Vehicle driving assistance device

Abstract

Provided is a vehicle driving assistance device capable of appropriately notifying an operator of the vehicle of the presence of a moving body. A vehicle driving assistance device (10) recognizes the presence of a moving body (200) on a road (401) where an intersection (400T) ahead in the direction of travel of a host vehicle (100) intersects with a travel road (402) of the host vehicle (100) on the basis of wireless communication information, said moving body (200) moving toward the intersection and satisfying a predetermined movement state condition. A notification for notifying an operator of the vehicle of the presence of the moving body is performed. The predetermined movement state condition includes a first movement state condition in which a movement speed of the moving body is equal to or less than a first speed and an intersection arrival delay time, which is a delay time from the moving body to the intersection, is within a range of equal to or less than a first time period and equal to or greater than a second time period that is shorter than the first time period. The vehicle driving assistance device notifies the presence of the moving body when the presence of the moving body satisfying the first movement state condition is recognized.

Description

Technical Field

[0001] This invention relates to vehicle driving assistance devices. Background Technology

[0002] A known vehicle driving assistance device identifies the presence of a moving object that may collide with the vehicle based on wireless communication information and notifies the vehicle operator of the presence of the moving object (see, for example, Patent Document 1). Furthermore, the wireless communication information is information transmitted from a wireless communication terminal held by the moving object. Additionally, the wireless communication information includes, for example, location information indicating the position of the moving object.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2009-86839 Summary of the Invention

[0006] The error in identifying the movement information of a moving object based on wireless communication information decreases as the moving object's speed increases. However, there is a certain time required from the time the wireless communication terminal sends the wireless communication information to the time the presence of the moving object is identified. That is, there is a certain delay in identifying the presence of the moving object. Furthermore, the faster the moving object moves, the longer the distance it travels during the delay period. Therefore, even if the error in the movement information of the moving object is small, if the moving object moves quickly, the error will have a greater impact on the accuracy of the identification. Therefore, even if the moving object has a small error in its movement information, if the moving object moves quickly when it is identified based on wireless communication information, it may not be possible to properly notify the operator of the vehicle of its presence.

[0007] The purpose of this invention is to provide a vehicle driving assistance device that can appropriately notify the operator of the vehicle of the presence of a moving body.

[0008] The vehicle driving assistance device of the present invention includes a control device that, upon identifying, based on wireless communication information, the presence of a moving object moving toward an intersection on a road intersecting the vehicle's travel path at an intersection ahead of the vehicle's direction of travel, and satisfying predetermined movement state conditions, notifies the operator of the presence of the moving object. The predetermined movement state conditions include a first movement state condition, which is a condition where the moving object's speed is less than or equal to a first speed, and the delay time until the moving object reaches the intersection (i.e., the intersection arrival delay time) is less than or equal to a first time but more than a second time shorter than the first time. The control device is configured to notify the operator of the presence of a moving object when the presence of a moving object satisfying the first movement state condition is identified.

[0009] According to the vehicle driving assistance device of the present invention, the moving body notified to the vehicle operator based on wireless communication information is a moving body whose speed is below a first speed and whose intersection arrival delay time is in the range of below a first time and above a second time. In this way, since the intersection arrival delay time of the notified moving body is above a second time, compared to the case where there is no intersection arrival delay time, it is possible to suppress the situation where the vehicle driving assistance device issues a notification based on wireless communication information at the moment it identifies the moving body based on wireless communication information, indicating that the moving body has passed through the intersection within the delay time period. Furthermore, by setting the intersection arrival delay time of the notified moving body to below a first time, it is possible to suppress the situation where the vehicle operator is annoyed by prematurely notifying the vehicle operator. Therefore, it is possible to appropriately notify the vehicle operator of the presence of the moving body.

[0010] Furthermore, in the vehicle driving assistance device of the present invention, the control device may be configured to change the notification method when the moving body is directly detected by the vehicle's on-board equipment during the notification process.

[0011] According to the vehicle driving assistance device of the present invention, when a moving object is directly detected by the on-board equipment, the notification method is changed. That is, the notification to the operator of the vehicle regarding the presence of the moving object is changed from a notification based on wireless communication information to a notification based on information detected by the on-board equipment. Therefore, the presence of the moving object can be appropriately notified to the operator of the vehicle.

[0012] Furthermore, in the vehicle driving assistance device of the present invention, the wireless communication information is, for example, information provided to the vehicle driving assistance device via a communication network from a wireless communication terminal held by the mobile body.

[0013] The technology of providing various information from wireless communication terminals via communication networks is widely used. According to the vehicle driving assistance device of the present invention, such widely used technology can be used for the identification of moving objects.

[0014] Furthermore, in the vehicle driving assistance device of the present invention, the second time is, for example, longer than the time required from the time the wireless communication information is sent from the wireless communication terminal held by the mobile body until the wireless communication information is provided to the vehicle driving assistance device.

[0015] According to the vehicle driving assistance device of the present invention, the time up to the point where wireless communication information related to the moving body is provided to the vehicle driving assistance device is reflected in the notification of the presence of the moving body. Therefore, the presence of the moving body can be appropriately notified to the operator of the vehicle.

[0016] Furthermore, in the vehicle driving assistance device of the present invention, the first speed is, for example, a speed near the maximum value of the movement speed typically achieved by a bicycle.

[0017] According to the vehicle driving assistance device of the present invention, the presence of a bicycle can be appropriately notified to the operator of the vehicle.

[0018] Furthermore, in the vehicle driving assistance device of the present invention, the predetermined movement state condition may include a second movement state condition, which is the condition that the movement speed of the moving body is a second speed or lower than the first speed. In this case, the control device may be configured to notify the presence of the moving body when it detects the presence of a moving body that satisfies either the first or the second movement state condition.

[0019] According to the vehicle driving assistance device of the present invention, the moving body notified to the operator of the vehicle based on wireless communication information is a moving body whose moving speed is below a first speed and whose intersection arrival delay time is within the range of below a first time and above a second time, and a moving body whose moving speed is below a second speed lower than a first speed. Therefore, the presence of the moving body can be appropriately notified to the operator of the vehicle.

[0020] Furthermore, in the vehicle driving assistance device of the present invention, the first speed is, for example, a speed near the maximum value of the movement speed typically achieved by a bicycle, and the second speed is, for example, a speed near the maximum value of the movement speed typically achieved by a pedestrian.

[0021] According to the vehicle driving assistance device of the present invention, the presence of pedestrians and bicycles can be appropriately notified to the operator of the vehicle.

[0022] In addition, in the vehicle driving assistance device of the present invention, the on-board equipment is, for example, an image sensor or an electromagnetic wave sensor.

[0023] According to the vehicle driving assistance device of the present invention, when a moving object is directly detected by an image sensor or an electromagnetic wave sensor, the notification method is changed. Therefore, the presence of a moving object can be appropriately notified to the operator of the vehicle.

[0024] Furthermore, in the vehicle driving assistance device of the present invention, the wireless communication information is, for example, the position information of the moving body, or the moving direction information and moving speed information of the moving body.

[0025] According to the vehicle driving assistance device of the present invention, a moving body can be identified based on the position information of the moving body or the moving direction information and moving speed information of the moving body.

[0026] Furthermore, in the vehicle driving assistance device of the present invention, the control device may be configured such that even if a moving body moving toward the intersection on a road intersecting the vehicle's driving road at the intersection is identified based on the wireless communication information, the notification will not be made if the moving body does not meet the first movement state condition.

[0027] According to the vehicle driving assistance device of the present invention, the presence of a moving object is notified to the vehicle operator only when a moving object is identified based on wireless communication information, and the moving speed is below a first speed and the arrival delay time at an intersection is within the range of a first time and a second time. Therefore, the presence of a moving object can be appropriately notified to the vehicle operator.

[0028] Furthermore, in the vehicle driving assistance device of the present invention, the control device may be configured such that even if a moving body moving toward the intersection on a road intersecting the vehicle's driving road at the intersection is identified based on the wireless communication information, the notification will not be made if the moving body does not meet either the first movement state condition or the second movement state condition.

[0029] According to the vehicle driving assistance device of the present invention, the presence of a moving object is notified to the vehicle operator only when a moving object is identified based on wireless communication information, and the moving speed is below a first speed and the intersection arrival delay time is within a range of below a first time and above a second time, or the moving speed is below a second speed lower than the first speed. Therefore, the presence of a moving object can be appropriately notified to the vehicle operator.

[0030] The constituent elements of this invention are not limited to the embodiments described below with reference to the accompanying drawings. Other objects, features, and incidental advantages of the invention should be readily understood from the description of the embodiments. Attached Figure Description

[0031] Figure 1 This is a diagram illustrating a vehicle driving assistance device according to an embodiment of the present invention.

[0032] Figure 2 This is a diagram illustrating a communication network.

[0033] Figure 3 This is a flowchart illustrating the routines executed by a vehicle driving assistance device according to an embodiment of the present invention.

[0034] Figure 4 This is a diagram showing an intersection.

[0035] Figure 5 It is a diagram that explains intersections and other details.

[0036] Figure 6 It is a diagram showing an image of a moving object displayed on a display device.

[0037] Figure 7 This is a flowchart illustrating the routines executed by a vehicle driving assistance device according to an embodiment of the present invention.

[0038] Figure 8 This is a flowchart illustrating the routines executed by a vehicle driving assistance device according to an embodiment of the present invention.

[0039] Figure 9 This is a flowchart illustrating the routines executed by a vehicle driving assistance device according to an embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures

[0041] 10: Vehicle driving assistance device; 20: Notification device; 21: Display device; 22: Audio device; 31: Wireless communication device; 40: Surrounding information detection device; 90: ECU; 100: This vehicle; 200: Moving body; 200T: Object moving body; 200T1: First object moving body; 200T2: Second object moving body; 201: Wireless communication terminal; 400T: Object intersection. Detailed Implementation

[0042] Hereinafter, a vehicle driving assistance device according to embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1The diagram shows a vehicle driving assistance device 10 according to an embodiment of the present invention. The vehicle driving assistance device 10 is mounted on the vehicle 100. Hereinafter, the vehicle driving assistance device 10 will be described using the case where the operator of the vehicle 100 is the driver of the vehicle 100 (i.e., the person who rides in the vehicle 100 and drives the vehicle 100) as an example.

[0043] However, the operator of the vehicle 100 can also be a remote operator of the vehicle 100 (i.e., a person who drives the vehicle 100 remotely without being in the vehicle 100). When the operator of the vehicle 100 is a remote operator, the vehicle driving assistance device 10 is mounted on both the vehicle 100 and a remote operating device installed outside the vehicle 100 for the purpose of remotely driving the vehicle 100. The functions of the vehicle driving assistance device 10 described below are performed separately by the vehicle driving assistance device 10 mounted on the vehicle 100 and the vehicle driving assistance device 10 mounted on the remote operating device.

[0044] like Figure 1 As shown, the vehicle driving assistance device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 has a microcomputer as its main component. The microcomputer includes a CPU, a computer-readable storage medium, and an interface. The storage medium is ROM, RAM, or non-volatile memory, etc. The CPU performs various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving assistance device 10 stores programs that implement the various controls performed by the vehicle driving assistance device 10 in the storage medium.

[0045] Furthermore, in this example, the vehicle driving assistance device 10 has only one ECU 90, but it can also be configured to have multiple ECUs, with each ECU separately performing the functions of the vehicle driving assistance device 10 as described below.

[0046] Alternatively, the vehicle driving assistance device 10 may be configured to update the program stored in the storage medium via wireless communication with an external device (e.g., Internet communication).

[0047] Furthermore, the vehicle driving assistance device 10 is applicable not only to vehicles driven manually by an operator, but also to vehicles driven autonomously.

[0048] The vehicle 100 is equipped with a notification device 20. The notification device 20 includes a display device 21 and an audio device 22.

[0049] Display device 21 is a device for displaying various images. Display device 21 includes, for example, a monitor. Display device 21 is electrically connected to ECU 90. Vehicle driving assistance device 10 displays various images through display device 21.

[0050] The audio device 22 is a device that outputs various sounds and / or voices. The audio device 22 includes, for example, a speaker. The audio device 22 is electrically connected to the ECU 90. The vehicle driving assistance device 10 outputs various sounds and / or voices through the audio device 22.

[0051] In addition, the vehicle 100 is equipped with a wireless communication unit 31, a GPS signal receiver 32, a map information database 33, a surrounding information detection device 40, and a vehicle speed detection device 50 as on-board equipment.

[0052] Wireless communication unit 31 is a device that receives wireless signals provided from outside the vehicle 100. Wireless communication unit 31 is electrically connected to ECU 90. Vehicle driving assistance device 10 receives wireless signals via wireless communication unit 31. Vehicle driving assistance device 10 obtains information related to the moving body 200 based on the wireless signals as wireless communication information IW.

[0053] In this example, the mobile body 200 carries a wireless communication terminal 201. The wireless communication terminal 201 is a terminal with wireless communication capabilities. For example, the wireless communication terminal 201 is a so-called mobile phone. The wireless communication terminal 201 transmits wireless signals indicating the location of the mobile body 200 (strictly speaking, the location of the wireless communication terminal 201). Alternatively, the wireless communication terminal 201 transmits wireless signals indicating the direction and speed of movement of the mobile body 200 (strictly speaking, the direction and speed of movement of the wireless communication terminal 201).

[0054] like Figure 2 As shown, the wireless signal transmitted from the wireless communication terminal 201 is provided to the vehicle driving assistance device 10 via the communication network 300. The vehicle driving assistance device 10 obtains the position information of the moving body 200 or the moving direction information and moving speed information of the moving body 200 based on the provided wireless signal as wireless communication information IW.

[0055] In this example, wireless communication information IW is information provided from the wireless communication terminal 201 held by the mobile body 200 to the vehicle driving assistance device 10 via the communication network 300. Alternatively, wireless communication information IW may be the position information of the mobile body 200, or it may be the direction of movement and speed information of the mobile body 200.

[0056] In addition, the position information of the moving body 200 indicates the position of the moving body 200. The movement direction information of the moving body 200 indicates the direction in which the moving body 200 moves. The movement speed information of the moving body 200 indicates the movement speed of the moving body 200.

[0057] Furthermore, in this example, the exchange of wireless communication information between the mobile body 200 (strictly speaking, the wireless communication terminal 201 held by the mobile body 200) and the vehicle driving assistance device 10 is an exchange utilizing so-called V2N technology. Therefore, in this example, the communication network 300 is an Internet communication network that is part of the communication network infrastructure utilized in V2N technology. However, the present invention can also be applied to situations utilizing infrastructure (equipment) including communication networks used in so-called V2X technology, which includes V2N technology.

[0058] GPS signal receiver 32 is a device that receives so-called GPS signals. GPS signal receiver 32 is electrically connected to ECU 90. Vehicle driving assistance device 10 receives GPS signals via GPS signal receiver 32. Vehicle driving assistance device 10 obtains the current position of its vehicle 100 as the current position Pnow based on the GPS signals.

[0059] Map information database 33 is a device that stores map information. Map information database 33 is electrically connected to ECU 90. Based on the current position Pnow of the vehicle 100, vehicle driving assistance device 10 obtains map information of the surrounding area of ​​the vehicle 100 from map information database 33 as map information IM.

[0060] The surrounding information detection device 40 is a device for detecting information related to the surroundings of the vehicle 100. The surrounding information detection device 40 includes multiple image sensors 41 and multiple electromagnetic wave sensors 42.

[0061] Image sensor 41 is a device that captures images of the surroundings of the vehicle 100. Image sensor 41 is, for example, a camera sensor. Image sensor 41 is electrically connected to ECU 90. The vehicle driving assistance device 10 obtains image data or image information of the surroundings of the vehicle 100 through image sensor 41 as surroundings information IS.

[0062] Electromagnetic wave sensor 42 is a device for acquiring information related to targets in the vicinity of the vehicle 100. Electromagnetic wave sensor 42 is, for example, a millimeter-wave radar. Electromagnetic wave sensor 42 is electrically connected to ECU 90. The vehicle driving assistance device 10 acquires target data or information related to targets in the vicinity of the vehicle 100 via electromagnetic wave sensor 42 as surrounding information IS.

[0063] The vehicle speed detection device 50 is a device for detecting the driving speed of the vehicle 100. The vehicle speed detection device 50 may include, for example, wheel speed sensors installed on each wheel of the vehicle 100. The vehicle speed detection device 50 is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains the driving speed of the vehicle 100 as the vehicle speed Ve through the vehicle speed detection device 50.

[0064] <The operation of vehicle driver assistance devices>

[0065] Next, the operation of the vehicle driving assistance device 10 will be explained. The vehicle driving assistance device 10 executes at predetermined time intervals. Figure 3 The routine shown enables the wireless identification notification, which will be described later, to be performed when predetermined conditions are met.

[0066] When the predetermined time is reached, the vehicle driving assistance device 10 starts from... Figure 3 The routine shown begins processing at step S300 and proceeds to step S305, where it is determined whether the intersection condition CI is met.

[0067] The intersection condition CI is the existence of an object at intersection 400T. For example... Figure 4 As shown, the target intersection 400T is the intersection ahead of the vehicle 100 in its direction of travel. In particular, the target intersection 400T is the intersection ahead of the vehicle 100 in its direction of travel, located within a predetermined distance (intersection determination distance Dth) from the vehicle 100.

[0068] The vehicle driving assistance device 10 determines whether the intersection condition CI is met based on map information IM. Alternatively, the vehicle driving assistance device 10 determines whether the intersection condition CI is met based on wireless communication information IW. Alternatively, the vehicle driving assistance device 10 determines whether the intersection condition CI is met based on surrounding information IS.

[0069] If the vehicle driving assistance device 10 determines "yes" in step S305, the process proceeds to step S310 to determine whether the wireless identification condition CW is met.

[0070] The wireless identification condition CW is the presence of a moving object 200T.

[0071] The moving object 200T is a moving object 200 that moves toward the object intersection 400T on the intersection road 401 and satisfies the predetermined moving state condition CM.

[0072] like Figure 4 As shown, intersection road 401 is the road where the object intersection 400T intersects with the driving road 402 of this vehicle 100.

[0073] In addition, the predetermined movement state condition CM is the condition that "the movement speed Vm of the moving body 200 is less than or equal to the first speed V1, and the intersection arrival delay time TTC is within the range of "less than or equal to the first time TTC1" and "more than or equal to the second time TTC2 which is shorter than the first time TTC1" (first movement state condition).

[0074] Furthermore, the intersection arrival delay time TTC is the margin of time until the mobile vehicle 200 reaches the target intersection 400T. More specifically, the intersection arrival delay time TTC is the time required until the mobile vehicle 200 reaches the intersection point PC. Therefore, the intersection arrival delay time TTC is the time obtained by dividing the distance Dm from the mobile vehicle 200 to the target intersection 400T (intersection point PC) by the moving speed Vm of the mobile vehicle 200.

[0075] In addition, such as Figure 5 As shown, the distance Dm from the moving body 200 to the intersection 400T is the distance from the moving body 200 to the intersection point PC. The intersection point PC is the location where the predetermined route of the vehicle 100 (the route to be traveled) intersects with the predetermined route of the moving body 200 (the route to be moved).

[0076] Furthermore, the first speed V1 is the speed near the maximum speed that a bicycle typically achieves. In other words, the first speed V1 is the speed at which the moving body 200 is either a bicycle or a pedestrian whose moving speed Vm is slower than a bicycle, or a moving body 200 whose moving speed Vm is faster than a bicycle. Here, the moving body 200 whose moving speed Vm is faster than a bicycle refers to two-wheeled motor vehicles and cars.

[0077] Furthermore, the first time TTC1 is set to the time at which the notification of the presence of the moving body 200 can be delivered at an appropriate timing. In particular, in this example, the first time TTC1 is the minimum time required for the driver to avoid a collision between the moving body 200T and the vehicle 100 after the driver is notified of the presence of the moving body 200T whose speed Vm is below the first speed V1 and above the second speed V2. In addition, in this example, the second time TTC2 is the time (delay time) required from the time the wireless communication terminal 201 of the moving body 200 sends a wireless signal (i.e., wireless communication information IW) until the wireless signal (i.e., wireless communication information IW) is provided to the wireless communication unit 31 of the vehicle 100.

[0078] If the vehicle driving assistance device 10 determines "yes" in step S310, it proceeds to step S315 to send a wireless identification notification. Then, the vehicle driving assistance device 10 proceeds to step S395, temporarily terminating the current routine.

[0079] The wireless identification notification is used to notify the driver of the vehicle 100 of the presence of the moving object 200T. In this example, the wireless identification notification is performed by the notification device 20 in a predetermined manner.

[0080] For example, such as Figure 6 As shown, wireless identification notification is made by displaying the object moving body image IMG_T in a predetermined form by the display device 21.

[0081] Alternatively, or in lieu of this, wireless identification notification may be made by outputting a predetermined pattern of sound from the audio device 22.

[0082] Alternatively, or in lieu of this, wireless identification notification may be made by outputting a predetermined message via voice from the audio device 22.

[0083] Furthermore, the object moving body image IMG_T is an image representing the object moving body 200T. In particular, when the vehicle driving assistance device 10 identifies the object moving body 200T as a pedestrian, the object moving body image IMG_T can be set to represent an image of a pedestrian. Additionally, when the vehicle driving assistance device 10 identifies the object moving body 200T as a bicycle, the object moving body image IMG_T can be set to represent an image of a bicycle. In this example, the type of object moving body 200T is determined using a known and readily available method.

[0084] Alternatively, in this example, the radio identification notification continues until the moving object 200T enters the intersection 400T. Or, the radio identification notification continues throughout the predetermined time Tth.

[0085] In addition, if the vehicle driving assistance device 10 determines "no" in step S305 or step S310, the process will proceed directly to step S395, temporarily ending the processing of this routine.

[0086] In this way, the vehicle driving assistance device 10 is configured such that even if a moving body 200 is identified on a road (intersection road 401) that intersects the driving road 402 of the vehicle 100 at the target intersection 400T based on wireless communication information IW, the moving body 200 does not meet the predetermined movement state condition CM (first movement state condition), and no wireless identification notification is made.

[0087] The above describes the operation of the vehicle driving assistance device 10.

[0088] The error in the movement information of the mobile body 200 identified based on wireless communication information IW decreases as the moving speed Vm of the mobile body 200 increases. However, a certain amount of time elapses between the transmission of wireless communication information IW by the wireless communication terminal 201 and the recognition of the presence of the mobile body 200. That is, a certain delay occurs in the recognition of the presence of the mobile body 200. Furthermore, the faster the moving speed Vm of the mobile body 200, the longer the distance traveled by the mobile body 200 during this delay period. Therefore, even if the error in the movement information of the mobile body 200 is small, if the moving speed Vm of the mobile body 200 is high, the error has a significant impact on the recognition accuracy of the mobile body 200. Therefore, even if the error in the movement information of the mobile body 200 is small, if the moving speed Vm of the mobile body 200 is high when the mobile body 200 is identified based on wireless communication information IW, it may not be possible to properly notify the driver of the vehicle 100 of the presence of the mobile body 200.

[0089] According to the vehicle driving assistance device 10, the mobile body 200 notified to the driver of the vehicle 100 based on wireless communication information IW is a mobile body whose moving speed Vm is less than or equal to a first speed V1, and whose delay time (intersection arrival delay time TTC) until reaching the intersection (object intersection 400T) is less than or equal to a first time TTC1 and more than a second time TTC2 that is shorter than the first time TTC1. In this way, since the intersection arrival delay time TTC of the notified mobile body 200 is more than or equal to the second time TTC2, compared to the case where there is no intersection arrival delay time TTC, it is possible to suppress the situation where the vehicle driving assistance device 10 notifies the driver of the mobile body 200 based on wireless communication information IW that the mobile body 200 has passed through the intersection (object intersection 400T) within the delay time period at the time when the mobile body 200 is identified by the vehicle driving assistance device 10 based on wireless communication information IW. In addition, by setting the intersection arrival delay time TTC of the notified mobile vehicle 200 to less than or equal to the first time TTC1, it is possible to suppress the situation where the driver of the vehicle 100 is annoyed by being notified at the wrong time too early.

[0090] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention.

[0091] For example, the vehicle driving assistance device 10 can be configured to execute at predetermined time intervals. Figure 7 The routine shown. In this case, when the predetermined timing is reached, the vehicle driving assistance device 10 starts from... Figure 7 The routine shown begins processing at step S700 and proceeds to step S705, where it is determined whether the intersection condition CI is met.

[0092] If the vehicle driving assistance device 10 determines "yes" in step S705, the process proceeds to step S710 to determine whether the wireless identification condition CW is met.

[0093] If the vehicle driving assistance device 10 determines "yes" in step S710, the process proceeds to step S715 to issue a wireless identification notification. The wireless identification notification performed in step S715 is the same as the wireless identification notification performed in step S315.

[0094] Next, the vehicle driving assistance device 10 advances the processing to step S720 to determine whether the object detection condition CT is met.

[0095] The object detection condition CT is based on the condition that the moving object 200T is detected by the surrounding information IS.

[0096] If the vehicle driving assistance device 10 determines "yes" in step S720, it proceeds to step S725, terminates the wireless identification notification, and performs an object detection notification. Then, the vehicle driving assistance device 10 proceeds to step S795, temporarily terminating the processing of this routine.

[0097] An object detection notification is used to notify the driver of vehicle 100 of the presence of a moving object 200T. In this example, the object detection notification is made by notification device 20. However, the object detection notification is made in a different manner than the wireless identification notification.

[0098] For example, object detection notification is made by displaying an object moving body image IMG_T in a form different from the predetermined form in the radio identification notification by the display device 21. In this case, the vehicle driving assistance device 10 may, for example, make a notification in the object detection notification such as "displaying the object moving body image IMG_T in a size and color different from the object moving body image IMG_T displayed in the radio identification notification".

[0099] Alternatively, or in lieu of this, the object detection notification may be delivered by outputting a sound from the audio device 22 in a pattern different from the predetermined pattern in the wireless identification notification. In this case, the vehicle driving assistance device 10 may, for example, issue a notification such as, "If the audio device 22 outputs a short sound once in the wireless identification notification, it will output two short sounds consecutively in the object detection notification."

[0100] Alternatively, or in lieu of this, the object detection notification may be delivered by outputting a voice message from the audio device 22 that differs from the predetermined content in the wireless identification notification.

[0101] In this way, the vehicle driving assistance device 10 is configured to change the notification method when the on-board equipment of the vehicle 100 (in this example, the surrounding information detection device 40) directly detects the moving object 200T during the wireless identification notification period.

[0102] In addition, if the vehicle driving assistance device 10 determines "no" in step S705, step S710 or step S720, the process will proceed directly to step S795, temporarily ending the processing of this routine.

[0103] When a moving object 200T, identified based on wireless communication information IW, is detected by a vehicle-mounted device such as a surrounding information detection device 40, it is preferable to notify the moving object 200T based on the information detected by the vehicle-mounted device.

[0104] According to the vehicle driving assistance device 10 in this example, if a moving object 200T is detected based on the surrounding information IS during the wireless identification notification period, the presence of the moving object 200T is notified to the driver of the vehicle 100 in a manner different from the wireless identification notification method. Therefore, the presence of the moving object 200T can be appropriately notified to the driver of the vehicle 100.

[0105] Alternatively, the vehicle driving assistance device 10 can also be configured to execute at predetermined time intervals. Figure 8 The routine shown. In this case, when the predetermined timing is reached, the vehicle driving assistance device 10 starts from... Figure 8 The routine shown begins processing at step S800 and proceeds to step S805, where it is determined whether the intersection condition CI is met.

[0106] If the vehicle driving assistance device 10 determines "yes" in step S805, the process proceeds to step S810 to determine whether the first wireless identification condition CW1 is met.

[0107] The first radio identification condition CW1 is the presence of a first moving object 200T1. The first moving object 200T1 is a moving object 200 moving towards the target intersection 400T on the intersection road 401 and satisfying a predetermined first movement state condition CM1. The predetermined first movement state condition CM1 is the condition that "the moving speed Vm of the moving object 200 is a speed less than or equal to a first speed V1, and the intersection arrival delay time TTC is within the range of a second time TTC2 that is shorter than or equal to a first time TTC1 and less than or equal to a first time TTC1".

[0108] As mentioned above, the first speed V1 is the speed near the maximum speed that a bicycle typically achieves. In other words, the first speed V1 is the speed at which the moving body 200 is either a bicycle or a pedestrian whose moving speed Vm is slower than a bicycle, or a moving body 200 whose moving speed Vm is faster than a bicycle. Here, the moving body 200 other than a bicycle refers to two-wheeled motor vehicles and cars.

[0109] If the vehicle driving assistance device 10 determines "yes" in step S810, it proceeds to step S815 to send the first wireless identification notification. Then, the vehicle driving assistance device 10 proceeds to step S895 to temporarily terminate the processing of this routine.

[0110] The first radio identification notification is used to notify the driver of the vehicle 100 of the presence of the first object mobile body 200T1. In this example, the first radio identification notification is performed by the notification device 20 in a predetermined manner.

[0111] For example, the first wireless identification notification is made by displaying the first object moving body image IMG_T1 in a predetermined form by the display device 21.

[0112] Alternatively, or in lieu of this, the first wireless identification notification may be made by outputting a predetermined pattern of sound from the audio device 22.

[0113] Alternatively, or in lieu of this, the first wireless identification notification may be made by outputting a predetermined message via voice from the audio device 22.

[0114] Furthermore, the first moving object image IMG_T1 is an image representing the first moving object 200T1. In particular, the first moving object image IMG_T1 is an image representing a bicycle.

[0115] Alternatively, in this example, the first radio identification notification continues until the first moving object 200T1 enters the object intersection 400T. Or, the first radio identification notification continues throughout a predetermined time period Tth.

[0116] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S810, the process proceeds to step S830 to determine whether the second wireless identification condition CW2 is met.

[0117] The second wireless identification condition CW2 is the presence of a second moving object 200T2. The second moving object 200T2 is a moving object 200 moving towards the intersection 400T on the intersection 401 and satisfying a predetermined second movement state condition CM2. The predetermined second movement state condition CM2 is that the moving speed Vm of the moving object 200 is a speed lower than or equal to a second speed V2, which is lower than a first speed V1.

[0118] The second speed V2 is the speed near the maximum speed that a pedestrian typically achieves. In other words, the second speed V2 is the speed at which it is possible to distinguish whether the moving body 200 is a pedestrian or a moving body 200 other than a pedestrian. Here, the moving body 200 other than a pedestrian includes bicycles, two-wheeled motor vehicles, and cars.

[0119] If the vehicle driving assistance device 10 determines "yes" in step S830, it proceeds to step S835 to send the second wireless identification notification. Then, the vehicle driving assistance device 10 proceeds to step S895, temporarily terminating the current routine.

[0120] The second radio identification notification is used to notify the driver of the vehicle 100 of the presence of the second object mobile body 200T2. In this example, the second radio identification notification is performed by the notification device 20 in a predetermined manner.

[0121] For example, the second wireless identification notification is made by displaying the second object moving body image IMG_T2 in a predetermined form by the display device 21.

[0122] Alternatively, or in lieu of this, the second wireless identification notification may be made by outputting a predetermined pattern of sound from the audio device 22.

[0123] Alternatively, or in lieu of this, the second wireless identification notification may be made by outputting a predetermined message via voice from the audio device 22.

[0124] Furthermore, the second moving object image IMG_T2 is an image representing the second moving object 200T2. In particular, the second moving object image IMG_T2 is an image representing a pedestrian.

[0125] Alternatively, in this example, the second radio identification notification continues until the second moving object 200T2 enters the object intersection 400T. Or, the second radio identification notification continues throughout the predetermined time Tth.

[0126] In addition, if the vehicle driving assistance device 10 determines "no" in step S805 or step S830, the process will proceed directly to step S895, temporarily ending the processing of this routine.

[0127] The error in the movement information of the mobile body 200 identified based on wireless communication information (IW) becomes larger as the moving speed Vm of the mobile body 200 slows down. Therefore, the error in the intersection arrival delay time (TTC) calculated based on the movement information also increases, resulting in low accuracy even when using the TTC to specify notification timing for mobile bodies 200 with slow moving speeds Vm.

[0128] On the other hand, the slower the moving speed Vm of the mobile body 200, the shorter the distance it moves during the delay time from when the wireless communication terminal 201 sends the wireless communication information IW to when the presence of the mobile body 200 is identified. Therefore, even if the error of the moving information of the mobile body 200 is large, if the moving speed Vm of the mobile body 200 is slow, the delay time will have a smaller impact on the recognition accuracy.

[0129] Therefore, when a moving object 200, moving at a slow speed like a pedestrian (Vm), is moving toward an intersection (object intersection 400T), the probability that the moving object 200 has already passed through the intersection (object intersection 400T) within the delay period is low when the vehicle driving assistance device 10 identifies the moving object 200 based on wireless communication information IW. Even if the vehicle driving assistance device 10 notifies the driver at the time it identifies the moving object 200, it is unlikely to cause the driver any sense of incongruity.

[0130] According to the vehicle driving assistance device 10 in this example, it is possible to appropriately notify the driver of the vehicle 100 of the presence of a moving body 200 (e.g., a bicycle) whose moving speed Vm is below the first speed V1 and whose delay time (intersection arrival delay time TTC) until reaching the intersection (object intersection 400T) is below the first time TTC1 and above the second time TTC2 which is shorter than the first time TTC1, and the presence of a moving body 200 (e.g., a pedestrian) whose moving speed Vm is below the second speed V2 which is lower than the first speed V1.

[0131] Alternatively, the vehicle driving assistance device 10 can also be configured to execute at predetermined time intervals. Figure 9 The routine shown. In this case, when the predetermined timing is reached, the vehicle driving assistance device 10 starts from... Figure 9 The routine shown begins processing at step S900 and proceeds to step S905, where it is determined whether the intersection condition CI is met.

[0132] If the vehicle driving assistance device 10 determines "yes" in step S905, the process proceeds to step S910 to determine whether the first wireless identification condition CW1 is met.

[0133] If the vehicle driving assistance device 10 determines "yes" in step S910, the process proceeds to step S915 to perform the first radio identification notification. The first radio identification notification performed in step S915 is the same as the first radio identification notification performed in step S815.

[0134] Next, the vehicle driving assistance device 10 advances the processing to step S920, determining whether the first object detection condition CT1 is met.

[0135] The first object detection condition CT1 is based on the condition that the first moving object 200T1 is detected by the surrounding information IS.

[0136] If the vehicle driving assistance device 10 determines "yes" in step S920, it proceeds to step S925 to issue a first object detection notification. Then, the vehicle driving assistance device 10 proceeds to step S995, temporarily terminating the current routine.

[0137] The first object detection notification is used to notify the driver of the vehicle 100 of the presence of the first moving object 200T1. In this example, the first object detection notification is made by the notification device 20. However, the first object detection notification is made in a different manner than the first radio identification notification.

[0138] For example, the first object detection notification is made by displaying the first object moving body image IMG_T1 by the display device 21 in a form different from the predetermined form in the first wireless identification notification.

[0139] Alternatively, or in lieu of this, the first object detection notification may be delivered by outputting a sound from the audio device 22 in a mode different from the predetermined mode in the first wireless identification notification.

[0140] Alternatively, or in lieu of this, the first object detection notification may be delivered by outputting a voice message from the audio device 22 that differs from the predetermined content in the first wireless identification notification.

[0141] Therefore, the vehicle driving assistance device 10 is configured to change the notification method when the first moving object 200T1 is directly detected by the vehicle-mounted equipment (i.e., the surrounding information detection device 40) of the vehicle 100 during the first wireless identification notification period.

[0142] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S910 or step S920, the process proceeds to step S930 to determine whether the second wireless identification condition CW2 is met.

[0143] If the vehicle driving assistance device 10 determines "yes" in step S930, the process proceeds to step S935 to perform a second radio identification notification. The second radio identification notification performed in step S935 is the same as the second radio identification notification performed in step S835.

[0144] Next, the vehicle driving assistance device 10 advances the processing to step S940, determining whether the second object detection condition CT2 is met.

[0145] The second object detection condition CT2 is based on the condition that the second moving object 200T2 is detected by the surrounding information IS.

[0146] If the vehicle driving assistance device 10 determines "yes" in step S940, it proceeds to step S945 to issue a second object detection notification. Then, the vehicle driving assistance device 10 proceeds to step S995, temporarily terminating the current routine.

[0147] The second object detection notification is used to notify the driver of the vehicle 100 of the presence of the second moving object 200T2. In this example, the second object detection notification is made by the notification device 20. However, the second object detection notification is made in a different manner than the second radio identification notification.

[0148] For example, the second object detection notification is made by displaying the second object moving body image IMG_T2 by the display device 21 in a form different from the predetermined form in the second wireless identification notification.

[0149] Alternatively, or in lieu of this, the second object detection notification may be delivered by outputting a sound from the audio device 22 in a mode different from the predetermined mode in the second wireless identification notification.

[0150] Alternatively, or in lieu of this, the second object detection notification may be delivered by outputting a voice message from the audio device 22 that differs from the predetermined content in the second wireless identification notification.

[0151] Therefore, the vehicle driving assistance device 10 is configured to change the notification method when the second moving object 200T2 is directly detected by the vehicle-mounted equipment (i.e., the surrounding information detection device 40) of the vehicle 100 during the second wireless identification notification period.

[0152] In addition, if the vehicle driving assistance device 10 determines "no" in step S905, step S930 or step S940, the process will proceed directly to step S995, temporarily ending the processing of this routine.

[0153] According to the vehicle driving assistance device 10 in this example, it is possible to appropriately notify the driver of the vehicle 100 of the presence of a moving body 200 (e.g., a bicycle) whose moving speed Vm is below the first speed V1 and whose delay time (intersection arrival delay time TTC) until reaching the intersection (object intersection 400T) is below the first time TTC1 and above the second time TTC2 which is shorter than the first time TTC1, and the presence of a moving body 200 (e.g., a pedestrian) whose moving speed Vm is below the second speed V2 which is lower than the first speed V1.

[0154] Furthermore, according to the vehicle driving assistance device 10 in this example, if a moving object 200T is detected based on the surrounding information IS during the wireless identification notification period, the presence of the moving object 200T is notified to the driver of the vehicle 100 in a manner different from the wireless identification notification method. Therefore, the presence of the moving object 200 can be appropriately notified to the driver of the vehicle 100.

Claims

1. A vehicle driving assistance device, comprising a control device, When the control device identifies, based on wireless communication information, the presence of a moving object that is moving towards the intersection on a road intersecting the vehicle's travel path at an intersection ahead of the vehicle's direction of travel and meets predetermined movement state conditions, it notifies the operator of the vehicle of the presence of the moving object. The predetermined movement state conditions include a first movement state condition, which is a condition where the moving speed of the moving body is below a first speed, and the delay time until the moving body reaches the intersection (i.e., the intersection arrival delay time is within a range of a second time that is shorter than the first time but less than the first time) is also less than the first time. The control device is configured to notify the existence of a moving body when it is identified that the first moving state condition is met.

2. The vehicle driving assistance device according to claim 1, The control device is configured to change the notification method if the moving body is directly detected by the vehicle's onboard equipment during the notification process.

3. The vehicle driving assistance device according to claim 1, The wireless communication information is information provided from the wireless communication terminal held by the mobile body to the vehicle driving assistance device via a communication network.

4. The vehicle driving assistance device according to claim 3, The second time is longer than the time required from the time the wireless communication information is sent from the wireless communication terminal held by the mobile body until the wireless communication information is provided to the vehicle driving assistance device.

5. The vehicle driving assistance device according to claim 1, The first speed is the speed near the maximum speed that a bicycle can typically achieve.

6. The vehicle driving assistance device according to claim 1, The predetermined movement state condition includes a second movement state condition, which is that the movement speed of the moving body is a second speed or lower than the first speed. The control device is configured to notify the presence of a moving body when it is identified that the presence of a moving body satisfies either the first or the second movement state condition.

7. The vehicle driving assistance device according to claim 6, The first speed is the speed near the maximum speed that a bicycle can typically achieve. The second speed is the speed near the maximum speed that pedestrians typically achieve.

8. The vehicle driving assistance device according to claim 2, The vehicle-mounted device is an image sensor or an electromagnetic wave sensor.

9. The vehicle driving assistance device according to claim 1, The wireless communication information is the location information of the mobile body or the movement direction information and movement speed information of the mobile body.

10. The vehicle driving assistance device according to claim 1, The control device is configured such that even if a moving object moving toward the intersection on a road intersecting the vehicle's driving road is identified based on the wireless communication information, the notification will not be made if the moving object does not meet the first movement state condition.

11. The vehicle driving assistance device according to claim 6, The control device is configured such that even if a moving body is identified based on the wireless communication information as moving toward the intersection on a road intersecting the vehicle's driving road at the intersection, the notification will not be made if the moving body does not meet either the first movement state condition or the second movement state condition.

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