each other at a node. For example... Figure 9 , Figure 10 As shown, a specific behavioral change Cb can also be the departure Cbo of the main vehicle starting from the parking space 922 in the parking space 922 or leaving the parking space 922.

[0067] like Figure 4 As shown, if a negative determination is made in S120, the current process ends. On the other hand, if a positive determination is made in S120, the current process proceeds to S130. In S130, control block 120 determines whether a specific user 30, who is another road user 3, exists. This other road user 3 is predicted to interact with the main vehicle 2 based on a specific behavioral change Cb confirmed through S120 of this process. At this time, the existence of the specific user 30 is determined based on identification data.

[0068] Specifically, when the specific behavioral change Cb is Figure 5 , 6 In the case of lane change Cb1 shown, it is determined whether the following user 31 traveling behind the main vehicle 2 exists as a specific user 30. In this case, the following user 31 could also be another vehicle moving behind the main vehicle 2 within a set distance from it, on an adjacent driving lane 900 different from the main vehicle 2. Alternatively, the following user 31 could also be another vehicle moving behind the main vehicle 2 within a set distance from it, on a driving lane 900 shared with the main vehicle 2.

[0069] When specific behavioral changes Cb are Figure 7 , 8 In the case of turning at intersection 91 (Cbt), it is determined whether the intersection users 32 present at and around intersection 91, where the main vehicle 2 enters, exist as specific users 30. At this time, the intersection user 32 can be any of the following: a person moving on the pedestrian crossing or crosswalk on the right or left turn side of intersection 91, based on the driving trajectory Td of S110 in this process; or a bicycle. The intersection user 32 can also be another vehicle moving ahead of the main vehicle 2 within a set distance from the main vehicle 2 in the driving lane 900 opposite to the main vehicle 2.

[0070] When specific behavioral changes Cb are Figure 9 , 10In the case of leaving Cbo from parking space 922 to passage space 920, it is determined whether a surrounding user 33 existing around the parking space 922 where the main vehicle 2 is parked or parked exists as a specific user 30. At this time, the surrounding user 33 can be any of the following: other vehicles, people, or bicycles moving within a set distance from the main vehicle 2 in the passage space 920, which is the departure destination from the parking space 922 where the main vehicle 2 is parked or parked. The surrounding user 33 can also be other vehicles parked or parked in a parking space 922 different from the main vehicle 2.

[0071] like Figure 4 As shown, if a positive determination is made in S130, the process proceeds to S140. In S140, the control block 120 will notify the notification image Ia of the change status of the specific behavior change Cb confirmed by S120 in this process, and project it from the projection actuator 43 onto the driving path 90 in a manner that can be recognized by the specific user 30 confirmed by S130 in this process.

[0072] Specifically, when a specific behavioral change Cb is a lane change Cb1, such as Figure 5 , 6 As shown, the notification image Ia indicating the change in lane change Cb1 is projected onto the road surface of an adjacent lane 900, different from the main vehicle 2. At this time, if the following user 31 is predicted to drive in a non-interfering manner until the lane change is completed, based on the recognition data, the control block 120 sets control commands according to the driving trajectory Td maintained by the planning block 110 according to the current process S110; wherein the following user 31, as a specific user 30, is driving in an adjacent lane 900, different from the main vehicle 2. Therefore, in the case of non-interference prediction, the image Ia is projected onto the road surface of an adjacent lane 900, different from the main vehicle 2. Thus, in the case of non-interference prediction, the image Ia is projected onto the road surface of an adjacent lane 900, different from the main vehicle 2. (See image Ia) Figure 5 The method of projecting notification image Ia to indicate the continuation status of lane change Cb1 in words and / or text.

[0073] On the other hand, if, based on identification data, it is predicted that a follower user 31, traveling in a lane 900 different from the main vehicle 2, will interfere with lane change Cb1, the control block 120 sets control commands according to the driving trajectory Td replanned by the planning block 110 to temporarily preserve lane change Cb1. Thus, in the changing situation of temporarily preserving lane change Cb1 in response to predicted interference, the control block 120 uses a graphical representation (see...). Figure 6The notification image Ia can be projected in a manner that indicates the hold-up status using graphics and / or text. At this time, control block 120 can also set a control command that, along with the temporary hold of lane change Cb1, temporarily returns the steering angle of the main vehicle 2's tires to the side opposite to lane change Cb1. Additionally, in the event of a predicted disturbance, the notification image Ia can be projected in a manner that, along with the restart of lane change Cb1 after its temporary hold, indicates the changes up to the restart using graphics and / or text.

[0074] In the case where the specific behavior change Cb is the turning Cbt at intersection 91, such as Figure 7 , 8 As shown, a notification image Ia indicating the change in the turning Cbt is projected onto the road surface of the intersection 91 where the main vehicle 2 is turning. At this time, if the intersection user 32 is predicted to drive in a non-interfering manner until the turning Cbt is completed based on the recognition data, the control block 120 sets control commands according to the driving trajectory Td maintained by the planning block 110 according to the current process S110; wherein the intersection user 32, as a specific user 30, exists on the turning side of the main vehicle 2. Therefore, in the case of predicting non-interference, the control block 120 uses graphics (see...) Figure 7 The method of projecting notification image Ia to indicate the continued status of rotation Cbt (and / or text) is as follows.

[0075] On the other hand, if, based on identification data, it is predicted that user 32, existing on the turning side of the main vehicle 2 at the intersection, will interfere with the turning Cbt, control block 120 sets control commands according to the driving trajectory Td replanned by planning block 110 in order to temporarily stop the turning Cbt. Thus, in the changing situation of the temporary stop of the turning Cbt in response to the predicted interference, the control block 120 uses a graphical representation (see...). Figure 8 The notification image Ia can be projected in a manner that represents the stopping status using graphics and / or text. At this time, control block 120 can also set a control command that accompanies the temporary stop of turn Cbt, causing the steering angle of the main vehicle 2's tires to temporarily return to the origin angle side along the roller axis of the main vehicle 2. Furthermore, in the event of a predicted disturbance, the notification image Ia can also be projected in a manner that represents the changes up to the restart of turn Cbt using graphics and / or text, accompanies the temporary stop of turn Cbt.

[0076] In the case where the specific behavioral change Cb is leaving Cbo from the parking space 922 to the passage space 920, such as Figure 9 , 10As shown, a notification image Ia indicating the change in departure status of Cbo is projected onto the road surface of the passage space 920, which becomes the departure destination. At this time, if the surrounding user 33 is predicted to drive in a non-disruptive manner until departure is complete based on identification data, the control block 120 sets control commands according to the driving trajectory Td maintained by the planning block 110 according to the current process S110; wherein the surrounding user 33, as a specific user 30, exists around the departure destination of the parking space 922 where the main vehicle 2 is parked or parked. Therefore, in the case of non-disruptive prediction, a graphical representation is used (see...). Figure 9 The method of projecting notification image Ia to indicate the continued status of leaving Cbo (and / or text) is as follows.

[0077] On the other hand, if, based on identification data, it is predicted that a user 30, residing in the parking space 922 of a parked or occupied vehicle 2, will be disturbed by a neighboring user 33 who is interfering with the departure from the destination Cbo, the control block 120 sets control commands according to the driving trajectory Td replanned by the planning block 110 in order to temporarily preserve the departure from Cbo. Thus, in response to the predicted disturbance, the temporary preservation of the departure from Cbo is displayed graphically (see...). Figure 10 The notification image Ia is projected in a manner that represents the holding status in terms of graphics and / or text. At this time, a control command can also be set by the control block 120, which, along with the temporary holding of departure from Cbo, causes the steering angle of the tires of the main vehicle 2 to temporarily return to the origin angle side along the roller axis of the main vehicle 2. Additionally, in the event of a predicted disturbance, the notification image Ia can also be projected in a manner that, along with the restart after the temporary holding of departure from Cbo, the changes up to the restart are represented graphically and / or in text.

[0078] In S140, the control command indicating the specific behavior change Cb represented by the notification image Ia can also be configured to coordinate at least two of the following: acceleration of the power transmission actuator 40, braking (i.e., deceleration) of the brake actuator 41, and steering of the steering actuator 42. In S140, along with the control command indicating the specific behavior change Cb represented by the notification image Ia, a control command can also be configured to notify other road users 3 of the specific behavior change Cb via a warning sound from the horn actuator 44. Thus, after the execution of S140, this process ends.

[0079] like Figure 4As shown, if a negative decision is made in S130, the process proceeds to S150. In S150, control block 120 sets a control command to indicate the specific behavior change Cb confirmed by S120 in this process. At this time, in S140, the control command of S150 can be set according to the predicted non-interference situation among the following users 31, intersection users 32, and surrounding users 33, specifically the user 30 corresponding to the specific behavior change Cb. Therefore, in S150, the notification image Ia representing the change status of the specific behavior change Cb transferred according to the control command can also be projected according to S140. In S150, a control command can also be set to notify the specific behavior change Cb by a warning sound from the horn actuator 44 based on S140. Thus, after the execution of S150 is completed, the process ends.

[0080] (Effects)

[0081] The effects of the above-described embodiment will now be explained.

[0082] According to this embodiment, a specific behavioral change Cb is specifically planned as a change in driving behavior controlled within the main vehicle 2. Therefore, in this embodiment, a notification image Ia, which indicates the change status of the specific behavioral change Cb, is projected onto the driving path as an image that can be recognized by other road users 3 interacting with the main vehicle 2. Thus, since other road users 3 can promptly grasp the change status of the specific behavioral change Cb planned within the main vehicle 2 by recognizing the notification image Ia, safe and secure interaction between the main vehicle 2 and other road users 3 can be ensured.

[0083] According to this embodiment, the planned lane change Cb1 is a specific behavioral change Cb controlled within the main vehicle 2. Therefore, in this embodiment, a notification image Ia is projected in a manner recognizable by a rear user 31 traveling behind the main vehicle 2, who is also a road user 3 predicting interaction with it. Thus, by recognizing the notification image Ia, the rear user 31 can promptly understand the changes in the planned lane change Cb1 within the main vehicle. Therefore, safe and secure interaction between the main vehicle 2 and the rear user 31 can be ensured.

[0084] According to this embodiment, in response to the predicted interference of the rear user 31 with lane change Cb1, the change status of lane change Cb1 being temporarily held is notified by projecting the notification image Ia. Thus, the rear user 31 can also promptly grasp the change status of lane change Cb1 being temporarily held in the main vehicle 2. Therefore, the comprehensiveness of the corresponding scenario can be improved to ensure safe and secure interaction between the main vehicle 2 and the rear user 31.

[0085] A control command is set on the main vehicle 2. This control command, along with the temporary holding of lane change Cb1 in the changing situation of this embodiment, causes the steering angle of the main vehicle 2 to return to the side opposite to the lane change Cb1 side. Therefore, by using the notification content of the notification image Ia and the tire orientation corresponding to the steering angle in the main vehicle 2, the rear user 31 can promptly and accurately grasp the temporary holding of lane change Cb1. Thus, reliability is improved to ensure safe and secure interaction between the main vehicle 2 and the rear user 31.

[0086] According to this embodiment, the planned turn Cbt at intersection 91 is a specific behavioral change Cb controlled in the main vehicle 2. Therefore, in this embodiment, a notification image Ia is projected in a manner recognizable by the intersection user 32 on the turning side of intersection 91, who is also a road user 3 predicting interaction with the main vehicle 2. Thus, by recognizing the notification image Ia, the intersection user 32 can promptly understand the changes in the planned turn Cbt in the main vehicle 2. Therefore, safe and secure interaction between the main vehicle 2 and the intersection user 32 can be ensured.

[0087] According to this embodiment, in response to the predicted interference of intersection user 32 on turning Cbt, the change in lane change Cbl being temporarily stopped is notified by projecting notification image Ia. Thus, intersection user 32 can also promptly grasp the change in the temporary stoppage of turning Cbt in the main vehicle 2. Therefore, the comprehensiveness of the corresponding scenario can be improved to ensure safe and secure interaction between the main vehicle 2 and intersection user 32.

[0088] A control command is set on the main vehicle 2. This control command, along with the temporary stop of the turn Cbt in the changing situation of this embodiment, causes the steering angle of the main vehicle 2 to return to the origin angle side. Therefore, by notifying the user 32 at the intersection of the notification image Ia and the tire orientation corresponding to the steering angle in the main vehicle 2, the user 32 at the intersection can promptly and accurately grasp the temporary stop of the turn Cbt. Thus, reliability is improved to ensure safe and secure interaction between the main vehicle 2 and the user 32 at the intersection.

[0089] According to this embodiment, the planned departure Cbo from the parking space 922 is considered as a specific behavioral change Cb controlled within the main vehicle 2. Therefore, in this embodiment, a notification image Ia is projected in a manner recognizable by surrounding users 33, who are other road users 3 who are expected to interact with the main vehicle 2 and are located near the parking space 922. Thus, by recognizing the notification image Ia, surrounding users 33 can promptly understand the planned departure Cbo from the parking space 922 within the main vehicle 2. Therefore, safe and secure interaction between the main vehicle 2 and surrounding users 33 can be ensured.

[0090] According to this embodiment, in response to the predicted interference from the surrounding user 33 to the departure Cbo from the parking space 922, the change in the temporary holding status of the departure Cbo is notified by projecting the notification image Ia. Thus, the surrounding user 33 can also promptly grasp the change in the temporary holding status of the departure Cbo in the main vehicle 2. Therefore, the comprehensiveness of the corresponding scenario can be improved to ensure safe and secure interaction between the main vehicle 2 and the surrounding user 33.

[0091] A control command is set on the main vehicle 2. This control command, in conjunction with the temporary hold of leaving the parking space 922 (Cbo) during the change of status in this embodiment, causes the steering angle of the main vehicle 2 to return to the origin angle side. Therefore, by observing the notification content of the notification image Ia and the tire orientation corresponding to the steering angle, the surrounding user 33 can promptly and accurately grasp this change of temporary hold from leaving Cbo. Thus, reliability is improved to ensure safe and secure interaction between the main vehicle 2 and the surrounding user 33.

[0092] (Other implementation methods)

[0093] The above describes one embodiment, but this disclosure is not limited to the embodiment described herein. Various embodiments can be applied without departing from the spirit of this disclosure.

[0094] In a variation, the dedicated computer constituting the driver assistance system 1 may also have at least one of digital circuits and analog circuits as a processor. Here, the digital circuit refers to at least one of the following: Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), System-on-a-Chip (SoC), Programmable Gate Array (PGA), and Complex Programmable Logic Device (CPLD). Furthermore, such a digital circuit may also have a memory storing a program.

[0095] In a variation, the operator who manually drives the main vehicle 2 using the applicable driving assistance system 1 can also be a remote operator who remotely operates the main vehicle 2 from an external center. In another variation, the driving assistance system 1 can also be configured for manual driving assistance tasks without an operator, limited to autonomous driving tasks.

Claims

1. A driving assistance system, the driving assistance system having a processor for assisting the driving of a main vehicle, wherein, The processor is configured to execute: Planning behavior changes, wherein the behavior changes are changes in driving behavior controlled in the master vehicle; as well as The notification image of the change in the behavior is projected onto the driving path in a manner recognizable to other road users, who are predicted to interact with the master vehicle.

2. The driving assistance system according to claim 1, wherein, The planning for the behavioral changes includes: Planned lane changes are the behavioral changes controlled within the primary vehicle; The projection of the notification image includes: The notification image is projected in a manner recognizable to a user behind the vehicle, who is another road user who is predicted to interact with the main vehicle and is traveling behind the main vehicle.

3. The driving assistance system according to claim 2, wherein, The projection of the notification image includes: The notification image is projected in a manner that, in response to the anticipated interference from the following user with the lane change, the lane change is temporarily suspended.

4. The driving assistance system according to claim 3, wherein, The processor is configured to execute: As the lane change is temporarily held during the aforementioned change, a control command is set on the main vehicle to return its steering angle to the side opposite to the lane change side.

5. The driving assistance system according to claim 1, wherein, The planning for the behavioral changes includes: Planning a turn at an intersection, as a behavioral change controlled in the master vehicle, the turn being either a right turn or a left turn; The projection of the notification image includes: The notification image is projected in a manner recognizable to an intersection user, who is also a predicted other road user interacting with the main vehicle on the turning side of the intersection.

6. The driving assistance system according to claim 5, wherein, The projection of the notification image includes: The notification image is projected in a manner that, in response to the anticipated interference from users at the intersection with the turn, the change in the situation notifies the user that the turn has been temporarily stopped.

7. The driving assistance system according to claim 6, wherein, The processor is configured to execute: During the temporary stop of the turn in the aforementioned changing situation, a control command is set on the main vehicle to return the steering angle of the main vehicle to the origin angle side.

8. The driving assistance system according to claim 1, wherein, The planning for the behavioral changes includes: The plan will take leaving the parking space as a change in behavior that is controlled within the main vehicle; The projection of the notification image includes: The notification image is projected in a manner recognizable to surrounding users, who are other road users who are predicted to interact with the main vehicle and exist around the parking space.

9. The driving assistance system according to claim 8, wherein, The projection of the notification image includes: The notification image is projected in a manner that, in response to the anticipated interference from nearby users with the departure, the departure is temporarily suspended.

10. The driving assistance system according to claim 9, wherein, The processor is configured to execute: The temporary holding of departure during the aforementioned change in conditions will trigger a control command to return the steering angle of the main vehicle to the origin angle side.

11. A driving assistance method, wherein the driving assistance method is executed by a processor for assisting the driving of a master vehicle, wherein, The driving assistance method includes: Planning behavior changes, wherein the behavior changes are changes in driving behavior controlled in the master vehicle; and The notification image of the change in the behavior is projected onto the driving path in a manner that is recognizable to other road users who are expected to interact with the master vehicle.

12. A driving assistance program product, the driving assistance program product being stored in a storage medium for assisting the driving of a master vehicle, and comprising instructions for causing a processor to execute the assistance, wherein, The driving assistance program product includes the instructions for performing the following processes: Planning behavior changes, wherein the behavior changes are changes in driving behavior controlled in the master vehicle; and The notification image of the change in the behavior is projected onto the driving path in a manner that is recognizable to other road users interacting with the main vehicle program product.

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