Vehicle assistance system

Abstract

An auxiliary driving device for a vehicle is configured such that a control unit determines a light state of a signal light of a lane in front of the vehicle, and in a situation where the vehicle is stopped, if it is determined that the light state of the signal light of the lane changes from a red light signal light state to a green light signal light state, start-up promotion control is performed in which a change in the light state is notified by a notification device, wherein the control unit is configured to, in a situation where the vehicle is stopped, based on information obtained by a target object information acquisition device, if it is determined that there are a plurality of signal lights in front of the vehicle, determine a signal light in a red light signal light state among the plurality of signal lights as the signal light of the lane, and notify of a change in the light state of the determined signal light.

Description

Technical Field

[0001] This invention relates to a driver assistance device for automobiles and other vehicles, and more specifically, to a start-up assist control device for changing the lighting status of a signal light. Background Technology

[0002] As one of the driver assistance devices for automobiles and other vehicles, there are known driver assistance devices that determine the light status of the traffic light in the lane in front of the vehicle and notify the traffic light of its light status and / or changes.

[0003] For example, Patent Document 1 describes a driver assistance device that determines the light status of a traffic light in front of a vehicle at an intersection, and notifies the driver of the situation when the light status is red and there is a danger of a vehicle passing through the parking position.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-047565 Summary of the Invention

[0005] The number and arrangement of intersecting roads at intersections vary, as do the locations of traffic lights. Therefore, cameras and other devices sometimes mistake traffic lights other than those for the traffic light in their own lane. In particular, to improve traffic light recognition rates, when cameras detect a wide range of traffic lights covering the area in front of vehicles, the likelihood of misidentifying a traffic light other than the one for the traffic light in their own lane increases.

[0006] In conventional driver assistance systems, as a countermeasure to prevent false notifications caused by misidentification of traffic lights, when multiple traffic lights ahead of the vehicle are identified as traffic lights for the current lane, the system does not notify the driver of the light status and / or changes thereof. Therefore, when multiple traffic lights are identified as traffic lights for the current lane, attention activation based on notifications of the light status and / or changes thereof is impossible.

[0007] The present invention provides an improved driver assistance device that, when it is determined that there are multiple traffic lights in front of the vehicle, can reduce the risk of mistakenly identifying traffic lights other than the traffic lights of the current lane as the traffic lights of the current lane, and can notify the driver of changes in the lighting status of the traffic lights of the current lane.

[0008] [The means used to solve the problem and the effects of the invention]

[0009] According to the present invention, a vehicle-assisted driving device (100) is provided, comprising: a target information acquisition device (15) for acquiring target information in front of the vehicle (102); a notification device (56) for notifying the driver of information; and a control unit (assisted driving ECU 10) for determining the light status of the traffic light in the lane in front of the vehicle based on the information acquired by the target information acquisition device, wherein the control unit is configured to perform start-up facilitation control by notifying the driver of the change in light status through the notification device when the vehicle is stopped and the light status of the traffic light in the lane changes from red to green.

[0010] The control unit (assisted driving ECU10) is configured such that, when the vehicle is parked (S10), based on the information obtained by the target information acquisition device (15), if it is determined that there are multiple traffic lights in front of the vehicle (S20), the traffic light that is in the red light state among the multiple traffic lights is identified as the traffic light of this lane (S30, S40), and the change of the light state of the identified traffic light is notified (S60 to S110).

[0011] Based on the above structure, when a vehicle is parked, if it is determined that there are multiple traffic lights in front of the vehicle, the traffic light that is red among the multiple traffic lights is identified as the traffic light for this lane, and the change in the light status of the identified traffic light is notified.

[0012] Therefore, a traffic light whose status is not red will not be identified as the traffic light for this lane. This reduces the possibility of multiple traffic lights being mistaken for the traffic light for this lane, thus minimizing the chance of not being notified of changes in traffic light status. Therefore, even when multiple traffic lights are identified ahead of the vehicle, the risk of mistakenly identifying a traffic light other than the one for this lane is reduced, and the change in the traffic light status of this lane is communicated.

[0013] [Method of Invention]

[0014] In one embodiment of the present invention, the control unit (assisted driving ECU 10) is configured to identify a red light signal light among the plurality of signal lights that remains in a state of a reference duration or longer as a signal light for the current lane (S30, S40).

[0015] In intersections such as large intersections, the traffic lights of two intersecting roads may temporarily turn red simultaneously. However, the time it takes for the traffic light that is not for the current lane to turn red is shorter than the time it takes for the traffic light for the current lane to turn red. Therefore, the duration of the red light signal can be used to determine whether it is the traffic light for the current lane.

[0016] According to the above method, a traffic light whose red light status remains continuous for more than a reference duration is identified as the traffic light for that lane. Therefore, even if traffic lights on two intersecting roads temporarily become red simultaneously, it can prevent the misidentification of a traffic light that is not for the current lane as the current lane's traffic light, thus avoiding false notifications.

[0017] In another embodiment of the invention, the control unit (driving assistance ECU 10) is configured such that when there is no red light signal light among the plurality of signal lights whose light state continues for more than a reference duration, the control unit does not notify the signal light of the change in light state (S30).

[0018] If a vehicle arrives at and stops before the traffic light in a lane after a specified period of time has elapsed since the light turned red, the red light duration is short, and therefore the vehicle will not be recognized as the traffic light for that lane. Consequently, it is possible to mistakenly identify a traffic light that is not for the designated lane as the traffic light, resulting in a false notification.

[0019] According to the above method, when none of the traffic lights has a red light that remains in a red state for more than the reference duration, no notification is given regarding the change in the traffic light's state. Therefore, it prevents the misidentification of a traffic light that is not for the current lane as the current lane's traffic light, thus avoiding false notifications.

[0020] In another embodiment of the invention, the control unit (driving assistance ECU 10) is configured to: based on the information obtained by the target information acquisition device (15), if it is determined that the vehicle is the lead vehicle in the queue (S70) and the vehicle is still in a parked state even after a reference standby time has elapsed since the notification of the change in the light status was initiated (S90, S100), then issue a notification to urge the vehicle to start (S110).

[0021] Based on the above method, if a vehicle is determined to be the first vehicle in the lane and remains stationary even after a baseline waiting time following the initial notification of the change in traffic light status, a notification will be issued urging the vehicle to move. Therefore, even if the traffic light for the lane turns green, the likelihood of the vehicle remaining stationary for an excessively long time can be reduced if the driver is unaware of this and does not move.

[0022] In another embodiment of the present invention, the control unit (assisted driving ECU 10) is configured to: based on the information obtained by the target information acquisition device (15), if it is determined that the vehicle is at the head of the right turn lane at the intersection (S150, S180) and the right turn arrow is lit while the traffic light of the lane is in red light state (S170), then a notification is issued urging the vehicle to start and turn right (S190 to S220).

[0023] Based on the above method, if a vehicle is determined to be at the head of the right-turn lane at an intersection and the traffic light for that lane is red when the right-turn arrow is illuminated, a notification will be sent urging the vehicle to start moving and turn right. Therefore, even if the right-turn arrow for that lane is illuminated, if the driver does not recognize it and does not start moving, the risk of the vehicle remaining stationary in the right-turn lane for an extended period can be reduced.

[0024] In the foregoing description, to aid in understanding the invention, the names and / or symbols used in the embodiments described below are enclosed in parentheses to indicate the structure of the invention. However, the constituent elements of the invention are not limited to the constituent elements of the embodiments corresponding to the names and / or symbols enclosed in parentheses. Another object, another feature, and ancillary advantages of the invention can be readily understood from the description of the embodiments of the invention as illustrated in the following drawings. Attached Figure Description

[0025] Figure 1 This is a schematic structural diagram illustrating an embodiment of the vehicle-mounted driver assistance device based on the present invention.

[0026] Figure 2 This is a flowchart corresponding to the start-up prompt control procedure in the first embodiment.

[0027] Figure 3 This is a flowchart corresponding to the main part of the start-up prompt control procedure in the second embodiment.

[0028] Figure 4 This refers to a situation where a vehicle is stopped as the first vehicle in a line at an intersection where a single-lane road intersects with a road without a central divider.

[0029] Figure 5 This indicates a situation where a vehicle is stopped as the first vehicle in a line at an intersection where two single-lane roads intersect due to traffic lights.

[0030] Figure 6 This indicates a situation where, at an intersection where a road with two lanes on one side intersects with a road with one lane on the other, a vehicle is stopped at the right turn lane (the rightmost lane) as the first vehicle in the line. Detailed Implementation

[0031] Hereinafter, with reference to the accompanying drawings, a vehicle-assisted driving device according to embodiments of the present invention will be described in detail.

[0032] like Figure 1 As shown, the driver assistance device 100 according to the embodiments of the present invention is applicable to a vehicle 102 and includes a driver assistance ECU 10. The vehicle 102 is a vehicle capable of autonomous driving and includes a drive ECU 20, a brake ECU 30, and an instrument ECU 50. ECU refers to an electronic control unit (ECU) with a microcomputer as its main component.

[0033] Each ECU's microcomputer includes a CPU, ROM, RAM, read / write non-volatile memory (NVM), and an interface (I / F). The CPU executes instructions (programs, routines) stored in the ROM to perform various functions. Furthermore, these ECUs are interconnected via a Controller Area Network (CAN) 104, enabling them to exchange (communicate) data. Therefore, detection values ​​from sensors (including switches) connected to a specific ECU are also sent to other ECUs.

[0034] The driver assistance ECU 10 is the central control device for driving control functions such as start-up facilitation control and following distance control (adaptive cruise control). In the implementation, as detailed later, the driver assistance ECU 10 works in conjunction with other ECUs to execute start-up facilitation control.

[0035] A camera sensor 12, a radar sensor 14, and a switch 16 are connected to the driver assistance ECU 10. The camera sensor 12 and the radar sensor 14 each include multiple camera devices and multiple radar devices. The camera sensor 12 and the radar sensor 14 function as a target information acquisition device 15 for acquiring target information about objects around the vehicle 102.

[0036] Although not shown in the figure, each camera device of the camera sensor 12 includes: a camera unit that captures images of the area in front of the vehicle 102; and an identification unit that analyzes the image data captured by the camera unit to identify targets such as road white lines or boundaries, other vehicles, etc. The identification unit provides the identified information related to the targets to the driver assistance ECU 10 at predetermined intervals.

[0037] Each radar unit of radar sensor 14 uses millimeter-wave radio waves to detect the distance between the vehicle and three-dimensional objects, the relative speed between the vehicle and the three-dimensional objects, and the relative position (direction) of the three-dimensional objects relative to the vehicle, and supplies the information representing these to the driver assistance ECU 10 at predetermined intervals. Alternatively, light detection and ranging (LiDAR) can be used instead of radar sensor 14 or in addition to radar sensor 14.

[0038] Setting switch 16 is set as follows Figure 1 It is a position that can be operated by the driver, as shown in the diagram (not a steering wheel), and is operated by the driver. Although in Figure 1 Not shown, but switch 16 includes a start-up facilitation control switch. When the start-up facilitation control switch is turned on, the driver assistance ECU 10 performs start-up facilitation control.

[0039] The drive ECU 20 is connected to a drive unit 22 that accelerates the vehicle 102 by applying driving force to the drive wheels 24. The drive ECU 20 typically controls the drive unit 22 so that the driving force generated by the drive unit 22 changes according to the driving operation performed by the driver. When it receives a command signal from the driver assistance ECU 10, it controls the drive unit 22 according to the command signal.

[0040] A braking device 32 is connected to the braking ECU 30. This braking device 32 decelerates the vehicle 102 by applying braking force to the wheels 34. Under normal circumstances, the braking ECU 30 controls the braking device so that the braking force generated by the braking device 32 varies according to the braking operation performed by the driver. If a command signal is received from the driver assistance ECU 10, the braking device 32 is controlled based on the command signal, thereby performing automatic braking. Additionally, the wheels 34 include drive wheels 24.

[0041] Therefore, the drive ECU 20, drive unit 22, brake ECU 30, and brake unit 32 function as a braking force control device 40 that coordinates with each other to control the braking force of the vehicle 102. Furthermore, when the braking force control device 40 automatically applies braking force to the wheels, it does not... Figure 1 The brake lights shown in the image will also illuminate.

[0042] The instrument cluster ECU 50 is connected to a display 52 that shows the control status based on the driver assistance ECU 10, and an alarm device 54 that issues an alarm. As described later, the instrument cluster ECU 50, the display 52, and the alarm device 54 function as a notification device 56 that informs the signal lights of their status and changes.

[0043] Display 52 may be a multi-information display showing instrument clusters and various information, or it may be a display for a navigation device (not shown). If display 52 receives a command signal from the driver assistance ECU 10, it displays the status and changes of the traffic lights.

[0044] The alarm device 54 activates when the vehicle 102 fails to start after a preset time, even though the vehicle is capable of starting, and issues an alarm indicating that the vehicle should start. The alarm device 54 can be any one of the following: a visual alarm device such as a warning light; an audible alarm device such as a warning buzzer; or a tactile alarm device such as seat vibration; or any combination thereof.

[0045] The driving operation sensor 60 and the vehicle status sensor 70 are also connected to the CAN 104. Information detected by the driving operation sensor 60 and the vehicle status sensor 70 (referred to as sensor information) is sent to the CAN 104. The sensor information sent to the CAN 104 can be appropriately utilized in each ECU. Furthermore, the sensor information can be information from sensors connected to a specific ECU, and can be sent from that specific ECU to the CAN 104.

[0046] The driving operation sensor 60 includes: a drive operation quantity sensor to detect the amount of operation of the accelerator pedal; a brake operation quantity sensor to detect the pressure on the master cylinder or the force applied to the brake pedal; and a brake switch to detect whether the brake pedal is operated. Furthermore, the driving operation sensor 60 includes a steering angle sensor to detect the steering angle θ, a steering torque sensor to detect the steering torque, etc.

[0047] The vehicle status sensor 70 includes a vehicle speed sensor for detecting the vehicle speed V of the vehicle 102, a front-rear acceleration sensor for detecting the vehicle's front-to-back acceleration, a lateral acceleration sensor for detecting the vehicle's lateral acceleration, and a yaw rate sensor for detecting the vehicle's yaw rate.

[0048] Furthermore, the navigation device 80 is also connected to the CAN 104. The navigation device 80 includes: a GPS receiver that detects the position of the vehicle 102; a storage device that stores map information and road information; and a communication device that acquires the latest map and road information from external sources. Therefore, the navigation device 80 functions as a road information acquisition device for obtaining information about the roads traveled by the vehicle 102. In particular, the road information includes information such as the location of intersections and the presence or absence of traffic lights. Additionally, the camera sensor 12 can also function as a road information acquisition device.

[0049] In the first embodiment described later, the ROM of the driver assistance ECU 10 stores information related to... Figure 2The flowchart shown corresponds to the start-up urge control program. Furthermore, in the second embodiment, the ROM of the driver assistance ECU 10 stores... Figure 2 and Figure 3 The flowchart shown corresponds to the start-up urgency control program.

[0050] [First Implementation Method]

[0051] Next, refer to Figure 2 The flowchart shown illustrates the start-up urge control in the first embodiment. Based on Figure 2 The start-up urge control shown in the flowchart is repeatedly executed by the CPU of the driver assistance ECU 10 at predetermined intervals when switch 16 is turned on.

[0052] First, in step S10, the CPU determines whether vehicle 102 is stopped in front of the traffic light based on the target information acquired by the target information acquisition device 15. In this case, the position of vehicle 102 on the map detected by navigation device 80 and / or the vehicle speed detected by vehicle speed sensor can be considered. If a negative determination is made, step S10 is repeated; if a positive determination is made, the control proceeds to step S20.

[0053] In step S20, the CPU determines whether there are multiple traffic lights in front of the vehicle 102 based on the target information obtained by the target information acquisition device 15. If a negative determination is made, the control proceeds to step S50; if a positive determination is made, the control proceeds to step S30.

[0054] In step S30, the CPU determines, based on the target object information acquired by the target object information acquisition device 15, whether there is a red light signal among the multiple traffic lights whose duration of the red light signal exceeds the reference duration Tcc (a positive constant). If a negative determination is made, step S30 is repeated; if a positive determination is made, the control proceeds to step S40.

[0055] In addition, although Figure 2 Although not shown in the diagram, if a negative determination is made during step S30, which covers a period exceeding the reference duration Tcc, this control will not repeat step S30, and this control will temporarily terminate. Therefore, the notifications for steps S80 and S110, which will be described later, will not be performed.

[0056] In step S40, the CPU identifies the traffic light determined in step S30 as the traffic light for this lane, i.e., the traffic light that vehicle 102 should follow.

[0057] In step S50, the CPU identifies a traffic light detected in step S10 as the traffic light for this lane, i.e., the traffic light that vehicle 102 should follow.

[0058] In step S60, the CPU determines whether the light status of the traffic light identified as the lane has changed from red to green. If a negative determination is made, step S60 is repeated; if a positive determination is made, the control proceeds to step S70.

[0059] In step S70, the CPU determines whether vehicle 102 is the first vehicle in the queue, i.e., whether vehicle 102 is at the head of the line of vehicles stopped in front of the traffic light. If a negative determination is made, the control temporarily terminates; if a positive determination is made, the control proceeds to step S80. Additionally, a positive determination is also made when only vehicle 102 is waiting for the signal in its lane.

[0060] In step S80, the CPU sends a command signal to the instrument ECU 50, and displays "signal has turned green" on the display 52, thereby initiating the notification that the signal light status changes from red to green.

[0061] In step S90, the CPU determines whether the vehicle 102 has started moving based on the vehicle speed detected by the vehicle speed sensor and / or the target information acquired by the target information acquisition device 15. If a positive determination is made, the notification that began in step S80 ends, and the main control temporarily terminates. If a negative determination is made, the control proceeds to step S100.

[0062] In step S100, the CPU determines whether a time exceeding the reference standby time Tsc (a positive constant) has elapsed since the notification began in step S80. If a negative determination is made, the control returns to step S90; if a positive determination is made, the control proceeds to step S110.

[0063] In step S110, the CPU outputs a command signal to the instrument cluster ECU 50, displaying, for example, "Please start" on the display 52. ​​This not only replaces the notification of a change in the indicator light status but also provides a notification urging the vehicle to start. Furthermore, the CPU outputs a command signal to the instrument cluster ECU 50 to activate the alarm device 54, issuing an alarm that requires the vehicle to start. If the vehicle starts moving, the notification and alarm can be terminated. The alarm can also be issued if a predetermined time has elapsed since the notification urging the vehicle to start, but the vehicle has not started.

[0064] [Second Implementation]

[0065] Next, refer to Figure 3 The flowchart shown illustrates the start-up urgency control in the second embodiment. Based on Figure 3 The start-up urge control shown in the flowchart is also repeatedly executed by the CPU of the driver assistance ECU 10 at each predetermined time when switch 16 is turned on.

[0066] In the second embodiment, if in Figure 2 If a negative decision is made in step S60 of the flowchart shown, then this control enters... Figure 3 Step S150 of the flowchart shown. Except for this, steps S10 to S110 are performed in the same manner as in the first embodiment.

[0067] In step S150, the CPU determines whether vehicle 102 is in the right-turn lane of the intersection based on the target information acquired by the target information acquisition device 15. In this case, the location information of vehicle 102 on the map detected by the navigation device 80 can be considered. If a negative determination is made, the control returns to step S60; if a positive determination is made, the control proceeds to step S160.

[0068] In step S160, the CPU determines whether there is a right-turn arrow signal in the traffic lights of this lane. If a negative determination is made, the control returns to step S600; if a positive determination is made, the control proceeds to step S170.

[0069] In step S170, the CPU determines whether the right-turn arrow signal of the traffic light for this lane is illuminated. If a negative determination is made, step S170 is repeated; if a positive determination is made, the control proceeds to step S180.

[0070] In step S180, the CPU determines whether vehicle 102 is the first vehicle in the queue, i.e., whether vehicle 102 is at the head of the line of vehicles stopped in the right-turn lane. If a negative determination is made, the control temporarily terminates; if a positive determination is made, the control proceeds to step S190. Furthermore, a positive determination is also made when only vehicle 102 is waiting for the signal in the right-turn lane.

[0071] In step S190, the CPU sends a command signal to the instrument ECU 50 and displays, for example, "Able to start and turn right" on the display 52, thereby informing the vehicle that it is able to start and turn right.

[0072] In step S200, the CPU determines whether the vehicle 102 has started moving based on the vehicle speed detected by the vehicle speed sensor and / or the target information obtained by the target information acquisition device 15. If a positive determination is made, the control temporarily terminates; if a negative determination is made, the control proceeds to step S210.

[0073] In step S210, the CPU determines whether a time exceeding the reference standby time Trc (a positive constant) has elapsed since the notification was initiated in step S190. If a negative determination is made, the control returns to step S200; if a positive determination is made, the control proceeds to step S220.

[0074] In step S220, the CPU outputs a command signal to the instrument cluster ECU 50, thereby displaying, for example, "Please start" on the display 52. ​​This not only informs the driver of the intention to start the vehicle and turn right, but also serves as a notification to the driver. Furthermore, the CPU activates the alarm device 54 by outputting a command signal to the instrument cluster ECU 50, issuing an alarm that the vehicle should start. Similar to step S110, the notification and alarm can end when the vehicle starts. The alarm can also be issued if a predetermined time has elapsed since the notification urging the vehicle to start, but the vehicle has not started.

[0075] [Working with the First and Second Embodiments]

[0076] Next, the operation of the first and second embodiments will be explained in relation to various situations in which vehicles stop in front of traffic lights.

[0077] (1) When multiple traffic lights are detected ( Figure 4 )

[0078] Figure 4 This indicates that at an intersection 114 where a single-lane road 110 intersects with a road 112 without a central divider, vehicle 102 is stopped at the signal in the left lane 116 of road 110 as the lead vehicle.

[0079] Ahead of vehicle 102 are traffic lights 118 for lane 116 and 120 for road 112. Based on target information acquired by target information acquisition device 15, traffic lights 118 and 120 are detected. Traffic light 118 is in a red light state, and traffic light 120 is in a green light state.

[0080] In this case, a positive determination is made in steps S10 and S20. If the red light status of traffic light 118 continues for a reference duration Tcc or more, a positive determination is made in step S30, and traffic light 118 is identified as the traffic light for lane 116 in step S40.

[0081] If the traffic light 118 changes from red to green, a positive determination is made in step S60. Since vehicle 102 is the lead vehicle, a positive determination is made in step S70. Therefore, in step S80, the change of traffic light 118 from red to green is displayed on the display 52, and a notification with the same message begins.

[0082] If vehicle 102 starts moving, a positive determination is made in step S90, and the notification that started in step S80 ends. Conversely, if vehicle 102 has not started moving, a negative determination is made in step S90. Therefore, if a time exceeding the baseline standby time Tsc has elapsed since the notification started in step S80, a notification urging the vehicle to start is issued, along with an alarm indicating that the vehicle should start (steps S100 and S110).

[0083] (2) The case where only one traffic light is detected ( Figure 5 )

[0084] Figure 5 This indicates that at the intersection 124 where a single-lane road 110 intersects with a single-lane road 122, vehicle 102 is stopped at the signal in the left lane 116 of road 110 as the first vehicle in the line.

[0085] Ahead of vehicle 102 are traffic lights 118 for lane 116 and traffic lights 126 for road 122, and the system is configured to detect only traffic light 118 based on target information acquired by target information acquisition device 15. Furthermore, traffic light 118 is set to a red light, and traffic light 126 is set to a green light.

[0086] In this case, a positive determination is made in step S10, but a negative determination is made in step S20. Therefore, in step S50, traffic light 118 is identified as the traffic light for this lane. Thereafter, by executing steps S60 to S110, the same control as in case (1) above is performed.

[0087] (3) When a vehicle is waiting for a traffic light in the right-turn lane ( Figure 6 )

[0088] Figure 6 This indicates that at the intersection 134, where a road 130 with two lanes on one side intersects with a road 132 with one lane on one side, vehicle 102 is stopped at the right turn lane 136 of road 130 as the first vehicle in the line.

[0089] The signal 138 on road 130 ahead of vehicle 102 is a signal 138A with an arrow. The light status of signal light 138 is red, and the light status of signal light 140 on road 132 is green.

[0090] In the first embodiment, in the above-described case, steps S10 to S110 are performed in the same manner as in cases (1) or (2) described above.

[0091] In contrast, in the second embodiment, steps S10 to S50 are performed in the same manner as in cases (1) or (2) above, but if a negative determination is made in step S60, steps S150 to S220 are performed.

[0092] Vehicle 102 is waiting for the signal in the right-turn lane ahead of intersection 134, therefore a positive determination is made in step S150. Signal 138 is signal 138A with an arrow, therefore a positive determination is made in step S160.

[0093] If arrow signal 138A is not illuminated, a negative determination is made in step S170, and therefore no notification is sent. Conversely, if arrow signal 138A is illuminated, a positive determination is made in step S170. Since vehicle 102 is the lead vehicle, a positive determination is made in step S180, and in step S190, the vehicle is notified that it can start and turn right.

[0094] If vehicle 102 starts moving, a positive determination is made in step S200, and the notification that started in step S190 ends. Conversely, if vehicle 102 has not started moving, a negative determination is made in step S200. Therefore, if a time greater than the reference standby time Trc has elapsed since the notification started in step S190, an intention to urge the vehicle to start is notified, and an alarm indicating the intention to start the vehicle is issued (steps S210 and S220).

[0095] As can be seen from the above description, according to the first and second embodiments, when the vehicle 102 is parked (S10), if it is determined that there are multiple traffic lights in front of the vehicle (S20), the traffic light whose red light status lasts for more than a reference duration is identified as the traffic light for this lane (S30, S40). In addition, the change in the light status is notified regarding the identified traffic light (S60 to S110).

[0096] Therefore, a traffic light whose status is not red will not be identified as the traffic light for this lane. This reduces the possibility of multiple traffic lights being mistaken for the traffic light for this lane, thus minimizing the chance of not being notified of changes in traffic light status. Therefore, even when multiple traffic lights are identified ahead of the vehicle, the risk of mistakenly identifying a traffic light other than the one for this lane is reduced, and the change in the traffic light status of this lane is communicated.

[0097] Furthermore, among multiple traffic lights, those that are not red lights and whose red light status lasts for more than the reference duration are not identified as traffic lights for this lane (S30, S40). Therefore, even if the traffic lights on two intersecting roads are temporarily red simultaneously, it can prevent the misidentification of traffic lights that are not for this lane as traffic lights for this lane, thus preventing false notifications.

[0098] As mentioned above, if a vehicle arrives at and stops before the traffic light in a lane after a period of time has elapsed since the traffic light turned red, the red light duration is short, and therefore the traffic light in that lane will not be recognized as the traffic light for that lane. Consequently, it is possible to mistakenly identify a traffic light that is not for the lane as the traffic light for the lane in case of a false notification.

[0099] According to the first and second embodiments, when there is no red light signal among the multiple traffic lights that remains in a red state for a duration exceeding a reference duration, the change in the light state of the traffic light is not notified (S30). Therefore, it is possible to prevent the misidentification of a traffic light that is not for the current lane as a traffic light for the current lane, thus preventing false notifications.

[0100] Furthermore, according to the first and second embodiments, if the vehicle is determined to be the first vehicle in the lane (S70) and remains stationary even after a reference waiting time has elapsed since the notification of the change in the traffic light status (S90, S100), a notification is issued urging the vehicle to start moving, and an alarm is triggered (S110). Therefore, even if the traffic light for this lane turns green, the possibility of the vehicle remaining stationary for an excessively long time can be reduced if the driver is unaware of this and does not start moving.

[0101] In particular, according to the second embodiment, if it is determined that a vehicle is at the head of the right-turn lane at an intersection (S150, S180) and the traffic light for that lane is red, the right-turn arrow is illuminated (S160, S170), and a notification is issued urging the vehicle to start moving and turn right (S190-S220). Therefore, even if the right-turn arrow for that lane is illuminated, if the driver does not recognize this and does not start moving, the risk of the vehicle remaining stationary in the right-turn lane for an extended period of time can be reduced.

[0102] The specific embodiments of the present invention have been described in detail above, but the present invention is not limited to the above embodiments. It will be obvious to those skilled in the art that other various embodiments can be implemented within the scope of the present invention.

[0103] For example, in the first and second embodiments described above, even if a traffic light has a red light among multiple traffic lights, a negative determination is made in step S30 as long as the red light does not last for a reference duration Tcc or more. However, if a traffic light has a red light among multiple traffic lights, a positive determination can be made in step S30, and the traffic light can be identified as the traffic light for this lane in step S40.

[0104] Furthermore, in the first and second embodiments, when a negative determination is made in step S60, step S60 is repeated without any notification. Similarly, when a negative determination is made in step S170, step S170 is repeated without any notification. However, when a negative determination is made in steps S60 and S170, a notification to suppress the start-up, such as "not yet able to start," may be made.

[0105] Furthermore, in the first and second embodiments, when a negative determination is made in step S70, control is temporarily suspended without any notification. Similarly, when a negative determination is made in step S180, control is temporarily suspended without any notification. However, when a negative determination is made in steps S70 and S180, a notification urging preparation for starting, such as "starting is possible as long as the preceding vehicle starts moving," may be made.

[0106] Furthermore, in the first and second embodiments, the notification device 56 includes both a display 52 and an alarm device 54. In steps S110 and S220, notification is provided through both the display 52 and the alarm device 54. However, either the display 52 or the alarm device 54 may be omitted, and notification may be provided solely through the display 52 or the alarm device 54.

[0107] Symbol Explanation

[0108] 10-Assisted driving ECU, 12-Camera sensor, 14-Radar sensor, 15-Target information acquisition device, 22-Drive device, 32-Braking device, 56-Notification device, 100-Assisted driving device, 102-Vehicle, 114, 124, 134-Intersection, 118, 120, 138-Traffic lights, 136-Right turn lane.

Claims

1. A vehicle driver assistance device, characterized in that, include: Target information acquisition device, which acquires target information in front of the vehicle; A notification device that notifies the driver of information; The control unit determines the status of the traffic light in the lane ahead of the vehicle based on information obtained from the target information acquisition device. The control unit is configured such that, when the vehicle is stopped, if it is determined that the traffic light in the lane has changed from red to green, it performs start-up acceleration control by notifying the vehicle of the change in traffic light status via the notification device. The control unit is configured such that, when the vehicle is parked, based on information obtained by the target information acquisition device, if it is determined that there are multiple traffic lights in front of the vehicle, the traffic light that is in a red light state among the multiple traffic lights is identified as the traffic light of this lane, and the change in the light state of the identified traffic light is notified.

2. The vehicle driver assistance device according to claim 1, characterized in that, The control unit is configured to identify a red light among the plurality of traffic lights that remains in a state for a reference duration or longer as a traffic light for this lane.

3. The vehicle driver assistance device according to claim 1, characterized in that, The control unit is configured such that when there is no red light signal light among the plurality of signal lights whose light status remains for more than a reference duration, it does not notify the signal light of the change in light status.

4. The vehicle driver assistance device according to claim 1, characterized in that, The control unit is configured to, based on information obtained by the target information acquisition device, if it is determined that the vehicle is the lead vehicle and the vehicle is still in a stopped state even after a reference standby time has elapsed since the notification of the change in the light status was initiated, issue a notification to urge the vehicle to start moving.

5. The vehicle driver assistance device according to claim 1, characterized in that, The control unit is configured to, based on the information obtained by the target information acquisition device, if it is determined that the vehicle is at the head of the right-turn lane at the intersection and the traffic light of the lane is always in red light mode and the right-turn arrow is lit, then issue a notification to urge the vehicle to start and turn right.

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