Driving assistance method and driving assistance device

Abstract

The processor (10) of the driving assistance method detects traffic restriction signs (OB1, OB2, OB3) on the driving lane (L1) and restricts the driving assistance content to be performed within the traffic restriction zone (TR) identified based on the information shown by the traffic restriction sign (OB1). If the vehicle (V1) changes lanes to a branch lane (BL) branching from the driving lane within the restriction, the restriction is lifted and the driving assistance of the vehicle (V1) is performed.

Description

Technical Field

[0001] This invention relates to a driving assistance method and a driving assistance device. Background Technology

[0002] It is known that a certain level of automated driving is set when a construction section on one side of a first driving road is identified as being closed to traffic, while alternating traffic on the other side of a second driving road is possible.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-156195 Summary of the Invention

[0006] The technical problem that the invention aims to solve

[0007] It is difficult to determine the end of the restricted area when the vehicle changes lanes to a branch lane, and sometimes it is impossible to provide appropriate driving assistance.

[0008] The problem this invention aims to solve is to provide appropriate driving assistance when the vehicle changes lanes to a branch lane.

[0009] Technical solutions for solving technical problems

[0010] The present invention addresses the aforementioned problem by limiting the driving assistance provided within a restricted area identified by traffic restriction signs on the driving lane, and by removing the restriction when the vehicle changes lanes to a branch lane branching from the driving lane.

[0011] Invention Effects

[0012] According to the present invention, when the vehicle changes lanes to a branch lane, appropriate driving assistance can be provided. Attached Figure Description

[0013] Figure 1 It is a block diagram representing the hardware structure of a driver assistance system.

[0014] Figure 2 This is the first flowchart representing the processing sequence of driver assistance systems.

[0015] Figure 3 This is the second flowchart representing the processing sequence of driver assistance systems.

[0016] Figure 4 This is an example diagram illustrating different levels of driver assistance.

[0017] Figure 5 This is a diagram illustrating the processing on the branch lanes. Detailed Implementation

[0018] Figure 1 This describes the structure of a driving assistance system 100 for a vehicle equipped with a driving assistance device 1 according to this embodiment. The driving assistance system 100 includes one or more sensors 2, a vehicle information acquisition device 3, a traffic restriction information acquisition device 4, and a traffic restriction section determination device 5.

[0019] Multiple sensors 2 are installed in the vehicle, forming a cooperative sensor group. Sensor 2 detects the presence of objects around the vehicle, the distance to the objects, the relative velocity of the objects, and the relative acceleration of the objects. Sensor 2 detects one or more of the following: the shape of the object, whether the object is stationary or moving, the size of the object, the direction of the object, the number of objects, and the location of the objects.

[0020] Objects detected include traffic restriction signs. Traffic restriction signs indicate the location of restricted traffic zones. Restricted traffic zones include accident scene zones, debris avoidance zones, scattered debris avoidance zones, flooded zones, road depression zones, event zones, and other zones where normal passage is restricted. Traffic restriction signs include both stationary and moving objects. Traffic restriction signs include road signs, traffic cones, traffic bins, billboards, and construction vehicles located within restricted traffic zones. Traffic restriction signs also include guides, guide robots, and their flags located near restricted traffic zones. The presence of traffic restriction signs indicates the location of restricted traffic zones. When traffic restriction signs are objects, their shape and form indicate that their location is a restricted traffic zone. For example, the presence of road signs, traffic cones, traffic bins, etc., which serve as traffic restriction signs, indicates that the location of these objects is a construction zone. Alternatively, even if the shape of a traffic restriction sign is not distinctive, it can still indicate information about a restricted traffic zone where traffic restrictions are in place. Traffic restriction signs include billboards placed on roads, information displayed on screens, and the information itself. Information determining the traffic restriction zone includes the location of the traffic restriction zone, the date and time the traffic restriction is enforced. Traffic restriction signs indicate information related to traffic closures, restrictions, and detours for marathons, road races, etc. Furthermore, the processor 10 has a calendar and a clock, which compare the date and time of the traffic restriction with the travel time to determine whether the traffic restrictions on the road or lane affect the vehicle.

[0021] Sensor 2 includes one or more cameras 21 disposed on the vehicle. The one or more cameras 21 capture images of the vehicle's surroundings in all directions. Camera 21 includes image sensors with imaging elements such as CCDs, ultrasonic cameras, and infrared cameras. Camera 21 includes at least a front camera for capturing images of the front of the vehicle, a rear camera for capturing images of the rear and rear sides of the vehicle, and left and right side cameras for capturing images of the left and right sides, the left and right front sides, and the rear of the vehicle. The form of the camera 21 is not limited as long as it can capture images of the vehicle in all directions. A single camera 21 mounted on a pedestal with a rotating mechanism can be used, or it can be used in conjunction with multiple other cameras 21.

[0022] Sensor 2 includes a radar device 22 that detects (ranges) the presence of objects around the vehicle, the position of the objects, and changes in their position. Radar device 22 measures the distance and direction of an object by emitting electromagnetic waves towards it and measuring its reflected waves. Radar device 22 includes lidar, millimeter-wave radar (LRF), LiDAR (light detection and ranging) unit, ultrasonic radar, and sonar.

[0023] In addition, sensor 2 is equipped with a GPS (Global Positioning System) unit, a gyroscope sensor, and a vehicle speed sensor to detect the vehicle's position at various times.

[0024] Each sensor 2 can also acquire information from onboard and external devices according to its respective function. The detection information acquired by the sensor 2 is provided to the processor 10. The detection information acquired by the sensor 2 can also be provided to the vehicle information acquisition device 3, the traffic restriction information acquisition device 4, and the traffic restriction section determination device 5. The processor 10 can acquire detection information directly from the camera 21 and the radar device 22, or it can acquire it via the vehicle information acquisition device 3, the traffic restriction information acquisition device 4, or the traffic restriction section determination device 5, as described later.

[0025] The vehicle information acquisition device 3 calculates the vehicle's current position, attitude, speed, acceleration, motion, and direction of travel based on the detection information obtained from the sensor 2 and / or the vehicle information obtained from the vehicle itself, and provides this information to the processor 10. The vehicle information acquisition device 3 determines the lane in which the vehicle is traveling by referring to map information 6 and lane information 61. The vehicle information acquisition device 3 also extracts branch lanes branching from the lane in which the vehicle is traveling by referring to map information 6 and lane information 61, and determines the location of the branch lanes.

[0026] The traffic restriction information acquisition device 4 identifies traffic restriction signs around the vehicle, particularly in the vehicle's driving lane, based on detection information obtained from sensor 2. The vehicle's driving lane includes the lane the vehicle will travel in the future. The traffic restriction information acquisition device 4 uses camera 21 to capture the published information and, through text recognition processing or image recognition processing, identifies the location of the traffic restriction zone, the date and time of the restriction. The traffic restriction information acquisition device 4 communicates with an external server, such as a roadside device, via communication device 30 to identify the date and time of the traffic restriction, the location of the traffic restriction zone, and the content of the information represented by the traffic restriction signs, including detour routes. The traffic restriction information acquisition device 4 provides the identified information represented by the traffic restriction signs to processor 10. The processing of identifying the content of the information represented by the traffic restriction signs can also be performed by processor 10.

[0027] The traffic restriction zone determination device 5 determines the location and range of the traffic restriction zone based on the information displayed by the detected or identified traffic restriction sign. While not specifically limited, the traffic restriction zone determination device 5 determines a zone as restricted within a predetermined distance from the location of the traffic bucket that serves as the traffic restriction sign. The traffic restriction zone defined by the traffic restriction sign and the traffic restriction zone identified by the processor 10 may be the same or different. The processor 10 can define the traffic restriction zone considering the vehicle's driving functions and performance from the perspective of performing appropriate driving assistance. The traffic restriction zone can also be defined based on the information displayed by the traffic restriction sign, according to the vehicle's performance, the driver's skill, and the driver's preferences. For example, the processor 10 can also add a margin to the traffic restriction zone defined by the traffic restriction sign to define a traffic restriction zone for this driving assistance processing.

[0028] Furthermore, the restricted passage section determination device 5 has the function of detecting branch lanes existing in front of the vehicle based on the detection information of sensor 2. The restricted passage section determination device 5 extracts features of the branch lanes from the images captured by camera 21, compares them with pre-stored features, and detects the existence of branch lanes in front of the vehicle and the location of the branch lanes. Examples of branch lane features include the presence of lane markings indicating the boundary with the main lane, the presence of the intersection of V-shaped lane markings formed at the connection between the main lane and the branch lane, the presence of a pair of lane markings of a branch lane extending in a direction different from the main lane, and the presence of a pair of lane markings intersecting with the main lane.

[0029] In addition, the traffic restriction zone determination device 5 can detect branch lanes ahead of the vehicle by referring to the branch area, branch start point, and branch end point information of the high-precision map information 6 described later. The traffic restriction zone determination device 5 sends the branch lane detection results to the processor 10. The processor 10 can also perform branch lane detection processing itself based on the information obtained from the sensor 2.

[0030] The driver assistance system 100 includes map information 6 and lane information 61. Map information 6 and lane information 61 are recorded in a storage device accessible to the processor 10 via the communication device 30 or an external server. Map information 6 is high-precision map information. Map information 6 includes lane information 61 referenced during autonomous lane change control. Lane information 61 contains identification information for multiple lanes belonging to the road. Map information 6 and / or lane information 61 include information related to branch lanes branching in different directions relative to the main lane; specifically, it includes information on the location of the branch area of ​​the branch lane, the branch start point of the branch lane, and the branch end point of the branch lane.

[0031] The navigation device 7 calculates the path to the set destination with reference to map information 6. This path includes the target track. The calculated path and target track are provided to the vehicle controller 200 for autonomous driving control and driving assistance control.

[0032] The vehicle controller 200 includes a steering control device 210 and a drive control device 220. The vehicle controller 200 can perform autonomous driving or manual driving according to the level of driving assistance specified by the processor 10. At a high level of driving assistance, the vehicle controller 200 performs autonomous driving, including autonomous lane change control. Specifically, the vehicle controller 200 obtains command values ​​for autonomous driving control according to a driving plan formulated by the processor 10 of the driving assistance device 1, causing the vehicle to travel on a path to its destination. The path consists of multiple consecutive target tracks corresponding to the command values. The command values ​​for driving control are generated by the vehicle controller 200 or the processor 10. The command values ​​include a set speed for driving the vehicle, and the vehicle controller 200 drives the vehicle at the set speed. The vehicle controller 200 inputs longitudinal and lateral forces to control the vehicle's position based on the command values. It controls the movement of the vehicle body and wheels according to these inputs, so that the vehicle autonomously travels on the path to its destination. Based on these controls, at least one of the drive actuators and brake actuators of the vehicle's drive mechanism controlled by the drive control device 220, and the steering actuator of the steering control device 210 activated as needed, autonomously operate to perform autonomous driving control that enables the vehicle to autonomously travel on the target track.

[0033] Of course, the vehicle controller 200 can execute driving based on the driver's manual operation commands input via the input / output device 20. Specifically, when the driver assistance level determined by the processor 10 is low and manual driving is required, the vehicle controller 200 does not perform autonomous driving control, but executes driving based on the driver's manual operation input via the input / output device 20. Similarly, when the driver assistance level determined by the processor 10 is low and only manual lane-changing is possible, the vehicle controller 200 does not perform autonomous lane-changing control, but executes lane-changing driving based on the driver's manual operation input via the input / output device 20.

[0034] The driving assistance system 100 includes a driving assistance device 1. The processor 10 of the driving assistance device 1 includes: a ROM (Read Only Memory) 12 storing a program for performing autonomous or manual driving; a CPU (Central Processing Unit) 11 executing the program stored in the ROM 12; and RAM (Random Access Memory) 13 functioning as an accessible storage device. The processor 10 uses the various hardware components of the driving assistance system 100 to implement this driving assistance method. The driving assistance method is used in the processor 10.

[0035] The processor 10 restricts the driving assistance functions performed within the restricted traffic zone. If the vehicle changes lanes to a branch lane branching from the driving lane within the restricted driving assistance functions, the restriction on the driving assistance is lifted. The processor 10 includes at least software for determining whether the vehicle is traveling within the restricted traffic zone, determining whether the vehicle is changing lanes to a branch lane, and deciding whether to restrict the driving assistance functions (maintain the restriction or lift the restriction) based on the determination of the restricted traffic zone. Figure 1 The various hardware components work together to perform their respective functions.

[0036] based on Figure 2The flowchart below illustrates the auxiliary processing performed in the driving control of this vehicle. The processing involved in the driving assistance method of this vehicle is implemented in processor 10. Processor 10 acquires detection information around the vehicle via sensor 2 (S1). The detection information includes detection information based on the image captured by camera 21 and / or detection information based on the observation information of radar device 22. Processor 10 may also acquire detection information around the vehicle from roadside devices via communication device 30. Processor 10 acquires vehicle information such as the current position and speed of the vehicle from vehicle information acquisition device 3 (S2). Processor 10 acquires lane information of the current driving lane of the vehicle as one of the vehicle information by referring to the detection information of sensor 2 or the lane information 61 of map information 6. Processor 10 acquires the existence and location information of branch lanes branching from the driving lane of the vehicle by referring to map information 6 and / or lane information 61.

[0037] Sensor 2 detects the area around the vehicle and provides the detection information to processor 10. Processor 10 uses the detection information from sensor 2 to detect traffic restriction signs in the vehicle's driving lane. Processor 10 obtains the information indicated by the detected traffic restriction signs (S3). Processor 10 can also obtain the information indicated by the traffic restriction signs via traffic restriction information acquisition device 4.

[0038] Processor 10 identifies traffic restriction zones (S4) based on the information represented by traffic restriction signs. The information represented by the traffic restriction signs includes at least the location of the traffic restriction zone where traffic restrictions are in effect. The location of the traffic restriction zone is determined by one or more of the following: lane identification information, node information, link information, latitude / longitude, and a linear shape based on latitude and longitude. Specifically, processor 10 pre-stores the shape features of tangible objects configured to represent construction zones, such as road signs, traffic cones, traffic bins, billboards, construction vehicles, guides, guide robots, and guide flags. Processor 10 extracts the shape features of the traffic restriction signs obtained from the detection information of sensor 2, compares the stored shape features of the traffic restriction signs with the features of the detected objects, performs pattern matching processing, and thereby identifies the information shown by the traffic restriction signs and the location of the traffic restriction zone indicated by the configured traffic restriction signs. For example, processor 10 identifies that a road sign indicates a construction zone, and the location where the road sign is configured is a traffic restriction zone based on construction. Furthermore, although the shape of billboards and signs themselves has no specific meaning, there are cases where the intangible information they convey is meaningful. Processor 10 obtains information recorded on billboards and signs via images captured by camera 21, and identifies the content of the recorded text and graphics to obtain information related to traffic restrictions. Processor 10 refers to pre-stored text and graphic information associated with traffic restrictions, and identifies the location, date, time, and position of the traffic restriction based on the text identified from the captured image. Alternatively, processor 10 can also directly obtain the content of traffic restriction signs from a server device external to the vehicle (e.g., a roadside device) via communication device 30.

[0039] Processor 10 determines whether the vehicle is traveling within the defined traffic restriction zone (S5). Processor 10 compares the vehicle's current position obtained from sensor 2 and / or vehicle information acquisition device 3 with the position information of the traffic restriction zone determined in S4, and determines whether the vehicle is traveling within the traffic restriction zone based on whether the vehicle's current position belongs to the traffic restriction zone. This determination process is repeatedly executed at a predetermined cycle. If processor 10 determines that the vehicle is traveling within the traffic restriction zone (S5: Yes), it sets the flag indicating that the vehicle is traveling within the traffic restriction zone to "on" (S6). Processor 10 executes driving assistance for the vehicle based on the determination result of whether the vehicle is traveling within the traffic restriction zone. Processor 10 restricts the content of the executed driving assistance when the vehicle is traveling within the traffic restriction zone, and does not restrict the content of the executed driving assistance when the vehicle is not traveling within the traffic restriction zone (if it is under restriction, the restriction is lifted). When the vehicle moves from a non-restricted area to a restricted area, the driving assistance features are restricted; when the vehicle moves from a restricted area to a non-restricted area, the restrictions on the driving assistance features are lifted. The level of driving assistance when its features are restricted is lower than the level of driving assistance when its features are unrestricted (restriction lifted). When the driving assistance features are not restricted (restriction lifted), the driving assistance level is set to the standard level corresponding to the vehicle's performance; when the driving assistance features are restricted, it is set to a lower level than the standard level. When the indicator is set to "on" (S6), indicating that the vehicle is traveling in a restricted area, the driving assistance features being executed are restricted, and a lower level of driving assistance features than when the vehicle is not traveling in a restricted area is determined (S8). The processor 10 executes driving assistance features lower than the determined standard level (S9). After the execution of the lower level of driving assistance begins (S9), the processor 10 also periodically determines whether the vehicle is traveling in a restricted area and executes driving assistance of the corresponding level (S1-S9). When the vehicle is traveling within a restricted traffic zone, the system determines that it is driving cautiously, taking into account various situations, rather than relying on uniform autonomous control, and lowers the level of driver assistance. On the other hand, if the processor 10 determines that the vehicle is not traveling within a restricted traffic zone (S5: No), it sets the indicator indicating that the vehicle is traveling within a restricted traffic zone to off (S7). Setting the indicator to off in S7 includes not turning it on, i.e., not performing any special processing. When the indicator indicating that the vehicle is traveling within a restricted traffic zone is off, the normal standard level of driver assistance is maintained (S14). The driver can utilize the relatively high level of autonomous driving capabilities possessed by the vehicle.

[0040] Here, refer to Figure 4The content of driver assistance is explained. When the content of driver assistance is not limited and the level of driver assistance is high, driving requires relatively less input from the driver. When the content of driver assistance is limited and the level of driver assistance is low, driving requires relatively more input from the driver. That is, at a high level of driver assistance, the driver's workload is light, and at a low level of driver assistance, the driver's workload is heavy. Figure 4 In this system, lower-level driver assistance is identified as Driver Assistance Level A, and higher-level driver assistance is identified as Driver Assistance Level B (>A). Driver Assistance Level A operates when the vehicle is determined to be traveling within a restricted area and the driver assistance features are restricted. Driver Assistance Level B operates when the vehicle is determined to be outside a restricted area and the driver assistance features are unrestricted. Driver Assistance Level A requires manual driving, requiring the driver to take control. Driver Assistance Level B allows hands-free driving. Furthermore, Driver Assistance Level A only allows lane changes via manual operation; autonomous lane change control is prohibited. Driver Assistance Level B allows autonomous driving, including autonomous lane change control. Additionally, driver-managed lane changes and lane keeping control to maintain lateral position within the driving lane can be performed at either Driver Assistance Level A or B.

[0041] Thus, in this embodiment, when the vehicle is traveling within a restricted traffic zone, the content of the driving assistance provided is limited compared to when the vehicle is not traveling within a restricted traffic zone, and the level of driving assistance is determined to be lower. Restricted traffic zones based on construction involve construction machinery, tools, and workers; restricted traffic zones based on flooding or depressions involve drainage machinery and guides. To pay close attention to all these objects and workers in controlling speed and driving position, it is considered that autonomous control is not based on predetermined benchmarks, but rather requires a fine understanding and consideration of various situations. Furthermore, in restricted traffic zones, parts of the lanes are designated as off-limits, making it difficult to identify drivable areas for reference in autonomous driving. Therefore, the content of driving assistance provided in restricted traffic zones is limited, the level of driving assistance is reduced, and manual driving is performed compared to autonomous driving. On the other hand, when the vehicle is not traveling within a restricted traffic zone, the content of the driving assistance provided is not limited, and the level of driving assistance provided is determined to be higher compared to when traveling within a restricted traffic zone.

[0042] Specifically, when the processor 10 determines that the vehicle is traveling within a restricted traffic zone, it requests manual driving as a relatively low level of driver assistance. Alternatively, or independently, when the processor 10 determines that the vehicle is traveling within a restricted traffic zone, it instructs to prohibit autonomous lane change control as a relatively low level of driver assistance. Thus, driving based on the driver's judgment can be performed only when the vehicle is traveling within a restricted traffic zone. On the other hand, when the processor 10 determines that the vehicle is not traveling within a restricted traffic zone, it allows hands-free driving as a relatively high level of driver assistance. Alternatively, or independently, when the processor 10 determines that the vehicle is not traveling within a restricted traffic zone, it performs autonomous lane change control. Thus, autonomous driving can be performed when the vehicle is not traveling within a restricted traffic zone, reducing the driver's workload.

[0043] return Figure 2 The following describes the processing after the initial step (S9) of executing a low-level driving assistance when the vehicle is traveling in a restricted area. Processor 10 determines whether the vehicle is changing lanes to a branch lane (S10). If it determines that the vehicle is changing lanes to a branch lane (S10: Yes), it determines that the vehicle is not traveling in a restricted area and sets the "driving intention" sign indicating that the vehicle is traveling in a restricted area to "off" (S12). If it determines that the vehicle is not changing lanes to a branch lane (S10: No), it maintains the determination result from step S6 and keeps the "driving intention" sign indicating that the vehicle is traveling in a restricted area "on" (S6). If the "driving intention" sign indicating that the vehicle is traveling in a restricted area is "off" (S12), the restrictions on the driving assistance content are lifted, and the driving assistance level is determined to be relatively high based on the determination result (S13). Processor 10 uses the determination that the vehicle is changing lanes to a branch lane as a trigger to lift the restrictions on the driving assistance content, change the driving assistance level to high, and execute high-level driving assistance (S14). After initiating the high-level driver assistance (S14), the processor 10 also periodically determines whether the vehicle is traveling within a restricted area and executes the corresponding level of driver assistance (S1-S14). The high level of driver assistance refers to the standard level that can be utilized based on the vehicle's performance.

[0044] Even if traffic restrictions due to construction or other reasons are implemented in the main lane where the vehicle is currently traveling, if the vehicle changes lanes to a branch lane, the branch lane is a different road from the main lane, and therefore there is a high probability that no traffic restrictions will be applied. In this invention, considering this point, when the vehicle changes lanes from a main lane containing a traffic restriction zone to a branch lane, it is determined that the traffic restriction zone has ended, and the sign indicating the vehicle's intention to travel within the traffic restriction zone is turned off. Thus, even if it is determined that the vehicle is traveling within a traffic restriction zone in the main lane, the end of the traffic restriction zone can be determined earlier and appropriately based on the determination that the vehicle has changed lanes to a branch lane. As a result, the level of driver assistance that is reduced due to traveling within a traffic restriction zone can be restored to its original high level. Specifically, by turning off the sign indicating the intention to travel within a traffic restriction zone, hands-free driving and / or lane changes based on autonomous control can be performed, reducing the driver's workload at an earlier stage. Since cautious driving is preferred within restricted traffic zones, the level of driver assistance is reduced, requiring manual driving and lane changes by the driver. Lower levels of driver assistance increase driver workload; therefore, it is preferable to minimize the driving time and distance when the driver assistance level is reduced. Increasing the driver assistance level allows the vehicle's autonomous driving capabilities, enabling occupants to use hands-free driving and autonomous lane changes. In this embodiment, the processor 10, by predicting the end of the restricted traffic zone in advance, can shorten the driving time and distance within the restricted traffic zone, and also shorten the driving time and distance when the driver assistance level is reduced. In this method, by capturing the trigger of a lane change from the main lane to a branch lane as a change in conditions related to traffic restrictions, and appropriately determining the passage of the end of the restricted traffic zone, the driver assistance level is quickly restored.

[0045] Although not specifically limited, in this embodiment, after determining that the vehicle is changing lanes to the branch lane (S10: Yes), it is possible to perform a process to confirm that there is no traffic restriction sign in the branch lane. Figure 3 Indicates in Figure 2Following S10 in the flowchart (S10: Yes), an overall process S11 confirming the absence of a traffic restriction sign in the branch lane is added. When processor 10 detects a traffic restriction sign indicating a restricted traffic zone exists in the branch lane where the vehicle is changing lanes (S11: Yes), even if it determines that the vehicle is changing lanes to the branch lane (S10: Yes), it determines that the vehicle is traveling within a restricted traffic zone and keeps the sign open (S6). That is, even if the determination condition of the vehicle changing lanes to the branch lanes without traveling within a restricted traffic zone is met, this determination is canceled, and the determination result executed in S6—that the sign is closed and the vehicle is traveling within a restricted traffic zone—is maintained.

[0046] On the other hand, if no traffic restriction sign is detected in the branch lane where the vehicle changes lanes (S11: No), the processor 10 determines that the vehicle is not traveling within the traffic restriction zone and sets the sign to "off" (S12). That is, the determination to open the sign in S6 is changed to a determination to close the sign. When the processor 10 changes lanes from the main lane containing the traffic restriction zone to the branch lane, it predicts that the vehicle is not traveling within the traffic restriction zone, but there is a traffic restriction zone set in the branch lane as well. In this embodiment, when the vehicle changes lanes, after confirming that there is no traffic restriction sign in the branch lane, it determines that the vehicle is not traveling within the traffic restriction zone and sets the sign to "off" (from "No" in S11 to S12). Thus, when performing the processing in S11, the processor 10 only determines that the vehicle is not traveling within the traffic restriction zone when the vehicle changes lanes to the branch lane and there is no traffic restriction sign in the branch lane. When the vehicle changes lanes to the branch lane, the processor 10 confirms the existence of the traffic restriction zone in the branch lane in advance and verifies the determination result in the main lane in advance. This improves the reliability of the judgment results, preventing changes in the determination of whether traffic is allowed in a restricted area (sign closed or open) due to incorrect predictions. As a result, the end of the restricted area can be determined in advance, ensuring the accuracy of the judgment results.

[0047] Next, the method for determining whether the vehicle is changing lanes to a branch lane will be explained. The processor 10 determines whether to change lanes to a branch lane based on the current position of the vehicle obtained by the vehicle information acquisition device 3 and the positional relationship between the branch lane and the branch lane existing in the vehicle's direction of travel. The processor 10 also determines whether to change lanes to a branch lane by referring to map information 6 and / or lane information 61 to obtain the positional relationship between the vehicle and the branch lane. Map information 6 and / or lane information 61 includes any one or more of the branch lane's attributes, location, area, and branch location. The branch location includes the branch lane's end point and / or start point. Additionally, the processor 10 determines whether to change lanes to a branch lane by obtaining the positional relationship between the vehicle and the branch lane based on images captured by camera 21 or observation information obtained by radar device 22.

[0048] Figure 5 An example illustrating the shape of a branch lane. Figure 5 This indicates the branch lane BL, which branches to the left from the main lane L1 (the direction of travel, Y-axis in the diagram) where vehicle V1 (T1) is currently traveling at time T1. Multiple traffic restriction signs OB1 (represented by circles) are positioned along the extension of the main lane L1. These traffic restriction signs OB1 can be, for example, road signs. The section of the main lane L1 containing traffic restriction signs OB1 is the traffic restriction section TR. Figure 5 The main lane L1 shown includes the restricted zone TR. Vehicle V1 (T1) is traveling within the restricted zone TR of the main lane L1, which serves as its driving lane. Processor 10 sets the indicator indicating that vehicle V1 (T1) is traveling within the restricted zone TR to be active. Branch lane BL is a lane that is physically different from the main lane L1 and its adjacent lane L2. Branch lane BL has a structure that connects to the main lane L1 at an angle. The main lane L1 is defined by a pair of lane marking lines LMTR and LMTL with a specified width in the road width direction (X-axis direction in the figure), and the branch lane BL is defined by a pair of lane marking lines LMBR and LMBL with a specified width in the road width direction. The pair of lane marking lines LMTR and LMTL and the pair of lane marking lines LMBR and LMBL define different lanes. Branch lane BL is not included in the main lane L1.

[0049] The area connecting the main lane L1 and the branch lane BL is called the branch area. Figure 5 The example shows the branch area BR1, which includes the triangle connecting the main lane L1 and the branch lane BL, and the branch area BR2, which connects the main lane L1 and the branch lane BL.

[0050] Branch area BR1 is the area including a portion of branch lane BL and main lane TL as observed by vehicle V1 (T1) traveling in main lane L1. Processor 10 uses captured images and observation information obtained from sensor 2 of vehicle V1 (T1) to detect branch area BR1 in front of vehicle V1 (T1) based on changes in the shape of the road structure. In addition, processor 10 can detect branch area BR1 including the portion where branch lane BL is formed by referring to map information 6 and / or lane information 61. If the current position of vehicle V1 (T1) obtained as vehicle position information approaches branch area BR1 at a distance less than a specified distance or less than a specified TTC, or if the current position of vehicle V1 (T1) belongs to branch area BR1, processor 10 determines that vehicle V1 (T1) is changing lanes from main lane L1, which is the driving lane, to branch lane BL. Furthermore, the processor 10 can determine that the vehicle V1 (T1) will change lanes to the branch lane BL based on the fact that there is a branch lane BL on the travel direction side of the current position of the vehicle obtained by the vehicle information acquisition device 3 in the path to the destination of the vehicle calculated by the navigation device 7, and the branch lane BL becomes part of the path.

[0051] Processor 10 determines the other branch region BR2. Branch region BR2 is the travel area from the branch start point STP to the branch end point EDP. Figure 5 In this diagram, the area traveled by vehicle V1 (T1) from branch start point STP to branch end point EDP is designated as branch area BR2. Branch start point STP is the point where the lane marking line LMTL on the left side of the main lane L1 intersects with the lane marking line LMBL on the left side of the branch lane BL. Processor 10 detects the branch start point STP, where the lane marking line LMTL of the main lane intersects with the lane marking line LMBL of the branch lane, based on images captured by camera 21 in front of vehicle V1 (T1). If observed from vehicle V1 (T1) facing branch area BR2, the intersection of lane marking lines LMTL and LMBL at branch start point STP appears to form a letter "V". Processor 10 uses this "V" shape of the lane marking lines as a feature point and detects the existence and location of branch start point STP based on images captured by camera 21. Furthermore, depending on the road, sometimes only the lane marking line LMTL′ of the main lane L1's lane marking line LMTL connecting to the branch lane BL differs, such as... Figure 5As shown, for example, a dashed line relative to a solid line. The processor 10 detects the branch start point STP where the lane markings LMTL and LMTL′ of the main lane L1 intersect. Furthermore, the processor 10 can detect the branch start point STP by referring to map information and / or lane information 61.

[0052] The branch end point EDP is the location where the lane marking line LMTL on the left side of the designated main lane L1 and the lane marking line LMBR on the right side of the designated branch lane BL, downstream of the branch start point STP (on the side of the vehicle's direction of travel). The processor 10 can detect the branch end point EDP, where the lane marking line LMTL of the designated main lane L1 intersects the lane marking line LMBR of the designated branch lane BL, based on images captured by the camera 21 in front of the vehicle V1 (T1). If observed from the vehicle V1 (T1) facing the branch area BR2, the intersection of lane marking lines LMTL and LMBR appears to form a "V" shape. The processor 10 can detect the branch end point EDP based on the images captured by the camera 21, using this "V" shape as a feature point. Depending on the road, sometimes only the portion of the lane marking line LMTL of the main lane L1 that connects to the branch lane BL has a different shape; for example, it may be a dashed line relative to a solid line. Based on the changes in the shape of the lane markings LMTL and LMTL′ of the main lane L1, the processor 10 can detect the branch end point EDP where the lane marking LMTL of the designated main lane L1 intersects with the lane marking LMBR of the designated branch lane BL. Furthermore, the processor 10 can also detect the branch end point EDP by referring to map information and / or lane information 61. In addition, in Figure 5 In this example, we will use a branch lane BL that extends to the left of the main lane L1 in the direction of travel, but the same applies to a branch lane BL that extends to the right of the main lane L1 in the direction of travel.

[0053] The processor 10 detects the aforementioned branch area BR1 or BR2. When the vehicle V1 (T1) reaches the aforementioned branch area BR1 or BR2, it can determine that the vehicle V1 (T1) has changed lanes. The processor 10 can also determine that the vehicle V1 (T1) has changed lanes when the current position of the vehicle V1 (T1) detected by the sensor 2 approaches the branch area BR1 or BR2 within a specified distance (or within a specified TTC). The specified distance / specified TTC is a short distance that allows for the determination of the extent of arrival. Based on the positional relationship between the branch area BR1 or BR2 and the vehicle V1, the processor 10 determines that the vehicle V1 has changed lanes towards the branch lane BL and sets the sign indicating the purpose of driving in the restricted traffic zone TR to off. The end of driving in the restricted traffic zone TR is determined by triggering the vehicle V1's lane change towards the branch lane BL. Therefore, the control of the executed driving assistance content can be deactivated, and the reduced driving assistance level can be switched back to the original high level in advance, reducing the driver's workload.

[0054] Furthermore, in principle, if the processor 10 determines that the vehicle is approaching or entering the branch area BR1 and has changed lanes to the branch lane, it assumes that the vehicle is not traveling in the traffic restriction zone TR and sets the determination sign for traveling in the traffic restriction zone TR to off. In this case, the processor 10 also confirms in advance that the above-mentioned... Figure 3 Are there traffic restriction signs OB2 and OB3 on the branch lanes of S11? Figure 5 In this example, to illustrate the location of the traffic restriction signs that are the objects of detection, traffic restriction signs OB2 and OB3 are represented as hypothetical. When processor 10 detects traffic restriction signs OB2 and OB3 in a branch lane, even if it determines that the vehicle is changing lanes into branch lane BL, it does not set the driving determination flag for the traffic restriction zone TR to off. Instead, it determines that the vehicle continues to drive within the traffic restriction zone and keeps the determination flag on. Therefore, it is possible to suppress the on / off state of the determination of whether the vehicle is driving within a traffic restriction zone, and to continue providing appropriate driving assistance.

[0055] The processor 10 detects the branch start point STP of the branch lane BL, and determines that the vehicle V1 (T1) has changed lanes when it reaches the branch start point STP. Figure 5This indicates the state at time T2, after time T1, where vehicle V1 (T2) has reached the branch start point STP. Vehicle V1 (T2) reaching the branch start point STP means that the branch start point STP belongs to the area where vehicle V1 (T2) exists. That is, the state where vehicle V1 (T2) has reached the branch start point STP includes all states from the state where vehicle V1 (T2) is near the branch start point STP (the front end of the vehicle overlaps with the branch start point STP) to the state where vehicle V1 (T2) has passed through the branch start point STP (the rear end of the vehicle overlaps with the branch start point STP). Furthermore, from the viewpoint of increasing the certainty that vehicle V1 (T2) has made a lane change towards the branch start point STP, it is preferable to define the state where vehicle V1 (T2) has reached the branch start point STP as the state where vehicle V1 (T2) has passed through the branch start point STP.

[0056] When vehicle V1 (T2) reaches the branch start point STP, processor 10 determines that vehicle V1 (T2) has changed lanes to the branch lane and turns off the sign indicating that vehicle V1 (T2) is traveling in the restricted traffic zone TR. Therefore, it can determine the possibility of vehicle V1 (T2) changing lanes at an earlier stage (upstream in the direction of travel), and thus can appropriately determine the end of the restricted traffic zone, switching (returning) the reduced driving assistance level to the original higher level at an earlier stage, reducing the driver's workload.

[0057] If, based on the fact that vehicle V1 (T2) has reached the branch start point STP, and it is determined that vehicle V1 (T2) has changed lanes to branch lane BL, processor 10 first confirms that there is no restricted passage section on branch lane BL. Specifically, processor 10 determines the direction of branch lane BL and the direction of its extension based on the position of branch start point STP. This determination is preferably performed before vehicle V1 (T2) enters branch lane BL, when vehicle V1 (T2) is traveling in main lane L1, and when vehicle V1 (T2) is approaching branch start point STP. Figure 5 In the example shown, branch lane BL extends in an inclined direction to the left of the travel direction of vehicle V1 (T1) or vehicle V1 (T2) (Y-axis direction in the diagram) (X-axis side in the diagram). The location of the traffic restriction sign on branch lane BL is not particularly limited. If it is along the position of branch lane BL, then whether a traffic restriction sign OB2 is detected upstream of branch lane BL (close to vehicle V1) or a traffic restriction sign OB3 is detected downstream of branch lane BL (far from vehicle V1), it is determined that a traffic restriction zone exists within branch lane BL.

[0058] The processor 10 determines that vehicle V1 (T1) or vehicle V1 (T2) is not traveling within a restricted traffic zone only if it does not detect a traffic restriction sign OB2 and / or OB3 indicating a restricted traffic zone in the direction where a branch lane BL exists. In other words, if vehicle V1 (T1) is traveling in the main lane L1, and at least a traffic restriction sign OB2 is detected in the direction from the main lane L1 towards the branch lane BL, the processor 10 maintains the determination that vehicle V1 is traveling within a restricted traffic zone, even if vehicle V1 (T2) reaches the branch start point STP.

[0059] In principle, processor 10 will turn off the sign indicating that the vehicle V1 (T2) is traveling within a restricted traffic zone when it arrives at the branch start point STP and changes lanes from the main lane L1 (which includes the restricted traffic zone) to another road, i.e., the branch lane BL. In this case, processor 10 also confirms in advance that the vehicle is traveling within the restricted traffic zone. Figure 3 In step S11, the processor 10 checks whether there are traffic restriction signs OB2 and OB3 on the branch lane BL at the branch start point STP. If the processor 10 detects a traffic restriction sign in the branch lane BL containing the branch start point STP, even if it determines that the vehicle V1 is changing lanes to the branch lane, it does not determine that the vehicle V1 is not traveling within the restricted traffic zone, but maintains the determination that the vehicle V1 is traveling within the restricted traffic zone TR, as it would when traveling in the main lane L1. That is, it does not set the determination flag for traveling within the restricted traffic zone to off, but determines that the vehicle is traveling within the restricted traffic zone and keeps the determination flag on. Therefore, it can suppress the opening or closing of the determination flag for whether the vehicle is traveling within the restricted traffic zone, and can continue to provide appropriate driving assistance. Furthermore, the vehicle V1 can drive more attentively with lower-level driving assistance within the restricted traffic zone of the branch lane BL through driver operation.

[0060] From the same perspective, processor 10 determines the direction of branch lane BL based on the location of branch start point STP. If no traffic restriction signs OB2 or OB3 are detected in the direction of branch lane BL, when vehicle V1 reaches branch start point STP, it is determined that vehicle V1 is not traveling within the traffic restriction zone TR. Therefore, it is possible to simultaneously confirm that branch lane BL does not include the traffic restriction zone and to predict the end point of the traffic restriction zone in advance. Based on the determination that the vehicle is not traveling within the traffic restriction zone, it can switch from a low-level driving assistance to a high-level driving assistance to perform driving control.

[0061] The processor 10 detects the branch end point EDP of the branch lane BL, and determines that the vehicle V1 (T1) has changed lanes when it reaches the branch end point EDP. Figure 5 This indicates the state of vehicle V1 (T3) reaching the branch end point EDP at time T3, following time T2. Vehicle V1 (T3) reaching the branch end point EDP means that the branch end point EDP belongs to the area where vehicle V1 (T3) exists. That is, the state of vehicle V1 (T3) reaching the branch end point EDP includes all states from the state where vehicle V1 (T3) is near the branch end point EDP (the front end of the vehicle overlaps with the branch end point EDP) to the state where vehicle V1 (T3) has passed through the branch end point EDP (the rear end of the vehicle overlaps with the branch end point EDP). Furthermore, from the viewpoint of improving the reliability of the determination that vehicle V1 (T3) has made a lane change towards the branch end point EDP, it is preferable to define the state of vehicle V1 (T3) reaching the branch start point STP as the state where vehicle V1 (T3) has passed through the branch start point STP.

[0062] When vehicle V1 (T3) reaches the branch end point EDP, processor 10 determines that vehicle V1 (T3) has changed lanes to the branch lane and sets the sign indicating that vehicle V1 (T3) is traveling in the restricted area to off. Given that vehicle V1 (T3) has reached the branch end point EDP, the probability of vehicle V1 (T3) returning to the main lane L1 is extremely low. That is, it can accurately determine whether vehicle V1 (T3) has changed lanes to the branch lane BL. While vehicle V1 traveling upstream of the branch area BR2, i.e., near the branch start point STP, may also enter the branch lane BL, the possibility of continuing in the main lane L1 without entering the branch lane BL cannot be ruled out.

[0063] The processor 10 can accurately determine whether vehicle V1 (T3) should change lanes to branch lane BL based on the fact that it has reached the branch end point EDP. Therefore, it can accurately determine the end point of the traffic restriction zone based on the fact that vehicle V1 (T2) moves from the main lane L1 containing the traffic restriction zone to another branch lane BL. As a result, it can remove the restrictions on driving assistance set during driving in the traffic restriction zone, and switch the reduced driving assistance level back to the original higher level (standard level) in a timely manner, thereby reducing the driver's workload.

[0064] Furthermore, in principle, if the processor 10 determines that vehicle V1 (T3) has reached the branch end point EDP and changed lanes to the branch lane, it considers that the vehicle is not traveling within the restricted traffic zone TR and sets the determination flag for traveling within the restricted traffic zone TR to off. In this case, the processor 10 also confirms in advance that the above-mentioned... Figure 3 In step S11, the processor 10 checks whether traffic restriction signs OB2 and OB3 exist on the branch lane BL at the branch end point EDP. If the processor 10 detects traffic restriction sign OB3 near the branch end point EDP or detects traffic restriction sign OB2 upstream of it, even if it determines that vehicle V1 (T3) is changing lanes to the branch lane, it will not set the determination sign for driving in the traffic restriction zone TR to be off. In this case, the processor 10 determines that vehicle V1 (T3) is driving in the traffic restriction zone and keeps its determination sign on. Therefore, it can suppress the opening or closing of the determination sign for whether driving in the traffic restriction zone is in progress, and can continue to provide appropriate driving assistance.

[0065] Additionally, as a condition for turning off signs indicating travel within restricted areas, it is also possible to require individuals who have never detected a restricted area sign to leave the prescribed distance. Figure 5 In the example shown, after the vehicle changes lanes to branch lane BL and no traffic restriction signs are detected on either side of the vehicle, if the vehicle reaches the predetermined end point of the traffic restriction (CHP) separated by a specified distance (DTH), it is determined that the traffic restriction zone has ended, and the sign indicating that the vehicle will continue to travel within the traffic restriction zone is turned off. Thus, if the vehicle has not traveled the specified distance beyond the traffic restriction sign, the driver assistance level will not be restored, provided the vehicle is at least at a specified distance from the traffic restriction sign. In contrast, in this embodiment, when a lane change is made from main lane L1 to branch lane BL, it is determined that the vehicle is not traveling within the traffic restriction zone. The positions of the branch areas BR1 and BR2 (where the lane change occurs), the branch start point STP, and the branch end point EDP are all located upstream of the predetermined end point of the traffic restriction (CHP), allowing for early determination of whether the vehicle is traveling within the traffic restriction zone.

[0066] Explanation of reference numerals in the attached figures

[0067] 100: Driver Assistance Systems

[0068] 1: Driving assistance devices

[0069] 10: Processor

[0070] 11: CPU

[0071] 12: ROM

[0072] 13: RAM

[0073] 20: Input / output devices

[0074] 30: Communication device

[0075] 2: Sensors

[0076] 21: Camera

[0077] 22: Radar device

[0078] 3: Vehicle information acquisition device

[0079] 4: Traffic restriction information acquisition device

[0080] 5: Traffic Restriction Section Determination Device

[0081] 6: Map Information

[0082] 61: Lane Information

[0083] 7: Navigation device

[0084] 200: Vehicle controller

[0085] 210: Steering control device

[0086] 220: Drive control device

Claims

1. A driving assistance method, used in a processor, for performing driving assistance for the vehicle, characterized in that, The processor detects traffic restriction signs on the vehicle's driving lane and restricts the driving assistance functions performed within the traffic restriction zones identified based on the traffic restriction signs. The restriction is lifted when the vehicle changes lanes to a branch lane branching off from the driving lane.

2. The driving assistance method according to claim 1, characterized in that, When the traffic restriction sign is detected in the branch lane, even if the processor determines that the vehicle is changing lanes to the branch lane, it also determines that the vehicle is traveling in the traffic restriction zone.

3. The driving assistance method according to claim 1 or 2, characterized in that, The processor detects the branch area of ​​the branch lane, and if the vehicle reaches the branch area, it determines that the vehicle is changing lanes.

4. The driving assistance method according to claim 1 or 2, characterized in that, The processor detects the end point of the branch lane, and if the vehicle reaches the end point of the branch lane, it determines that the vehicle is changing lanes.

5. The driving assistance method according to claim 4, characterized in that, If the processor detects the traffic restriction sign at the branch end point of the branch lane, even if it determines that the vehicle is changing lanes to the branch lane, it will still determine that the vehicle is traveling in the traffic restriction zone.

6. The driving assistance method according to claim 1, characterized in that, The processor detects the starting point of the branch lane and determines that the vehicle should change lanes when it reaches the starting point of the branch lane.

7. The driving assistance method according to claim 6, characterized in that, The processor determines the direction of the branch lane based on the location of the branch start point. If the traffic restriction sign is detected in the direction of the branch lane, even if it is determined that the vehicle is changing lanes to the branch lane, it is determined that the vehicle is traveling in the traffic restriction zone.

8. The driving assistance method according to claim 6, characterized in that, The processor determines the direction of the branch lane based on the location of the branch start point. If no traffic restriction sign is detected in the direction of the branch lane, the processor determines that the vehicle is not traveling in the traffic restriction area when it reaches the branch start point.

9. The driving assistance method according to any one of claims 1 to 8, characterized in that, When the processor determines that the vehicle is traveling within the restricted traffic zone, it executes a lower level of driving assistance than when the processor determines that the vehicle is not traveling within the restricted traffic zone.

10. The driving assistance method according to claim 9, characterized in that, When the processor determines that the vehicle is traveling in the restricted traffic zone, it performs manual driving requirements and / or prohibits autonomous lane change control as a relatively low level of driving assistance.

11. The driving assistance method according to claim 9 or 10, characterized in that, When the processor determines that the vehicle is not traveling within the restricted traffic zone, it performs the permission for hands-free driving and / or autonomous lane change control as a relatively high level of driving assistance.

12. A driving assistance device, comprising a processor for performing driving assistance for the vehicle, characterized in that, The processor detects traffic restriction signs in the vehicle's driving lane. The scope of driving assistance provided is limited to the restricted areas identified based on the traffic restriction signs. The restriction is lifted when the vehicle changes lanes to a branch lane branching off from the driving lane.

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