Driver assistance procedure, driver assistance device and driver assistance system using this procedure

Abstract

Driver assistance system, comprehensive: a detector (20) that detects at least one of the speed of an obstacle around a vehicle (100) and a distance between the vehicle (100) and the obstacle; a self-driving control device (30) that calculates a collision possibility between the obstacle detected by the detector (20) and the vehicle (100), controls the self-driving of the vehicle (100) using the calculated collision possibility as a determining parameter and stops the vehicle (100) if the collision possibility is greater than a predetermined value; a notification device (2) that generates a notification from at least information about the control of the self-driving control device (30); and a driver assistance device (40) that supports notification, wherein the driver assistance device (40) outputs initial query information to the notification device (2) to ask an occupant of the vehicle (100) whether the possibility of collision between the obstacle and the vehicle (100) should be excluded from the determination parameter if a distance from a first point to the obstacle is greater than or equal to a first threshold value, and the speed of the obstacle detected by the detector (20) is less than or equal to a second threshold value, if stopping behavior information about the vehicle (100) is input by the self-driving control device (30), wherein the first point is a point at which a predicted movement path of the vehicle (100) intersects with a movement path of the obstacle predicted based on detection by the detector (20), and The driver assistance device (40) issues a first command to exclude the possibility of collision between the obstacle and the vehicle (100) from the determination parameter to the self-driving control device (30) when a response signal of an exclusion response operation performed by the occupant is entered with respect to the first query information from which the notification device (2) creates the notification.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle, a driving assistance method applied to the vehicle, a driving assistance device using the driving assistance method, a self-driving control device, a program, and a driving assistance system. STATE OF THE ART

[0002] During automatic driving (self-driving) of a vehicle, an obstacle is detected and the vehicle is automatically stopped at a predetermined distance from the obstacle. A far-obstacle detector, which only detects the presence or absence of an obstacle within a far-obstacle range, and a near-obstacle detector, which determines the distance to a detected obstacle within a near-obstacle range, are provided to optimally control the automatic stopping of a vehicle traveling at medium and high speeds (e.g., see PTL 1).

[0003] PTL 2 discloses a driving condition determination system that detects an obstacle in a vehicle that may collide with the vehicle based on various received information. The system performs multiple hazard determinations based on a relative distance and relative speed to the obstacle, each of which has individual determination conditions, to thereby comprehensively determine one of several hazard areas in which the vehicle is located.

[0004] Hazardous areas are classified according to their degree of danger. The system then outputs a determination result to the relevant devices. Each of the relevant devices determines an operation by receiving the overall determined result output by the system. As a result, the relevant devices can work more cooperatively and effectively than is possible with other systems, where each of the relevant devices determines an operation by individually gathering information, leading to increased safety.

[0005] PTL 3 discloses a vehicle system including a sensor that detects a speed of at least one nearby vehicle and outputs a speed signal representative of the speed of the at least one nearby vehicle. The vehicle system further includes a processing device programmed to determine a target speed based on the speed signal output by the sensor. The processing device generates a command signal to control a host vehicle in accordance with the target speed. Citation listPatent literature PTL 1: Unexamined Japanese Patent Publication No. 10-16734 PTL 2: German Disclosure Document DE 10 2005 026 693 A1 PTL 3: German Disclosure Application No. DE 10 2015 120 996 A1 SUMMARY OF THE INVENTION

[0006] The object of the present disclosure is to provide a technique for traveling in a situation-appropriate manner even when an obstacle is present.

[0007] According to one aspect of the present disclosure, a driving assistance system includes a detector, a self-driving control device, a notification device, and a driving assistance device. The detector detects at least one of a speed of an obstacle around a vehicle and a distance between the vehicle and the obstacle. The self-driving control device calculates a collision possibility between the obstacle detected by the detector and the vehicle, controls automatic driving (self-driving) of the vehicle using the calculated collision possibility as a determination parameter, and stops the vehicle when the collision possibility is greater than a predetermined value. The notification device creates a notification from at least information related to the control of the self-driving control device. The driving assistance device assists the notification.The driving assistance device outputs first query information to the notification device to ask an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination parameter when a distance from a first point to the obstacle is greater than or equal to a first threshold and the speed of the obstacle detected by the detector is less than or equal to a second threshold, if stopping behavior information regarding the vehicle is input from the self-driving control device. The first point is a point where a predicted movement route of the vehicle intersects a movement route of the obstacle predicted based on the detection by the detector.The driving assistance device outputs a first command for excluding the collision possibility between the obstacle and the vehicle from the determination parameter to the self-driving control device when a response signal of an exclusion response operation performed by the occupant is inputted with respect to the first query information from which the notification device creates the notification.

[0008] Another aspect of the present disclosure provides a driving assistance device. The driving assistance device includes a detector, a self-driving control device, and a notification device, the driving assistance device being installed in a vehicle. The detector detects at least one of a speed of an obstacle around the vehicle and a distance between the vehicle and the obstacle. The self-driving control device calculates a collision possibility between the obstacle detected by the detector and the vehicle, controls automatic driving (self-driving) of the vehicle using the calculated collision possibility as a determination parameter, and stops the vehicle when the collision possibility is greater than a predetermined value. The notification device creates a notification from at least information related to the control of the self-driving control device.The driving assistance device outputs first query information to the notification device to query a vehicle occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination parameter when a distance from a first point to the obstacle is greater than or equal to a first threshold and the speed of the obstacle detected by the detector is less than or equal to a second threshold, in a case where stopping behavior information regarding the vehicle is input from the self-driving control device. The first point is a point where a predicted movement route of the vehicle crosses a movement route of the obstacle predicted based on the detection by the detector.The driving assistance device outputs a first command for excluding the collision possibility between the obstacle and the vehicle from the determination parameter to the self-driving control device when a response signal of an exclusion response operation performed by the occupant is inputted with respect to the first query information from which the notification device creates the notification.

[0009] Another aspect of the present disclosure provides a driving assistance method. The driving assistance method is one in a driving assistance device including a detector, a self-driving control device, and a notification device, the driving assistance device to be installed in a vehicle. The detector detects at least one of a speed of an obstacle around the vehicle and a distance between the vehicle and the obstacle. The self-driving control device calculates a collision possibility between the obstacle detected by the detector and the vehicle, controls automatic driving (self-driving) of the vehicle using the calculated collision possibility as a determination parameter, and stops the vehicle when the collision possibility is greater than a predetermined value.The notification device creates a notification from at least information related to the control of the self-driving control device. The driving assistance method includes: a step of outputting first query information to the notification device for querying an occupant of the vehicle whether to exclude the possibility of collision between the obstacle and the vehicle from the determination parameter when a distance from a first point at which a predicted movement route of the vehicle and a movement route of the obstacle predicted based on detection by the detector intersect to the obstacle is greater than or equal to a first threshold and the speed of the obstacle detected by the detector is less than or equal to a second threshold, in a case where stopping behavior information related to the vehicle is input from the self-driving control device; and a step of outputting a first command for excluding the possibility of collision between the obstacle and the vehicle from the determination parameter to the self-driving control device when a response signal of an exclusion response operation performed by the occupant is inputted with respect to the first query information from which the notification device creates the notification.

[0010] Any desired combinations of the above-described components and modifications of the features of the present disclosure in devices, systems, methods, programs, (non-transitory) recording media containing the programs, vehicles in which the present devices are mounted, or other units are also effective as other aspects of the present disclosure.

[0011] In the present disclosure, the vehicle can travel appropriately even if the obstacle is present. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing a configuration of a vehicle according to a first exemplary embodiment. Fig. 2 is a diagram schematically showing an interior of the vehicle of the Fig. 1 shows. Fig. 3 is a view showing a processing overview of the first exemplary embodiment. Fig. 4 is a diagram showing a configuration of a control device of the Fig. 1 shows. Fig. Fig. 5 is a view showing an image displayed on a notification device of the Fig. 2 is displayed. Fig. 6 is a view showing a processing overview performed by a query processing unit of the Fig. 4 is executed. Fig. Fig. 7 is a view showing another processing overview performed by the query processing unit of the Fig. 4 is executed. Fig. Fig. 8 is a view showing another processing overview performed by the query processing unit of the Fig. 4 is executed. Fig. 9 is a flowchart showing a command flow from a control device of the Fig. 4 shows. Fig. 10 is a flowchart showing another command flow from the control device of the Fig. 4 shows. Fig. 11 is a view showing a processing overview according to a second exemplary embodiment. Fig. 12 is a view showing an image displayed on a notification device according to the second exemplary embodiment. Fig. 13 is a view showing another processing overview of a control device of the second exemplary embodiment. Fig. 14 is a view showing another processing overview according to the second exemplary embodiment. Fig. 15 is a view showing a processing overview according to a third exemplary embodiment. Fig. 16 is a view showing an image displayed on a notification device of the third exemplary embodiment. Fig. 17 is a flowchart showing a command flow of a control device of the third exemplary embodiment. Fig. 18 is a flowchart showing another command flow from the control device of the third exemplary embodiment. Fig. 19 is a view showing a processing overview according to a fourth exemplary embodiment. Fig. 20 is a view showing an image displayed on a notification device of the fourth exemplary embodiment. Fig. 21 is a view showing another processing overview of a control device of the fourth exemplary embodiment. Fig. 22 is a view showing a processing overview according to a fifth exemplary embodiment. Fig. 23 is a view showing an image displayed on a notification device of the fifth exemplary embodiment. DESCRIPTION OF EMBODIMENTS

[0012] Before describing exemplary embodiments of the present disclosure, a problem with a conventional device will be briefly described. The autonomous vehicle automatically stops when it detects another vehicle or a pedestrian during a right or left turn or a merge. At this point, sometimes a driver of the other vehicle or the pedestrian yields the right-of-way to the autonomous vehicle. Sometimes, another vehicle fails and is forced to stop.Even if the driver of the other vehicle or the pedestrian yields the right-of-way to the self-driving vehicle or the other vehicle fails and stops, the automatically stopped self-driving vehicle cannot start moving again because the self-driving vehicle determines that there is a possibility of collision with a peripheral obstacle including the other vehicle or pedestrian when it detects that an obstacle such as the other vehicle or pedestrian is within a predetermined distance from the self-driving vehicle. (First exemplary embodiment)

[0013] Before describing the present disclosure in detail, an overview will be described. A first exemplary embodiment relates to a vehicle that calculates a collision possibility with a detected obstacle and performs automatic driving using the calculated collision possibility as a determination object. More specifically, the first exemplary embodiment relates to a device (hereinafter also referred to as a "driving assistance device") that controls a human-machine interface (HMI) that exchanges information about a driving behavior of the vehicle with an occupant (e.g., a driver) of the vehicle. The "driving behavior" includes an operating state such as steering and braking when driving and stopping the vehicle, or a control content related to self-driving control. Examples of the driving behavior include constant-speed driving, acceleration,Deceleration, temporary stop, stop, lane change, change of course, right or left turn, parking, and the like. In addition, examples of driving behavior may include cruising (maintaining a lane and maintaining vehicle speed), lane keeping, following a vehicle in front, stopping and starting while following, lane changing, overtaking, responding to a merging vehicle, making a transition (change) including entering and exiting a highway, merging, responding to construction, responding to an emergency vehicle, responding to an interrupting vehicle, responding to lanes exclusively designated for right and left turns, interacting with a pedestrian and a bicycle, avoiding an obstacle other than a vehicle, responding to a sign,a response to restrictions on right and left turns and reversing, a response to a lane restriction, a response to one-way traffic, a response to a traffic sign, a response to an intersection and a roundabout, and the like.

[0014] In driving behaviors such as stopping and turning right and left, when an obstacle such as a peripheral vehicle and a person are present near the vehicle, the self-driving control device calculates the possibility of collision with the obstacle and stops the vehicle when the possibility of collision exceeds a predetermined value. If a situation in which the possibility of collision exceeds the predetermined value persists, the self-driving control device will not allow the vehicle to start moving. Even in such a situation, the obstacle may sometimes yield the right-of-way to the vehicle. This is achieved through eye contact between the occupant or person of the peripheral vehicle and the occupant of the vehicle in the case of a vehicle not performing automatic driving (self-driving).However, since self-driving is performed by the vehicle, the vehicle will not start moving in a state where the collision probability exceeds the specified value unless the vehicle detects that the obstacle gives way to the vehicle, even if the obstacle gives way to the vehicle. On the other hand, if the obstacle gives way to the vehicle, the vehicle should start moving to smooth traffic.

[0015] The first exemplary embodiment focuses on "interruption" as a driving behavior. Interruption occurs, for example, in a scene where an merging road connects to a continuous road at an intersection point. When the vehicle traveling on the merging road is located before the intersection point, the autonomous driving control device calculates the collision possibility with a peripheral vehicle traveling on the continuous road, which the vehicle is to be interrupted by. If the collision possibility exceeds a predetermined value, the autonomous driving control device stops the vehicle before the intersection point of the continuous road. In this situation, if the peripheral vehicle also stops before the intersection point to yield the vehicle, interruption of the peripheral vehicle is possible.

[0016] To enable the interruption in such a situation, the driving assistance device of the first exemplary embodiment performs the following processing. The driving assistance device is informed by the self-driving control device of the "stop" driving behavior that occurs during the "interruption" driving behavior. The driving assistance device specifies, from map information, an intersection point of the continuous road where the converging road intersects the continuous road, and derives a distance between the intersection point and the peripheral vehicle as a determination distance. The driving assistance device determines a speed of the peripheral vehicle.If the determination distance is greater than or equal to a first threshold and the speed is less than or equal to a second threshold, the driving assistance device queries the occupant whether to exclude the possibility of collision between the peripheral vehicle and the vehicle from the determination object in the autonomous driving control device. For example, the image for the query is generated and displayed on a monitor in the vehicle. Upon receiving a response operation to exclude the possibility of collision from the occupant regarding the query, the driving assistance device generates a command to exclude the possibility of collision between the peripheral vehicle and the vehicle from the determination object and sends the command to the autonomous driving control device.Upon receiving the command from the driving assistance device, the self-driving control device excludes the collision possibility between the peripheral vehicle and the vehicle from the destination object and drives the vehicle when the collision possibility is smaller than a predetermined value.

[0017] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. Each of the exemplary embodiments described below is for illustrative purposes only and does not limit the present disclosure.

[0018] Fig. Figure 1 shows a configuration of a vehicle 100 of the first exemplary embodiment, and more particularly, a configuration relating to a self-driving vehicle. The vehicle 100 can travel in an automatic driving mode (self-driving mode) and includes a notification device 2, an input device 4, a radio device 8, a driving operation unit 10, a detector 20, a self-driving control device 30, and a driving assistance device 40. The devices in Fig. 1 can be connected via a dedicated line or wired communication, such as a Controller Area Network (CAN). The devices can be connected via wired communication or wireless communication, such as a Universal Serial Bus (USB), Ethernet (registered trademark), Wi-Fi (registered trademark), and Bluetooth (registered trademark).

[0019] The notification device 2 notifies the occupant of information related to the travel of the vehicle 100. The notification device 2 is, for example, a vehicle navigation system, a head-up display (HUD), or a central display device installed in the vehicle. The notification device 2 may be a display device that displays information, such as a light-emitting diode (LED) installed around a steering wheel, a pillar, a dashboard, a meter panel, or the like. The notification device 2 may be a speaker that converts information into sounds to inform the occupant, or a vibrator provided at a position (e.g., on the occupant's seat or on the steering wheel) where the occupant can perceive the vibration. The notification device 2 may be a combination of these elements.

[0020] The input device 4 is a user interface device that receives operation inputs from the occupant. For example, the input device 4 is a control device such as a touch panel, a lever, a button, a switch, a joystick, and a knob; a sensor such as a camera that detects a gesture without contact; a sensor such as a microphone that detects sound; and a combination thereof. The input device 4 receives information about the self-driving of the vehicle input by the occupant. The input device 4 can receive an operation signal for switching between automatic driving and manual driving. The input device 4 outputs the received information as an operation signal to the driving assistance device 40.

[0021] Fig. 2 schematically shows an interior of the vehicle 100. The notification device 2 can be a head-up display (HUD) 2a or a central display 2b. The input device 4 can be a first operating unit 4a in the steering wheel 11, a second operating unit 4b between a driver's seat and a passenger seat, or a third operating unit 4c, which is a sensor such as a camera that recognizes a gesture. The notification device 2 and the input device 4 can be integrated with each other. For example, the notification device 2 and the input device 4 can be mounted as a touchscreen. Furthermore, a loudspeaker 6 can be provided in the vehicle 100 to provide the occupant with acoustic information about the self-driving process.In this case, the driving assistance device 40 may display information about self-driving on the notification device 2 and, in addition to or instead of displaying information about self-driving, output sounds indicating the information about self-driving (e.g., information about the operation of the vehicle in connection with the acceleration or lane change of the vehicle executed by the self-driving control device, or information about whether to exclude a collision possibility as a determination parameter to be described later) through the speaker 6. The description returns to . Fig. 1 back.

[0022] The radio device 8 is compatible with a mobile phone communication system, a wireless metropolitan area network (WMAN), or the like, and performs wireless communication with a data server, infrastructure, a peripheral vehicle, a pedestrian, or the like. The driving control unit 10 includes a steering wheel 11, a brake pedal 12, an accelerator pedal 13, and a turn signal switch 14. The steering wheel 11, the brake pedal 12, the accelerator pedal 13, and the turn signal switch 14 can be electronically controlled by an electronic control unit (ECU) for the steering wheel, a brake control unit, an engine control unit, and an engine control unit, respectively, and a turn signal control unit. In the self-driving mode (automatic driving mode), the steering wheel control unit, the brake control unit, the engine control unit, and the engine control unit drive corresponding actuators according to the control signals supplied from the control device 30.The turn signal control unit switches a turn signal on or off according to the control signal supplied from the self-driving control device 30.

[0023] The detector 20 detects an environmental situation and a driving state of the vehicle 100. The detector 20 detects, for example, a speed of the vehicle 100, a relative speed of a preceding vehicle with respect to the vehicle 100, a distance between the vehicle 100 and the preceding vehicle, a relative speed of a vehicle traveling in an adjacent lane with respect to the vehicle 100, a distance between the vehicle 100 and the vehicle traveling in the adjacent lane, and position information about the vehicle 100. The detector 20 outputs various items of information (hereinafter referred to as "detection information") to the self-driving control device 30. The detector 20 can output the detection information to the driving assistance device 40 via the self-driving control device 30 or output the detection information directly to the driving assistance device 40.The detector 20 includes a position information acquisition unit 21, a sensor 22, a speed acquisition unit 23, and a map information acquisition unit 24.

[0024] The position information acquisition unit 21 acquires a current position of the vehicle 100 from a GNSS (Global Navigation Satellite System) receiver. The sensor 22 is a general term for various sensors that detect (acquire) an external situation of the vehicle 100 and the state of the vehicle 100. For example, a camera, a millimeter-wave radar, a light detection and ranging sensor or a laser imaging detection and ranging (LIDAR) sensor, a sonar, a temperature sensor, an atmospheric pressure sensor, a humidity sensor, and an illuminance sensor are mounted as sensors that detect the external situation of the vehicle.The external situation of the vehicle includes a situation of a road on which the host vehicle is traveling, including lane information, an environment including weather, an environmental situation of the host vehicle, and a peripheral vehicle (such as a peripheral vehicle traveling in the adjacent lane) present nearby. Any information about the surroundings of the vehicle that can be detected by the sensor 22 can be used. For example, an acceleration sensor, a gyroscope sensor, a geomagnetic sensor, and an inclination sensor are mounted as the sensor 22 that detects the state of the vehicle 100.

[0025] The speed information acquisition unit 23 acquires a current speed of the vehicle 100 from a vehicle speed sensor. The map information acquisition unit 24 acquires map information about an area around the current position of the vehicle 100 from a map database. The map database can be recorded on a recording medium in the vehicle 100 or downloaded from a map server via a network at the time of use. The map information includes information about a road and an intersection.

[0026] The self-driving control device 30 is a self-driving control device having a self-driving control function and determining behavior of the vehicle 100 during automatic driving (self-driving). The self-driving control device 30 includes a controller 31, a memory 32, and an input / output (I / O) unit 33. A configuration of the controller 31 can be implemented by cooperation between a hardware resource and a software resource, or only by the hardware resource. A processor, a read-only memory (ROM), a random access memory (RAM), and other large-scale integration (LSI) circuits can be used as hardware resources, and programs such as an operating system, an application, and firmware can be used as software resources. The memory 32 includes a non-volatile recording medium such as a flash memory.The I / O unit 33 executes communication control according to various communication formats. For example, the I / O unit 33 outputs self-driving information to the driving assistance device 40 and receives a control command from the driving assistance device 40. The I / O unit 33 receives the detection information from the detector 20.

[0027] The control device 31 applies a control command input from the driving assistance device 40 and various pieces of information collected by the detector 20 or various ECUs to a self-driving algorithm (automatic driving algorithm), and calculates a control value to control an automatic control object such as a throttle opening and a steering wheel angle of the vehicle 100. Control of stopping the vehicle 100 will be described as an example. The control device 31 calculates the time-to-collision (TTC) with the peripheral vehicle as a collision possibility based on the detection information received from the detector 20, if the detected obstacle is the peripheral vehicle, as follows. TTC=D / (V2-V1)

[0028] In the above equation, D denotes the following distance between the following vehicle 100 and the peripheral vehicle, V1 denotes the speed of the following vehicle 100, and V2 denotes the speed of the peripheral vehicle. A decrease in the TTC indicates that the time to collision is shortening and corresponds to an increase in the collision possibility (or collision probability).

[0029] On the other hand, if the obstacle is a person, the control device 31 calculates the collision possibility according to whether a person is present in an area (hereinafter referred to as the "monitoring area") that changes depending on the driving behavior in an area around the vehicle 100, based on the detection information received from the detector 20. In this case, if the obstacle is a person, the collision possibility decreases if the person is not present, and the collision possibility increases if the person is present. Regardless of whether the obstacle is the peripheral vehicle or the person, in the case where the collision possibility is greater than the predetermined value, the control device 31 decides to stop the vehicle 100 as self-driving control of the vehicle 100 and calculates a control value to stop the vehicle 100.That is, the control device 31 performs the self-driving control of the vehicle 100 using the collision possibility as a determination object (determination parameter). The predetermined value can be changed depending on whether the obstacle is a peripheral vehicle or a person. For a plurality of obstacles, the control device 31 decides to stop the vehicle 100 when the collision possibility with at least one obstacle is greater than the predetermined value. In the first exemplary embodiment, the monitoring area is simplified and shown by the monitoring area 124 (including a predetermined width) surrounding the intersection at which the own vehicle travels as planned, as shown in FIG. Fig. 11. For example, in the case of the monitoring area 124 that changes depending on driving behavior, the monitoring area 124 may be limited to a part including a planned travel route of the own vehicle, a road currently traveled by the own vehicle, and a road traveled after the left turn if the own vehicle makes a left turn at the intersection. The control device 31 sends the calculated control value to the control unit (ECU) or the control device of each control object. In the first exemplary embodiment, the control device 31 sends the calculated control value to the steering control device, the brake control device, the engine control device, and the turn signal control device (turn signal control device). In an electric vehicle or a hybrid vehicle, the control device 31 transmits the control value to the engine controller instead of or in addition to the engine controller.

[0030] The driving assistance device 40 is an HMI control device that performs an interface function between the vehicle 100 and the occupant and includes a control device 41, a storage unit 42, and an I / O unit 43. The control device 41 performs various data processing operations such as HMI control. The control device 41 can be implemented by means of cooperation between the hardware resource and the software resource or only by means of the hardware resource. A processor, a ROM, a RAM, and other LSIs can be used as the hardware resource, and programs such as an operating system, applications, and firmware can be used as the software resource.

[0031] The memory 42 is a storage area in which data accessed or updated by the control device 41 is stored. The memory 42 is constructed with a non-volatile recording medium such as a flash memory. The I / O unit 43 performs various types of communication control according to various types of communication formats. The I / O unit 43 includes an operation signal input unit 50, an image and sound output unit 51, a recognition information input unit 52, an instruction interface (IF) 53, and a communication interface (IF) 56.

[0032] The operation signal input unit 50 receives an operation signal generated by an operation performed on the input device 4 by the occupant or a user outside the vehicle from the input device 4 and outputs the operation signal to the control device 41. The image and sound output unit 51 outputs image data or a sound message generated by the control device 41 to the notification device 2 and causes the notification device 2 to display or output the image data or the sound message, respectively. The recognition information input unit 52 receives recognition information, which is a result of recognition processing by the detector 20 and indicates a current environmental situation and a driving state of the vehicle 100, from the detector 20 and outputs the received recognition information to the control device 41.

[0033] The command interface 53 performs interface processing with the self-driving control device 30 and includes a behavior information input unit 54 and a command output unit 55. The behavior information input unit 54 receives information about the self-driving of the vehicle 100, which information is sent from the self-driving control device 30, and outputs the received information to the control device 41. The command output unit 55 receives a control command that commands a self-driving mode to the self-driving control device 30 from the control device 41 and sends the control command to the self-driving control device 30.

[0034] The communication interface 56 performs interface processing with the wireless device 8. The communication interface 56 sends the data output from the control device 41 to the wireless device 8, and the wireless device 8 sends the data to an external device. The communication interface 56 receives data transmitted from the external device, the data being transmitted from the wireless device 8, and outputs the data to the control device 41.

[0035] In this case, the self-driving control device 30 and the driving assistance device 40 are configured as individual devices. Alternatively, the self-driving control device 30 and the driving assistance device 40 may be integrated into one control device, as shown by a dashed line in Fig. 1. In other words, a self-driving control device can combine the functions of the self-driving control device 30 and the driving assistance device 40 in Fig. 1. Furthermore, the self-driving control device 30 may be combined with the notification device 2, the input device 4, and the driving assistance device 40 to be configured as a driving assistance system.

[0036] The processing of the self-driving control device 30 will be described before describing the processing related to the driving behavior of the “interruption” performed by the driving assistance device 40. Fig. 3 shows a processing overview. Part (a) of the Fig. 3 shows a future interruption behavior, where the interruption behavior is specified by the control device 31 of the self-driving control device 30. The merging road 200 is a road on which the vehicle 100 travels, with the vehicle 100 traveling upwards. On the other hand, the through road 202 is a road into which the merging road 200 merges, and on which a first peripheral vehicle 102a and a second peripheral vehicle 102b travel to the left. At this point, the first peripheral vehicle 102a travels behind the second peripheral vehicle 102b and travels on the through road 202 before the point where the merging road 200 merges. The first route 110a on which the vehicle 100 is to travel is guided upwards on the merging road 200 and to the left on the through road 202. For this reason, the interruption by the vehicle 100 will take place before the first peripheral vehicle 102a.The control device 31 specifies an interrupt behavior as described in part (a) of . Fig. 3, based on the detection information of detector 20. Only any known technique needs to be used for the specification, and its description is omitted.

[0037] The control device 31 calculates the TTC (time to collision) for the first peripheral vehicle 102a as a collision possibility based on the inter-vehicle distance 122 between the vehicle 100 and the first peripheral vehicle 102a, the speed of the vehicle 100, and the speed of the first peripheral vehicle 102a. If the calculated collision possibility is greater than the predetermined value, the control device 31 decides to stop. If it decides to stop, the control device 31 executes the control of stopping the vehicle 100. Consequently, the vehicle 100 traveling on the merging road 200 stops before entering the through road 202. The control device 31 sends information indicating the stopping behavior to the behavior information input unit 54 via the I / O unit 33.At this point, or before sending the information, the control device 31 sends information indicating the interrupt behavior as in part (a) of the . Fig. 3, to the behavior information input unit 54. Parts (b) to (d) of the Fig. 3 will be described later.

[0038] Fig. 4 shows a configuration of the control device 41. The control device 41 includes a determiner 76, a query processing unit 78, and a command processing unit 80. The behavior information input unit 54 receives the information indicating the interrupt behavior as described in part (a) of the Fig. 3, from the control device 31. The behavior information input unit 54 also receives the information indicating the stopping behavior from the control device 31. The behavior information input unit 54 outputs the received information to the control device 41. In the case where the behavior information input unit 54 is informed of the stopping behavior of the own vehicle, the determiner 76 of the control device 41 starts the following processing. The determiner 76 detects the interruption behavior as shown in part (a) of the Fig. 3, based on the information indicating the interruption behavior. Without using the information indicating the interruption behavior, the determiner 76, similar to the control device 31, can detect the interruption behavior based on the detection information.

[0039] Part (b) of the Fig. 3 shows the interruption behavior detected by the determiner 76. Part (b) of the Fig. 3 shows the second route 110b (predicted movement route) on which the first peripheral vehicle 102a is expected to travel. The second route 110b is generated based on map information included in the detection information and position information about the first peripheral vehicle 102a, and is determined in advance to run straight to the left on the continuous road 202. The determiner 76 detects the intersection end point 112 with respect to the converging road 200 on the continuous road 202 based on the map information included in the detection information. The intersection end point 112 is a point that the first peripheral vehicle 102a traveling on the continuous road 202 finally reaches in a section where the continuous road 202 and the joining road 200 overlap, if the joining road 200 extends so far as to break through the continuous road 202.For this reason, the intersection end point 112 is set to a point (first point) of the second route 110b. This one point may have a predetermined range, and the same applies to the following exemplary embodiments.

[0040] The determiner 76 derives a distance from the intersection end point 112 to the first peripheral vehicle 102a as a determination distance 120. The determiner 76 detects a speed of the first peripheral vehicle 102a. The determiner 76 compares the speed of the first peripheral vehicle 102a with a second threshold while comparing the determination distance 120 with a first threshold. If the determination distance 120 is shorter than the first threshold, or if the speed of the first peripheral vehicle 102a is higher than the second threshold, the determiner 76 determines that this is a "first state." The first state corresponds to the case where the first peripheral vehicle 102a is traveling without yielding the right-of-way to the vehicle 100.On the other hand, if the determination distance 120 is greater than or equal to the first threshold and the speed of the first peripheral vehicle 102a is less than or equal to the second threshold, the determiner 76 determines that this is a "second state." The second state corresponds to the case where the first peripheral vehicle 102a yields the right-of-way to the vehicle 100 while stopped or traveling at a speed less than or equal to the second threshold.

[0041] As stated in part (c) of the Fig. 3, a rearmost portion of the second peripheral vehicle 102b is sometimes closer to the first peripheral vehicle 102a than the intersection end point 112. In this case, the determiner 76 may derive the distance from the rearmost portion of the second peripheral vehicle 102b to the first peripheral vehicle 102a as the determination distance 120. The determiner 76 may derive the distance between the intersection end point 112 and the first peripheral vehicle 102a as the determination distance 120. The processing operations following this processing are similar to those described above, so the description is omitted. The part (d) of the Fig. 3 will be described later. The description returns to Fig. 4. The determiner 76 outputs the determination result to the query processing unit 78. The determiner 76 also outputs further information to the query processing unit 78.

[0042] The query processing unit 78 receives the determination result from the determiner 76. In the case where the determination result indicates the first state, the query processing unit 78 does not execute the processing. On the other hand, if the determination result indicates the second state, the query processing unit 78 executes the processing of inquiring the occupant whether the collision possibility between the first peripheral vehicle 102a and the vehicle 100 should be excluded from the determination object in the self-driving control device 30. For this reason, the case where the determination result indicates the second state is said to satisfy an exclusion condition. The query processing will be described below with reference to Fig. 5 described in more detail. Fig. 5 shows the image displayed on the notification device 2. A part (a) of the Fig. 5 shows the image generated by the query processing unit 78 and displayed on the central display device 2b by the image and sound output unit 51. For this reason, the image and sound output unit 51 is said to be a query output unit.

[0043] The query processing unit 78 generates the image indicating a current situation in which the interruption behavior occurs, ie, a situation in part (a) of the Fig. 3 (first query information) based on another piece of information received from the determiner 76. A known technique can be used to generate the image. A self-vehicle symbol 150 corresponding to the vehicle 100, a first peripheral vehicle symbol 152a corresponding to the first peripheral vehicle 102a, and a second peripheral vehicle symbol 152b corresponding to the second peripheral vehicle 102b are shown in Fig. 5. The query processing unit 78 may superimpose a message on the image to query the occupant as to whether the collision possibility between the first peripheral vehicle 102a and the vehicle 100 should be excluded from the determination object of the self-driving control device 30. A query aspect is not limited to this, but another example will be described later. Parts (b) and (c) of Fig. 5 will be described later. The description returns to Fig. 4 back.

[0044] The occupant checks the image displayed on the central display device 2b, obtains eye contact with a mutual concession from an occupant of the first peripheral vehicle 102a, and recognizes the situation in which the interruption can be performed. In the case where the occupant wishes to perform the interruption, the occupant performs an action with a finger, such as swiping the first peripheral vehicle icon 152a across the central display device 2b, which is a touch panel. The action is not limited to this. The touch panel recognizes the action, and the operation signal input unit 50 in Fig. 1 receives the action. The action corresponds to a response signal for eliminating the possibility of collision between the first peripheral vehicle 102a and the vehicle 100 from the destination object with respect to the query of the image and sound output unit 51. Upon receiving the response signal, the operation signal input unit 50 notifies the query processing unit 78 of receiving the response signal. Upon receiving the notification from the operation signal input unit 50, the query processing unit 78 instructs the command processing unit 80 to generate a command. On the other hand, if the operation signal input unit 50 does not receive a response signal for a certain period of time after the operation signal input unit 50 issues the query, the query processing unit 78 terminates the processing.

[0045] In the case where the query processing unit 78 instructs the command processing unit 80 to generate the command, the command processing unit 80 generates the command (first command) to exclude the collision possibility between the first peripheral vehicle 102a and the vehicle 100 from the determination object. The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30. Upon receiving the command, the control device 31 of the self-driving control device 30 calculates the collision possibility as above. The calculation of the collision possibility by the control device 31, that is, the calculation of the TTC, is performed as described above, so the description is omitted. However, the control device 31 excludes the collision possibility between the first peripheral vehicle 102a and the vehicle 100 from the determination object and determines the driving behavior.Part (d) of the . Fig. 3 shows the action of the vehicle 100 in the case where the collision possibility between the first peripheral vehicle 102a and the vehicle 100 has been excluded from the destination object. In part (d) of the Fig. 3, the vehicle 100 drives onto the continuous road 202 by executing the interruption behavior with respect to the first peripheral vehicle 102a. The description returns to Fig. 4 back.

[0046] In the case where the control device 31 of the self-driving control device 30 excludes the collision possibility between the first peripheral vehicle 102a and the vehicle 100 from the determination object in order to perform self-driving, the control device 31 outputs the execution of the command or the continuous execution of the command as behavior information to the driving assistance device 40. The behavior information input unit 54 of the driving assistance device 40 receives the behavior information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates the image that causes the occupant to recognize that the collision possibility between the first peripheral vehicle 102a and the vehicle 100 is excluded from the determination object in the self-driving control device 30. Part (b) of the Fig. 5 shows the image displayed on the central display device 2b in the case where the collision possibility between the first peripheral vehicle 102a and the vehicle 100 from the destination object in the self-driving control device 30 is excluded. As in part (b) of the Fig. 5, the first peripheral vehicle symbol 152a changes from the solid line display to the dashed line display. The part (c) of the Fig. 5 will be described later. The description returns to Fig. 4 back.

[0047] After the command issuing unit 55 issues the command, the determiner 76 continues processing to continue determining the first state or the second state until the interrupt behavior in part (d) of the Fig. 3 is completed. In this case, the determiner 76 outputs the determination result to the command processing unit 80.

[0048] The command processing unit 80 receives the determination result from the determiner 76. In the case where the determination result indicates the first state, the command processing unit 80 generates the command to instruct the self-driving control device 30 to include the collision possibility between the first peripheral vehicle 102a and the vehicle 100 in the determination object. This corresponds to the situation where the first peripheral vehicle 102a, which has been detected as yielding the right-of-way to the vehicle 100, is moving. For this reason, the case where the determination result indicates the first state is said to satisfy a determination object condition. The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30.Upon receiving the command, the control device 31 of the self-driving control device 30 includes the collision possibility between the first peripheral vehicle 102a and the vehicle 100 in the determination object. Therefore, if the collision possibility exceeds the predetermined value, the control device 31 stops the vehicle 100.

[0049] In the case where the control device 31 stops the vehicle 100 to inform the command processing unit 80 of the stop through the behavior information input unit 54, the command processing unit 80 generates the image that notifies the occupant of the suspension of the interruption. Part (c) of the Fig. Figure 5 shows the image displayed on the central display device 2b in the case where the interruption is suspended. As described in part (c) of the Fig. 5, the first peripheral vehicle icon 152a changes from a dashed line display to a solid line display, and a message is displayed.

[0050] Another example of the query and response in the query processing unit 78 is described below along with the detail of a user interface. Fig. 6 shows an overview of the processing (processing overview) performed by the query processing unit 78. In Fig. 6, the display performed by the central display device 2b and the response operation on the touch panel are carried out in the same manner as above.

[0051] Part (a) of the Fig. 6 shows the image displayed by the query processing unit 78. As described above, the self-vehicle icon 150, the first peripheral vehicle icon 152a, and the second peripheral vehicle icon 152b are displayed, and the message is also displayed. A route on which the self-vehicle icon 150 should travel for the interruption behavior is indicated by an arrow. This corresponds to the first route 110a. The occupant recognizes the situation in which the interruption can be performed by checking the image displayed on the central display device 2b. If the occupant wishes to perform the interruption in front of the first peripheral vehicle 102a corresponding to the first peripheral vehicle icon 152a, the occupant selects the first peripheral vehicle icon 152a with their finger.

[0052] Part (b) of the Fig. Figure 6 shows the processing following the processing in part (a) of the Fig. 6. After selecting the first peripheral vehicle icon 152a, the occupant moves a finger to swipe over the first peripheral vehicle icon 152a. As described above, this corresponds to the input of the response operation. The occupant is notified of the input of the response operation by changing the display color of the first peripheral vehicle icon 152a. Part (c) of the Fig. Figure 6 shows the processing following the processing in part (b) of the Fig. 6. After the input of the response operation, the first peripheral vehicle icon 152a in the image displayed on the central display device 2b changes from the solid line display to the dashed line display if the possibility of collision with the first peripheral vehicle 102a corresponding to the first peripheral vehicle icon 152a is excluded from the determination object in the self-driving control device 30.

[0053] Fig. Fig. 7 is a view showing another overview of the processing (processing overview) executed by the query processing unit 78. In Fig. 7, the display is performed by the visual field display device 2a, and the response operation is performed by the gesture. A part (a) of the Fig. Figure 7 shows an image displayed by the query processing unit 78. The image is similar to that shown in part (a) of Fig. 6. The occupant recognizes the situation in which the interruption can be performed by checking the image displayed on the head-up display device 2a. If the occupant wishes to perform the interruption in front of the first peripheral vehicle 102a corresponding to the first peripheral vehicle symbol 152a, the occupant shades the third operation unit 4c (not shown) with his hand.

[0054] Part (b) of the Fig. Figure 7 shows the processing following the processing in part (a) of the Fig. 7. After shadowing the third operating unit 4c with the hand, the occupant moves the hand to swipe the first peripheral vehicle icon 152a. The third operating unit 4c recognizes the swipe gesture. It is only necessary to use any known technique for recognizing the gesture, and its description is omitted. This corresponds to the input of the response operation. The occupant is notified of the input of the response operation by changing the display color of the first peripheral vehicle icon 152a. Part (c) of the Fig. Figure 7 shows the processing following the processing in part (b) of the Fig. 7. After the input of the response operation, the first peripheral vehicle icon 152a in the image displayed on the head-up display device 2a changes from the solid line display to the dashed line display if the possibility of collision with the first peripheral vehicle 102a corresponding to the first peripheral vehicle icon 152a is excluded from the determination object in the self-driving control device 30.

[0055] Fig. Fig. 8 is a view showing a further overview of the processing performed by the query processing unit 78. In Fig. 8, the display is performed by the visual field display device 2a, and the response operation is performed by pressing a key. A part (a) of the Fig. Figure 8 shows the image displayed by the query processing unit 78. The image is similar to part (a) of Fig. 7. If the occupant wishes to perform the interruption in front of the first peripheral vehicle 102a, which corresponds to the first peripheral vehicle symbol 152a, he places a finger on the first operating unit 4a or presses it lightly.

[0056] Part (b) of the Fig. Figure 8 shows the processing following the processing in part (a) of the Fig. 8. After placing the finger on the first control unit 4a, the occupant presses the first control unit 4a down or presses it strongly. The step in part (a) of the Fig. 8 can be omitted. This corresponds to the input of the response operation. The occupant is notified of the input of the response operation by changing the display color of the first peripheral vehicle symbol 152a. Part (c) of the Fig. Figure 8 shows the processing following the processing in part (b) of the Fig. 8. After the input of the response operation, in the image displayed on the visual field display device 2a, the first peripheral vehicle icon 152a changes from the solid line display to the dashed line display if the possibility of collision with the first peripheral vehicle 102a corresponding to the first peripheral vehicle icon 152a is excluded from the determination object in the self-driving control device 30.

[0057] The action of the driving assistance device 40 having the above configuration will now be described. Fig. 9 is a flowchart showing an instruction procedure of the control device 41. The behavior information input unit 54 receives the stopping behavior in the driving behavior as a processing object (S100). The determiner 76 acquires the determination distance 120 and the speed with respect to the obstacle (S102). If the determination distance 120 is greater than or equal to the first threshold (Y in S104) and the speed is less than or equal to the second threshold (Y in S106), the query processing unit 78 inquires via the image and sound output unit 51 (S108) whether to exclude the collision possibility from the determination object. When the query processing unit 78 receives the exclusion response signal through the operation signal input unit 50 (Y in S110), the command processing unit 80 outputs an exclusion command via the command output unit 55 (S112). Then, the command processing unit 80 changes the display (S114).When the determination distance 120 is smaller than the first threshold (N in S104), when the speed is greater than the second threshold (N in S106), or when the query processing unit 78 does not receive an exclusion response signal via the operation signal input unit 50 (N in S110), the processing is terminated.

[0058] Fig. 10 is a flowchart showing another instruction procedure of the control device 41. Fig. Fig. 10 shows the processing after the command processing unit 80 has issued the exclusion command via the command output unit 55 and the self-driving control device 30 has removed the collision possibility with the obstacle from the determination object in step 112 of the Fig. 9 has been excluded. If the self-driving control device 30 is currently continuing the driving behavior as the processing object (Y in S150), the determiner 76 acquires the determination distance 120 and the speed with respect to the obstacle (S152). If the determination distance 120 is greater than or equal to the first threshold (J in S154) and the speed is less than or equal to the second threshold (J in S156), the processing is terminated. If the determination distance 120 is less than the first threshold (N in S154) or if the speed is greater than the second threshold (N in S156), the command processing unit 80 outputs the command to include the collision possibility in the determination object (S158) via the command output unit 55. The command processing unit 80 changes the display (S160). When the self-driving control device 30 does not continue the driving behavior as a processing object (N in S150), the processing is terminated.

[0059] In the first exemplary embodiment, when the distance to the peripheral vehicle is greater than or equal to the first threshold and the speed of the peripheral vehicle is less than or equal to the second threshold, a query is made as to whether the possibility of collision with the peripheral vehicle should be excluded from the destination object. Thus, the intention of the occupant can be verified, information obtained by visually observing the occupant in the driving behavior can be reflected, and driving can be performed more smoothly. When the response signal for excluding the possibility of collision with the peripheral vehicle from the destination object is received in response to the query, the instruction to exclude the possibility of collision with the peripheral vehicle from the destination object is issued, so that the vehicle can interrupt the peripheral vehicle that yields the right-of-way to the vehicle.If the distance to the peripheral vehicle is greater than or equal to the first threshold and the speed of the peripheral vehicle is less than or equal to the second threshold, a query is made as to whether the possibility of collision with the peripheral vehicle should be excluded from the target object, so that the eye contact can be performed independently of the self-driving. The instruction to exclude the possibility of collision with the peripheral vehicle from the target object is issued through the combination of the query and the response signal, so that the vehicle can drive appropriately even if the peripheral vehicle is present during the interruption.

[0060] The determination continues even if the collision possibility with the peripheral vehicle has been excluded from the determination object and the collision possibility with the peripheral vehicle is included in the determination object, if the distance to the peripheral vehicle falls below the first threshold (is less than the first threshold) or if the speed of the peripheral vehicle exceeds the second threshold. This can prevent the occurrence of a collision with the peripheral vehicle. The occupant is not prompted if the collision possibility with the peripheral vehicle is included in the determination object, so the time period during which the collision possibility with the peripheral vehicle is included in the determination object can be shortened.The determination for the first threshold and the second threshold may be less than, less than or equal to, greater than, or greater than or equal to the first threshold and the second threshold, respectively. (Second exemplary embodiment)

[0061] A second exemplary embodiment relates to a driving assistance device to be installed in the vehicle, which performs self-driving based on the detected obstacle similarly to the first exemplary embodiment. The second exemplary embodiment focuses on "left turning" as a driving behavior. For example, the left turn occurs at the intersection. The vehicle is traveling on a first road, and the self-driving control device calculates the collision possibility with a person standing at a pedestrian crossing provided for crossing a second road after the left turn, before the intersection where the second road is crossed. If the collision possibility is greater than a predetermined value, the self-driving control device stops the vehicle before the intersection.In such a situation, the vehicle may turn left if a person attempting to cross the crosswalk stops in front of the crosswalk to give way to the vehicle.

[0062] The driving assistance device of the second exemplary embodiment performs the following processing to enable the left turn in such a situation. The driving assistance device is informed by the self-driving control device of the "stop" driving behavior that occurs during the "left turn" driving behavior. The driving assistance device specifies an intersection end point of the second road from the map information and derives the distance between the intersection end point and the person as the determination distance. The driving assistance device detects the person's speed.When the determination distance is greater than or equal to a first threshold and the speed is less than or equal to a second threshold, the driving assistance device generates an image to ask the occupant whether to exclude the possibility of collision between the person and the vehicle from the determination object in the self-driving control device, and displays the image on a monitor in the vehicle. Upon receiving a response operation to exclude the possibility of collision from the occupant with respect to the display, the driving assistance device generates a command to exclude the possibility of collision between the person and the vehicle from the determination object and sends the command to the self-driving control device.Upon receiving the command from the driving assistance device, the self-driving control device excludes the possibility of collision between the person and the vehicle from the target object, and drives the self-driving vehicle when the collision possibility is smaller than the predetermined value. The vehicle 100 of the second exemplary embodiment is of a type similar to that shown in FIGS. Fig. 1 and Fig. 2, and the control device 41 is of a type similar to that in Fig. 4. The following mainly describes a difference from the first exemplary embodiment.

[0063] The processing of the self-driving control device 30 will be described before describing the processing related to the “left turn” driving behavior by the driving assistance device 40. Fig. 11 shows a processing overview. Part (a) of the Fig. 11 shows the future left-turn behavior, wherein the left-turn behavior is specified by the control device 31 of the self-driving control device 30. A first road 210 has a travel direction in the vertical direction, a second road 212 has a travel direction in the horizontal direction, wherein the first road 210 and the second road 212 intersect at the intersection. A first route 110a on which the vehicle 100 is to travel is set such that it leads up the first road 210, turns left at the intersection, and enters the second road 212. A person 104 is located on the pedestrian crossing provided for crossing the second road 212 after the left turn. It is assumed that the person 104 intends to cross the pedestrian crossing of the second road 212. The control device 31 specifies a left turn behavior as in part (a) of the Fig. 11, based on the detection information of the detector 20. Only any known technique needs to be used for the specification, and its description is omitted.

[0064] The control device 31 sets the monitoring area 124 around the intersection that the vehicle 100 is approaching based on the map information and the position information of the vehicle 100. At this point, the monitoring area 124 has a circular shape. However, the monitoring area 124 is not limited to the circular shape. The control device 31 determines whether the person 104 is included in the monitoring area 124 as a collision possibility based on the monitoring area 124 and the position information of the person 104. For example, the control device 31 calculates the collision possibility to be greater than the predetermined value when the person 104 is included in the monitoring area 124, and the control device 31 calculates the collision possibility to be less than or equal to the predetermined value when the person 104 is not included in the monitoring area 124.In the case where the calculated collision possibility is greater than the predetermined value, the control device 31 decides the stopping behavior. When deciding the stopping behavior, the control device 31 performs control of stopping the vehicle 100. Consequently, the vehicle 100 traveling on the first road 210 stops before the intersection. The control device 31 sends information indicative of the stopping behavior to the behavior information input unit 54 via the I / O unit 33. At this point, or before sending the information, the control device 31 sends information indicative of the left-turn behavior as shown in part (a) of FIG. Fig. 11, to the behavior information input unit 54. Parts (b) and (c) of the Fig. 11 will be described later.

[0065] The behavior information input unit 54 in Fig. 4 receives from the control device 31 the information indicating the left turn behavior as in part (a) of the Fig. 11. The behavior information input unit 54 also receives the information indicating the stopping behavior from the control device 31. The behavior information input unit 54 outputs the received information to the control device 41. In the case where the behavior information input unit 54 is informed of the stopping behavior of the own vehicle, the determiner 76 of the control device 41 starts the following processing. The determiner 76 detects the left-turn behavior as shown in part (a) of the Fig. 11, based on the information indicative of the left-turn behavior. As described above, without using the information indicative of the left-turn behavior, the determiner 76 can detect the left-turn behavior based on the detection information, similar to the control device 31.

[0066] Part (b) of the Fig. Figure 11 shows the left-turn behavior detected by the determiner 76. Part (b) of the Fig. 11 shows a second route 110b on which the person 104 is expected to walk. The second route 110b is generated based on the map information included in the detection information and the position information of the person 104, and is determined in advance as crossing the pedestrian crossing to cross the second road 212. The determiner 76 detects an intersection end point 114 of the second road 212 based on the map information included in the detection information. The intersection end point 114 is a point where the person 104 walks on the pedestrian crossing from a position where the person 104 is located and finishes crossing. For this reason, the intersection end point 114 is set to a point on the second route 110b.

[0067] The determiner 76 derives the distance from the intersection end point 114 to the person 104 as the determination distance 120. The determiner 76 detects the speed of the person 104. If the determination distance 120 is shorter than the first threshold, or if the speed of the person 104 is higher than the second threshold, the determiner 76 determines that this is the "first state." The first state corresponds to the case where the person 104 is walking without yielding the right-of-way to the vehicle 100. On the other hand, if the determination distance 120 is greater than or equal to the first threshold and the speed of the person 104 is less than or equal to the second threshold, the determiner 76 determines that this is the "second state." The second state corresponds to the case where the person 104 yields the right-of-way to the vehicle 100 while stopped or walking at a speed less than or equal to a fourth threshold. Part (c) of the Fig. 11 will be described later. The description returns to Fig. 4. The determiner 76 outputs the determination result to the query processing unit 78. The determiner 76 also outputs further information to the query processing unit 78.

[0068] In the case where the determination result from the determiner 76 indicates the second state, the query processing unit 78 performs the processing of querying the occupant as to whether the collision possibility between the person 104 and the vehicle 100 should be excluded from the determination object in the self-driving control device 30. The query processing will be described below with reference to Fig. 12 described in more detail. Fig. 12 shows the image displayed on the notification device 2. A part (a) of the Fig. 12 shows the image generated by the query processing unit 78 and displayed by the image and sound output unit 51 on the visual field display device 2a.

[0069] The query processing unit 78 generates the image indicating the current situation in which the left-turn behavior occurs, ie the situation shown in part (a) of the Fig. 11, based on another piece of information received by the determiner 76. In this case, the own vehicle symbol 150 corresponding to the vehicle 100, the person symbol 154 corresponding to the person 104, and the rectangular obstacle symbol 156 around the person symbol 154 are displayed. The query processing unit 78 can superimpose a message on the image to ask the occupant whether the collision possibility between the person 104 and the vehicle 100 should be excluded from the determination object of the self-driving control device 30. Various aspects can be used as the query aspect. Parts (b) and (c) of Fig. 12 will be described later. The description returns to Fig. 4 back.

[0070] The passenger checks the image displayed on the visual display device 2a, obtains the passenger's willingness to make mutual concessions, and recognizes the situation in which the left turn can be executed. If the passenger wishes to execute the left turn, he or she presses the first operating unit 4a. The action is not limited to this. The operating signal input unit 50 in Fig. 1 receives this action. The action corresponds to a response signal for excluding the possibility of collision between the person 104 and the vehicle 100 from the target object with respect to the query from the image and sound output unit 51. Upon receiving the response signal, the operation signal input unit 50 notifies the query processing unit 78 of receiving the response signal. Upon receiving the notification, the query processing unit 78 instructs the command processing unit 80 to generate a command.

[0071] In the case where the query processing unit 78 instructs the command processing unit 80 to generate the command, the command processing unit 80 generates the command to exclude the collision possibility between the person 104 and the vehicle 100 from the determination object. The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30. Upon receiving the command, the control device 31 of the self-driving control device 30 calculates the collision possibility as before. However, the control device 31 excludes the collision possibility between the person 104 and the vehicle 100 from the determination object and decides the driving behavior. Part (c) of the Fig. Figure 11 shows the action of the vehicle 100 in the case where the possibility of collision between the person 104 and the vehicle 100 is excluded from the target object. In part (c) of the Fig. 11, the vehicle 100 turns left from the first street 210 and enters the second street 212. The description returns to Fig. 4 back.

[0072] In the case where the control device 31 of the self-driving control device 30 excludes the possibility of collision between the person 104 and the vehicle 100 from the determination object in order to perform self-driving, the control device 31 outputs the execution of the command or the continuous execution of the command as behavior information to the driving assistance device 40. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates the image that allows the occupant to recognize that the possibility of collision between the person 104 and the vehicle 100 is excluded from the determination object in the self-driving control device 30. Part (b) of the Fig. Fig. 12 shows the image displayed on the visual field display device 2a in the case where the collision possibility between the person 104 and the vehicle 100 is excluded from the determination object in the self-driving control device 30. As in part (b) of the Fig. 12, the obstacle symbol 156 surrounding the person symbol 154 changes from the solid line display to the dashed line display. Part (c) of the Fig. 12 will be described later. The description returns to Fig. 4 back.

[0073] After the command issuing unit 55 has issued the command, the determiner 76 continues to determine the first state or the second state until the left turn behavior in part (c) of the Fig. 11 is completed. In the case where the determination result indicates the first state, the command processing unit 80 generates the command to instruct the self-driving control device 30 to include the collision possibility between the person 104 and the vehicle 100 as the determination object. This corresponds to the situation where the person 104, who was detected as yielding the right-of-way to the vehicle 100, starts to walk. The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30. Upon receiving the command, the control device 31 of the self-driving control device 30 includes the collision possibility between the person 104 and the vehicle 100 as the determination object. Consequently, when the collision possibility exceeds the predetermined value, the control device 31 stops the vehicle 100.

[0074] If the control device 31 stops the vehicle 100 to inform the command processing unit 80 of the stop through the behavior information input unit 54, the command processing unit 80 generates the image that notifies the occupant of the suspension of the left turn. Part (c) of the Fig. Figure 12 shows the image displayed on the visual display device 2a when the left turn is suspended. As shown in part (c) of the Fig. 12, the obstacle symbol 156 surrounding the person symbol 154 changes from the dashed line display to the solid line display, and the message is displayed.

[0075] The case where the person 104 can move downwards is described above, as in part (b) of the Fig. 11. The case where the person 104 can move in a reverse direction is described below. Fig. Figure 13 shows a further overview of the processing performed by the control device 41. Part (a) of the Fig. Figure 13 shows the future left-turn behavior, wherein the left-turn behavior is specified by the control device 31 of the self-driving control device 30. The person 104, who is located at the pedestrian crossing provided for crossing the second road 212, is located in a position opposite to the part (a) of the Fig. 11 on the opposite side with respect to the second road 212. In this case too, the control device 31 determines whether the person 104 is included in the monitoring area 124 as a collision possibility.

[0076] Part (b) of the Fig. 13 shows the second route 110b on which the person 104 is expected to walk. The direction of the second route 110b is opposite to the direction in part (b) of the Fig. 11. For this reason, the intersection end point 114 is at a different position than in part (b) of the Fig. 11, more specifically, on the opposite side with respect to the second road 212. The determiner 76 derives the distance from the intersection end point 114 to the person 104 as the determination distance 120. The subsequent processing is similar to that described above, so the description is omitted.

[0077] The processing in case of combination of part (b) of the Fig. 11 and part (b) of the Fig. 13 is described below. Fig. 14 shows another processing overview according to the second exemplary embodiment. In part (a) of Fig. 14, a first person 104a and a second person 104b are present, with the pedestrian crossing between them. The first person 104a moves along the first person route 111a similarly to part (b) of the Fig. 11 downwards, and the second person 104b moves along the second person route 111b similarly to part (b) of the Fig. 13 upwards. At this point, the first person route 111a and the second person route 111b correspond to the aforementioned second route 110b. In this case, the processing described above for the first person 104a and the processing described above for the second person 104b are executed separately.

[0078] Part (b) of the Fig. Figure 14 shows another image displayed on the notification device 2. Part (b) of the Fig. Figure 14 shows the image displayed on the central display device 2b in the situation similar to that in part (c) of Fig. 12. The self-vehicle icon 150 corresponding to the vehicle 100, the first person icon 154a corresponding to the first person 104a, and the first obstacle icon 156a surrounding the first person icon 154a are shown. The second person icon 154b corresponding to the second person 104b and the rectangular second obstacle icon 156b surrounding the second person icon 154b are also shown. Since the possibility of collision with the first person 104a is excluded from the determination object in the self-driving control device 30 at this point, the first obstacle icon 156a is displayed with a dashed line.On the other hand, for example, if the second person 104b enters an intersection from an opposite end while the first person 104a is excluded, the second obstacle icon 156b is displayed with a solid line because the collision possibility with the second person 104b is included in the determination object of the self-driving control device 30. In this case, since the collision possibility with the second person 104b is greater than the predetermined value, the vehicle 100 does not turn left but stops.

[0079] In the second exemplary embodiment, if the distance to the person is greater than or equal to the first threshold and the speed of the person is less than or equal to the second threshold, a query is made as to whether the possibility of collision with the person should be excluded from the target object, so that the occupant's will can be checked. If the response signal for excluding the possibility of collision with the person from the target object is received in response to the query, an instruction is given to exclude the possibility of collision with the person from the target object, so that the vehicle can turn left in front of the person who yields the right of way to the vehicle.If the distance to the person is greater than or equal to the first threshold and the person's speed is less than or equal to the second threshold, a query is made as to whether the possibility of collision with the person should be excluded from the target object, so that eye contact can be performed independently of the self-driving process. The instruction to exclude the possibility of collision with the person from the target object is issued through the combination of the query and the response signal, so that the vehicle can drive appropriately even if the person is present during the left turn.

[0080] The determination continues even if the possibility of collision with the person is excluded from the determination object. If the distance to the person falls below the first threshold (is smaller than the first threshold) or if the speed of the person exceeds the second threshold, the possibility of collision with the person is included in the determination object, so that the occurrence of the collision with the person can be prevented. The query to the occupant is not made if the possibility of collision with the person is included in the determination object, so that the period during which the possibility of collision with the person is included in the determination object can be shortened.The determination for the first threshold and the second threshold may be less than, less than or equal to, greater than, or greater than or equal to the first threshold and the second threshold, according to the value. (Third exemplary embodiment)

[0081] A third exemplary embodiment relates to a driving assistance device to be installed in the vehicle, which performs self-driving based on the detected obstacle, similarly to the first and second exemplary embodiments. Similar to the second exemplary embodiment, the third exemplary embodiment also focuses on "left turn" as a driving behavior. At this point, specifically, it is assumed that a plurality of people are present on the pedestrian crossing provided for crossing the second road into which the vehicle is to enter from the first road by turning left. In such a situation, if the inquiry and response are performed with respect to each person, as in the second exemplary embodiment, a period of time until the end of all processing operations is extended.If the time period is extended, there is a chance that the person who stopped to give way to the vehicle will start moving.

[0082] For this reason, in the case of the presence of a plurality of persons determined to be in the second state, the driving assistance device of the third exemplary embodiment collectively performs the inquiry as to whether the possibility of collision with the plurality of persons should be excluded from the determination object in the self-driving control device. When the occupant collectively performs the response operation with respect to the collective inquiry, the driving assistance device causes the self-driving control device to collectively exclude the possibility of collision with the plurality of persons from the determination object. That is, the one-time inquiry and the one-time response operation are performed to exclude the possibility of collision with the plurality of persons from the determination object in the self-driving control device. The vehicle 100 of the third exemplary embodiment is of a type similar to that shown in FIGS. Fig. 1 and Fig. 2, and the control device 41 is of a type similar to that in Fig. 4. The following mainly describes differences from the above description.

[0083] Fig. Fig. 15 shows a processing overview and shows the future left-turn behavior, wherein the left-turn behavior is specified by the control device 31 of the self-driving control device 30 and the control device 41 of the driving assistance device 40. The first road 210, the second road 212 and the vehicle 100 are similar to the part (a) of Fig. 11. The first person 104a, the second person 104b, and the third person 104c are located on the pedestrian crossing provided for crossing the second road 212. The first person 104a, the second person 104b, and the third person 104c are to cross the second road 212. The number of persons 104 is not limited to three. The control device 31 calculates the collision probability with respect to each of the first person 104a, the second person 104b, and the third person 104c. If all collision possibilities are greater than the predetermined value, the control device 31 decides to stop.

[0084] The behavior information input unit 54 in Fig. 4 receives from the control device 31 the information indicating the left turn behavior, as shown in Fig. 15. The behavior information input unit 54 also receives the information indicating the stopping behavior from the control device 31. The behavior information input unit 54 outputs the received information to the control device 41. The determiner 76 of the control device 41 derives the determination distance 120 and detects the speed with respect to each of the plurality of persons 104a to 104c. If the determination distance 120 with respect to each of the plurality of persons 104a to 104c is greater than or equal to the first threshold and the speed of each of the plurality of persons 104a to 104c is less than or equal to the second threshold, the determiner 76 determines that all of the plurality of persons 104a to 104c are in the second state.

[0085] In the case where the determiner 76 determines that all of the plurality of persons 104a to 104c are in the second state, the query processing unit 78 executes the processing of collectively querying the occupant as to whether the possibility of collision with the plurality of persons 104a to 104c should be excluded from the determination object in the self-driving control device 30. The query processing will be described below with reference to Fig. 16 described in more detail. Fig. 16 shows the image displayed on the notification device 2. A part (a) of the Fig. 16 shows the image generated by the query processing unit 78 and displayed by the image and sound output unit 51 on the visual field display device 2a.

[0086] The query processing unit 78 generates the image (second query information) indicating a current situation in which the left-turn behavior occurs, that is, a situation in Fig. 15 based on a further item of information received by the determiner 76. The own vehicle symbol 150 corresponding to the vehicle 100, the first person symbol 154a corresponding to the first person 104a, the second person symbol 154b corresponding to the second person 104b, and the third person symbol 154c corresponding to the third person 104c are shown in Fig. 16. The rectangular obstacle symbol 156, which surrounds all the person symbols from the first person symbol 154a to the third person symbol 154c, is also shown. Various aspects can be used as the query aspect. Parts (b) and (c) of the Fig. 16 will be described later. The description returns to Fig. 4 back.

[0087] The passenger checks the image displayed on the visual display device 2a, receives the willingness to make mutual concessions from all persons or from a leader-like person among the plurality of persons, and recognizes the situation in which the left turn can be executed. If the passenger wishes to execute the left turn, he or she presses the first operation unit 4a. The action is not limited to this. The operation signal input unit 50 in Fig. 1 receives this action. The action corresponds to a response signal for collectively excluding the possibility of collision with the plurality of people 104a to 104c from the target object in response to the collective query from the image and sound output unit 51. Upon receiving the collective response signal, the operation signal input unit 50 notifies the query processing unit 78 of receiving the collective response signal. Upon receiving the notification of the collective reception, the query processing unit 78 instructs the command processing unit 80 to generate the command.

[0088] In the case where the query processing unit 78 instructs the command processing unit 80 to generate the command, the command processing unit 80 generates the command (second command) for excluding the possibility of collision with the plurality of people 104a to 104c from the target. The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30. Upon receiving the command, the control device 31 of the self-driving control device 30 excludes the possibility of collision with the plurality of people 104a to 104c from the target.

[0089] In the case where the control device 31 of the self-driving control device 30 excludes the possibility of collision with the plurality of people 104a to 104c from the destination object in order to perform self-driving, the control device 31 outputs the execution of the command or the continuous execution of the command as behavior information to the driving assistance device 40. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates the image that allows the occupant to recognize that the possibility of collision with the plurality of people 104a to 104c is excluded from the destination object in the self-driving control device 30. Part (b) of the Fig. Fig. 16 shows the image displayed on the visual field display device 2a in the case where the possibility of collision with the plurality of persons 104a to 104c is excluded from the determination object in the self-driving control device 30. As in the part (b) of Fig. As shown in Figure 16, the obstacle symbol 156 surrounding the first person symbol 154a, the second person symbol 154b, and the third person symbol 154c changes from a solid line display to a dashed line display. Part (c) of the Fig. 16 will be described later. The description returns to Fig. 4 back.

[0090] After the command processing unit 80 issues the command, the determiner 76 continues to determine the first state or the second state with respect to the plurality of people 104a to 104c until the left-turn behavior is completed. In the case where the determination result for one of the plurality of people 104a to 104c indicates the first state, the command processing unit 80 generates the command to instruct the self-driving control device 30 to include the collision possibility with the plurality of people 104a to 104c in the determination object. This corresponds to including the collision possibility with one of the plurality of people 104a to 104c that satisfies a determination object condition in the determination object. The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30.Upon receiving the command, the control device 31 of the self-driving control device 30 includes the collision possibility with one of the plurality of people 104a to 104c in the determination object. By including the collision possibility with one of the plurality of people 104a to 104c that satisfies the condition of the determination object, the control device 31 stops the vehicle 100 when the collision possibility exceeds the predetermined value.

[0091] In the case where the control device 31 stops the vehicle 100 to inform the command processing unit 80 of the stop through the behavior information input unit 54, the command processing unit 80 generates the image that notifies the occupant of the suspension of the left turn. Part (c) of the Fig. Fig. 16 shows the image displayed on the visual field display device 2a when the left turn is suspended. At this point, it is assumed that the change is made so that only the collision possibility with the second person 104b is included in the determination object of the self-driving control device 30. As shown in part (c) of the Fig. 16, the first person symbol 154a and the third person symbol 154c are surrounded by the first obstacle symbol 156a indicated by a dashed line. On the other hand, the second person symbol 154b is surrounded by the second obstacle symbol 156b indicated by a solid line. Although the processing performed during the downward movement is described above, the processing in which the second exemplary embodiment and the third exemplary embodiment are combined may be performed during the upward movement. For example, when the downward movement and the upward movement occur simultaneously as shown in part (a) of Fig. 14, the plurality of persons, including the first person moving down and the second person moving up, may be set to a collective query object.

[0092] The action of the driving assistance device 40 with the above configuration will be described. Fig. 17 is a flowchart showing an instruction process executed by the control device 41. The determiner 76 acquires the determination distance 120 and the speed with respect to each of the plurality of people 104a to 104c (S200). If all the people 104a to 104c satisfy the exclusion condition (Y in S202), the query processing unit 78 collectively inquires via the image and sound output unit 51 (S204) whether to exclude the possibility of collision with the plurality of people 104a to 104c from the determination object. When the query processing unit 78 collectively receives the exclusion response signal through the operation signal input unit 50 (Y in S206), the command processing unit 80 outputs the exclusion command via the command output unit 55 (S208). Then, the command processing unit 80 changes the display (S210). If one of the persons 104a to 104c does not meet the exclusion condition (N in S202), the processing is terminated.In this case, processing similar to the first exemplary embodiment may be performed for one of the persons 104a to 104c who satisfies the exclusion condition. If the query processing unit 78 does not collectively receive the exclusion response signal from the operation signal input unit 50 (N in S206), the processing is terminated.

[0093] Fig. 18 is a flowchart showing another instruction procedure executed by the control device 41. Fig. Fig. 18 shows the processing after the command processing unit 80 issues the exclusion command via the command output unit 55 and the self-driving control device 30 excludes the collision possibility with the plurality of persons 104a to 104c from the determination object in step 208 of the Fig. 17 has been excluded. If the self-driving control device 30 is currently continuing the driving behavior as the processing object (Y in S250), the determiner 76 acquires the determination distance 120 and the speed with respect to each of the plurality of people 104a to 104c (S252). If at least one of the people 104a to 104c satisfies the determination object condition (Y in S254), the command processing unit 80 outputs, via the command output unit 55, the command to exclude the possibility of collision with one of the people 104a to 104c who satisfies the determination object condition (S256). The command processing unit 80 changes the display (S258). When the self-driving control device 30 does not continue the driving behavior as a processing object (N in S250), or when all the persons 104a to 104c do not satisfy the condition of the determination object (N in S254), the processing is terminated.

[0094] In the third exemplary embodiment, whether the collision possibility with the plurality of people should be excluded from the determination object is collectively inquired, so that the number of inquiries can be reduced. The response signal related to the collective inquiry is received, so that the processing performed by the occupant can be simplified. The processing performed by the occupant is simplified, so that a period of time from the inquiry to the response can be shortened. When the distance to at least one person falls below the first threshold or when the speed of at least one person exceeds the second threshold, the collision possibility with the person is included in the determination object, so that the occurrence of the collision with the person can be prevented. (Fourth exemplary embodiment)

[0095] A fourth exemplary embodiment relates to a driving assistance device to be installed in the vehicle, which performs self-driving based on the detected obstacle similarly to the first to third exemplary embodiments. The fourth exemplary embodiment focuses on "right turning" as the driving behavior. The right turning is performed at the intersection similarly to the left turning. The vehicle travels on the first road, and the self-driving control device calculates the collision possibility with the peripheral vehicle traveling in the opposite direction on the first road before the intersection where the second road intersects. If the collision possibility is greater than a predetermined value, the self-driving control device stops the vehicle before the intersection. In this situation, the vehicle can turn right if the peripheral vehicle traveling in the opposite direction stops before the intersection and yields the right-of-way to the vehicle.

[0096] The driving assistance device of the fourth exemplary embodiment performs the following processing to enable the right turn in such a situation. The driving assistance device is informed by the self-driving control device of the "stop" driving behavior that occurs during the "right turn" driving behavior. The driving assistance device specifies, from the map information, the intersection end point with respect to the second road in the traveling direction of the peripheral vehicle, which is an oncoming vehicle on the first road in the scene where the first road and the second road intersect, and derives the distance between the intersection end point and the peripheral vehicle as the determination distance. The driving assistance device detects the speed of the peripheral vehicle.When the determination distance is greater than or equal to a first threshold and the speed is less than or equal to a second threshold, the driving assistance device generates the image to query the occupant whether to exclude the collision possibility between the peripheral vehicle and the vehicle from the determination object in the autonomous driving control device, and displays the image on a monitor in the vehicle. Upon receiving a response operation to exclude the collision possibility from the occupant with respect to the display, the driving assistance device generates the command to exclude the collision possibility between the peripheral vehicle and the vehicle from the determination object and sends the command to the autonomous driving control device.Upon receiving the command from the driving assistance device, the self-driving control device excludes the possibility of collision between the peripheral vehicle and the vehicle of the target object and drives the vehicle when the collision possibility is small. The vehicle 100 of the fourth exemplary embodiment is of a type similar to that shown in FIGS. Fig. 1 and Fig. 2, and the control device 41 is of a type similar to that in Fig. 4. The following mainly describes a difference from the first exemplary embodiment.

[0097] The processing of the self-driving control device 30 will be described before describing the processing related to the “right turn” driving behavior by the driving assistance device 40. Fig. 19 shows a processing overview. Part (a) of the Fig. Figure 19 shows the future right-turn behavior, wherein the right-turn behavior is specified by the control device 31 of the self-driving control device 30. The first road 210 and the second road 212 are similar to the part (a) of the Fig. 11. The first route 110a, on which the vehicle 100 is to travel, is planned to go up the first road 210, turn right at the intersection, and enter the second road 212. The first peripheral vehicle 102a and the second peripheral vehicle 102b travel down the first road 210, i.e., they travel opposite to the vehicle 100. At this point, the first peripheral vehicle 102a travels before the intersection. It is assumed that the first peripheral vehicle 102a, traveling opposite to the vehicle 100, is to cross the vehicle 100 during the right turn of the vehicle 100. The control device 31 specifies a right-turn behavior as in part (a) of the Fig. 19, based on the detection information from detector 20. Only any known technique needs to be used for the specification, and its description is omitted.

[0098] The control device 31 calculates the TTC for the first peripheral vehicle 102a as a collision possibility based on the inter-vehicle distance 122 between the vehicle 100 and the first peripheral vehicle 102a, the speed of the vehicle 100, and the speed of the first peripheral vehicle 102a. In the fourth exemplary embodiment, the inter-vehicle distance 122 is a distance in which a lane distance of the first route 110a from the position of the vehicle 100 to a point where the first route 110a crosses the second route 110b and a lane distance of the second route 110b from the position of the first peripheral vehicle 102a to the intersection point are added. However, the inter-vehicle distance 122 can be approximated by a linear distance between a head of the vehicle 100 and a head of the first peripheral vehicle 102a.In this case, the linear distance between the head of the vehicle 100 and the head of the first peripheral vehicle 102a is used as an approximate value. In the case where the calculated collision possibility is greater than the predetermined value, the control device 31 decides the stop behavior. When deciding the stop behavior, the control device 31 executes the control of stopping the vehicle 100. Consequently, the vehicle 100 traveling on the first road 210 stops before the intersection. The control device 31 sends information indicative of the stop behavior to the behavior information input unit 54 via the I / O unit 33. At this point, or before sending the information, the control device 31 sends information indicative of the right-turn behavior as shown in part (a) of FIG. Fig. 19, to the behavior information input unit 54. Parts (b) and (c) of the Fig. 19 will be described later.

[0099] The behavior information input unit 54 in Fig. 4 receives from the control device 31 the information indicating the right turn behavior as in part (a) of the Fig. 19. The behavior information input unit 54 also receives the information indicating the stopping behavior from the control device 31. The behavior information input unit 54 outputs the received information to the control device 41. In the case where the behavior information input unit 54 is informed of the stopping behavior of the own vehicle, the determiner 76 of the control device 41 starts the subsequent processing. The determiner 76 detects the right-turn behavior as shown in part (a) of the Fig. 19, based on the information indicative of the right-turn behavior. As described above, without using the information indicative of the right-turn behavior, the determiner 76 can detect the right-turn behavior based on the detection information, similar to the control device 31.

[0100] Part (b) of the Fig. 19 shows the right-turn behavior detected by the determiner 76. Part (b) of the Fig. 19 shows the second route 110b on which the first peripheral vehicle 102a is expected to travel. The second route 110b is generated based on map information included in the detection information and position information of the first peripheral vehicle 102a, and is determined in advance to be traveling straight down the first road 210. The determiner 76 detects the intersection end point 112 with respect to the second road 212 in the traveling direction of the first peripheral vehicle 102a on the first road 210 based on the map information included in the detection information. The intersection end point 112 is a point at which the first peripheral vehicle 102a traveling on the first road 210 finally reaches a section where the first road 210 and the second road 212 overlap.That is, the intersection end point 112 is an end point (line) of the intersection to which the first peripheral vehicle 102a travels along the first road 210, and serves as an intersection termination point.

[0101] The determiner 76 derives the distance from the intersection end point 112 to the first peripheral vehicle 102a as the determination distance 120. In the case where a rearmost portion of the second peripheral vehicle 102b exists between the intersection end point 112 and the first peripheral vehicle 102a, the distance from the rearmost portion of the second peripheral vehicle 102b to the first peripheral vehicle 102a may be set to the determination distance 120. The determiner 76 detects the speed of the first peripheral vehicle 102a. If the determination distance 120 is shorter than the first threshold, or if the speed of the first peripheral vehicle 102a is higher than the second threshold, the determiner 76 determines that this is the "first state."On the other hand, if the determination distance 120 is greater than or equal to the first threshold and the speed of the first peripheral vehicle 102a is less than or equal to the second threshold, the determiner 76 determines that it is the "second state." Part (c) of the . Fig. 19 will be described later. The description returns to Fig. 4. The determiner 76 outputs the determination result to the query processing unit 78. The determiner 76 also outputs another item of information to the query processing unit 78.

[0102] In the case where the determination result from the determiner 76 indicates the second state, the query processing unit 78 performs the processing of querying the occupant as to whether the collision possibility between the first peripheral vehicle 102a and the vehicle 100 should be excluded from the determination object in the self-driving control device 30. The query processing will be described below with reference to Fig. 20 described in more detail. Fig. 20 shows the image displayed on the notification device 2. A part (a) of the Fig. 20 shows the image generated by the query processing unit 78 and displayed by the image and sound output unit 51 on the visual field display device 2a.

[0103] The query processing unit 78 generates the image indicating the current situation in which the right-turn behavior occurs, ie, the situation in part (a) of the Fig. 19 based on a further item of information received by determiner 76. The own vehicle symbol 150 corresponding to the vehicle 100, the first peripheral vehicle symbol 152a corresponding to the first peripheral vehicle 102a and the second peripheral vehicle symbol 152b corresponding to the second peripheral vehicle 102b are shown in Fig. 20. The rectangular obstacle symbol 156 surrounding the first peripheral vehicle symbol 152a is also shown. The query processing unit 78 can superimpose a message on the image to query the occupant whether the collision possibility between the first peripheral vehicle 102a and the vehicle 100 should be excluded from the determination object of the self-driving control device 30. Various aspects can be used as the query aspect. Parts (b) and (c) of the Fig. 20 will be described later. The description returns to Fig. 4 back.

[0104] The passenger checks the image displayed on the visual display device 2a, obtains eye contact for mutual concessions from the passenger of the first peripheral vehicle 102a, and recognizes the situation in which the right turn can be executed. If the passenger wishes to execute the right turn, he or she performs the hand swipe gesture. The third operation unit 4c recognizes this action. The action is not limited to this. The operation signal input unit 50 in Fig. 1 receives this action. The action corresponds to a response signal for eliminating the possibility of collision between the first peripheral vehicle 102a and the vehicle 100 from the target object with respect to the query of the image and sound output unit 51. Upon receiving the response signal, the operation signal input unit 50 notifies the query processing unit 78 of receiving the response signal. Upon receiving the notification, the query processing unit 78 instructs the command processing unit 80 to generate the command.

[0105] In the case where the query processing unit 78 instructs the command processing unit 80 to generate the command, the command processing unit 80 generates the command to exclude the collision possibility between the first peripheral vehicle 102a and the vehicle 100 from the determination object. The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30. Upon receiving the command, the control device 31 of the self-driving control device 30 calculates the collision possibility as before. However, the control device 31 excludes the collision possibility between the first peripheral vehicle 102a and the vehicle 100 from the determination object and decides on the driving behavior. Part (c) of the Fig. Figure 19 shows the effect of the vehicle 100 in the case where the possibility of collision between the first peripheral vehicle 102a and the vehicle 100 from the destination object is excluded. In part (c) of the Fig. 19, the vehicle 100 turns right from the first street 210 and travels on the second street 212. The description returns to Fig. 4 back.

[0106] In the case where the control device 31 of the self-driving control device 30 excludes the possibility of collision between the first peripheral vehicle 102a and the vehicle 100 from the determination object in order to perform self-driving, the control device 31 outputs the execution of the command or the continuous execution of the command as behavior information to the driving assistance device 40. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates the image that allows the occupant to recognize that the possibility of collision between the first peripheral vehicle 102a and the vehicle 100 is excluded from the determination object in the self-driving control device 30. Part (b) of the Fig. Fig. 20 shows the image displayed on the visual field display device 2a in the case where the collision possibility between the first peripheral vehicle 102a and the vehicle 100 from the determination object in the self-driving control device 30 is excluded. As in part (b) of Fig. 20, the obstacle symbol 156 surrounding the first peripheral vehicle symbol 152a changes from the solid line display to the dashed line display. Part (c) of the Fig. 20 will be described later. The description returns to Fig. 4 back.

[0107] After the command output unit 55 has issued the command, the determiner 76 continues the determination of the first state or the second state until the right turn behavior in part (c) of the Fig. 19 is completed. In the case where the determination result indicates the first state, the command processing unit 80 generates the command to instruct the self-driving control device 30 to include the collision possibility between the first peripheral vehicle 102a and the vehicle 100 in the determination object. This corresponds to the situation where the first peripheral vehicle 102a, which has been detected as yielding the right-of-way to the vehicle 100, starts moving. The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30. Upon receiving the command, the control device 31 of the self-driving control device 30 includes the collision possibility between the first peripheral vehicle 102a and the vehicle 100 in the determination object. Consequently, when the collision possibility exceeds the predetermined value, the control device 31 stops the vehicle 100.

[0108] If the control device 31 stops the vehicle 100 to inform the command processing unit 80 of the stop through the behavior information input unit 54, the command processing unit 80 generates the image that notifies the occupant of the suspension of the right turn. Part (c) of the Fig. Figure 20 shows the image displayed on the visual display device 2a when the right turn is suspended. As shown in part (c) of Fig. 20, the obstacle symbol 156 surrounding the first peripheral vehicle symbol 152a changes from the dashed line display to the solid line display, and the message is displayed.

[0109] During right-turn behavior, there is sometimes a person present on the pedestrian crossing intended for crossing the second street 212 after the right turn of vehicle 100. Therefore, similar to the left-turn behavior, there is a possibility that mutual concessions between the vehicle and the person may occur during right-turn behavior. The processing of the person's mutual concessions is described below. Fig. Fig. 21 shows another processing overview executed by the control device 41. Part (a) of the Fig. Figure 21 shows the future right-turn behavior, wherein the right-turn behavior is specified by the control device 31 of the self-driving control device 30. The first route 110a, on which the vehicle 100 is to travel, is set to go up the first road 210, turn right at the intersection, and enter the second road 212. The person 104 is located on the pedestrian crossing provided for crossing the second road 212 after the right turn. Part (a) of the Fig. 21 is, with this exception, similar to part (a) of the Fig. 11, and the control device 31 performs the processing similar to the left turn behavior.

[0110] The behavior information input unit 54 in Fig. 4 receives from the control device 31 the information indicating the right turn behavior as in part (a) of the Fig. 21. The behavior information input unit 54 also receives the information indicating the stopping behavior from the control device 31. The behavior information input unit 54 outputs the received information to the control device 41. In the case where the behavior information input unit 54 is informed of the stopping behavior of the own vehicle, the determiner 76 of the control device 41 starts the subsequent processing. The determiner 76 detects the right-turn behavior as shown in part (a) of the Fig. 21, based on the information indicative of the right-turn behavior. As described above, the determiner 76, similar to the control device 31, can detect the right-turn behavior based on the detection information without using the information indicative of the right-turn behavior.

[0111] Part (b) of the Fig. Fig. 21 shows the right-turn behavior detected by the determiner 76 of the self-driving control device 30. The third route 110c, on which the person 104 is expected to walk, and the intersection end point 114 of the second road 212 are shown. These images are similar to part (b) of Fig. 11. For this reason, the self-driving control device 30 performs processing similar to the left-turn behavior. As a result, as shown in part (c) of the Fig. 21, the vehicle 100 sometimes turns right from the first road 210 and travels on the second road 212. The subsequent processing operations are similar to those described above, so their description is omitted.

[0112] Although Fig. 21 shows the case where the person 104 is moving downward, similar processing is performed when the person 104 is moving upward. Further, there may be a case where a plurality of peripheral vehicles 102 are to cross the vehicle 100 during the right turn of the vehicle 100, and a case where a plurality of people 104 are to cross the vehicle 100 during the right turn of the vehicle 100. In such cases, processing similar to that of the third exemplary embodiment may be performed.

[0113] In the fourth exemplary embodiment, when the distance to the peripheral vehicle is greater than or equal to the first threshold and the speed of the peripheral vehicle is less than or equal to the second threshold, a query is made as to whether the possibility of collision with the peripheral vehicle should be excluded from the determination object, so that the occupant's will can be verified. When the response signal for excluding the possibility of collision with the peripheral vehicle from the determination object is received in response to the query, an instruction is given to exclude the possibility of collision with the peripheral vehicle from the determination object, so that the vehicle can turn right in front of the peripheral vehicle that yields the right-of-way to the vehicle.If the distance to the peripheral vehicle is greater than or equal to the first threshold and the speed of the peripheral vehicle is less than or equal to the second threshold, a query is made as to whether the possibility of collision with the peripheral vehicle should be excluded from the target object, so that the eye contact can be performed independently of the self-driving process. The instruction to exclude the possibility of collision with the peripheral vehicle from the target object is issued through the combination of the query and the response signal, so that the vehicle can drive appropriately even if the peripheral vehicle is present when turning right.

[0114] The determination continues even if the possibility of collision with the peripheral vehicle is excluded from the determination object. If the distance to the peripheral vehicle falls below the first threshold or the speed of the person exceeds the second threshold, the possibility of collision with the peripheral vehicle is included in the determination object, so that the occurrence of the collision with the peripheral vehicle can be prevented. The query to the occupant is not made if the possibility of collision with the peripheral vehicle is included in the determination object, so that a period of time during which the possibility of collision with the peripheral vehicle is included in the determination object can be shortened.

[0115] If the distance to the person is greater than or equal to the third threshold and the person's speed is less than or equal to the fourth threshold, a query is made as to whether the possibility of collision with the person should be excluded from the target object, so that the person's will can be verified. If the response signal to exclude the possibility of collision with the person from the target object is received in response to the query, an instruction is given to exclude the possibility of collision with the person from the target object, so that the vehicle can turn right in front of the person who yields the right of way to the vehicle.When the distance to the person is greater than or equal to the third threshold and the person's speed is less than or equal to the fourth threshold, a query is made as to whether the possibility of collision with the person should be excluded from the determination object, so that eye contact can be carried out independently of the self-driving. The instruction to exclude the possibility of collision with the person from the determination object is given through the combination of the query and the response signal, so that the vehicle can drive appropriately even if the person is present when turning right. When the distance to the person falls below the third threshold or when the person's speed exceeds the fourth threshold, the possibility of collision with the person is included in the determination object, so that the occurrence of a collision with the person can be prevented.

[0116] Whether the collision possibility with the plurality of peripheral vehicles should be excluded from the determination object is collectively inquired, so that the number of inquiries can be reduced. The response signal related to the collective inquiry is received, so that the processing performed by the occupant can be simplified. The processing performed by the occupant is simplified, so that a period of time from the inquiry to the response can be shortened. When the distance to at least one peripheral vehicle falls below the first threshold or when the speed of at least one peripheral vehicle exceeds the second threshold, the collision possibility with the peripheral vehicle is included in the determination object, so that the occurrence of the collision with the peripheral vehicle can be prevented.Whether the possibility of collision with the plurality of people should be excluded from the determination object is checked collectively, thus reducing the number of queries. If the distance to at least one person falls below the third threshold or if the speed of at least one person exceeds the fourth threshold, the possibility of collision with the person is included in the determination object, thus preventing the occurrence of a collision with the person. (Fifth exemplary embodiment)

[0117] A fifth exemplary embodiment relates to a driving assistance device to be installed in the vehicle, which performs self-driving based on the detected obstacle similarly to the first to fourth exemplary embodiments. Similar to the fourth exemplary embodiment, the fifth exemplary embodiment also focuses on "right turning" as a driving behavior. As described above, in the right turn, sometimes the peripheral vehicle corresponds to the obstacle, and sometimes the person corresponds to the obstacle. Specifically, at this point, it is assumed that the peripheral vehicle and the person each correspond to the obstacle. In such a situation, if the inquiry and response are performed with respect to each of the peripheral vehicles and the person as in the fourth exemplary embodiment, the time until the end of all processing is extended.If the time period is extended, there is a possibility that the peripheral vehicle and the person stopping to give way to the vehicle will start moving.

[0118] For this reason, when the peripheral vehicle and the person are determined to be in the second state, the driving assistance device of the fifth exemplary embodiment collectively performs the inquiry as to whether to exclude the possibility of collision with the peripheral vehicle and the person from the determination object in the self-driving control device. When the occupant collectively performs the response operation with respect to the collective inquiry, the driving assistance device causes the self-driving control device to exclude the possibility of collision with the peripheral vehicle and the person from the determination object. That is, the one-time inquiry and the one-time response operation are performed to exclude the possibility of collision with the peripheral vehicle and the person from the determination object in the self-driving control device.The vehicle 100 of the fifth exemplary embodiment is of a type similar to that shown in FIGS. Fig. 1 and Fig. 2, and the control device 41 is of a type similar to that in Fig. 4. The following mainly describes differences from the above description.

[0119] Fig. Fig. 22 shows a processing overview and shows the future right-turn behavior, wherein the right-turn behavior is specified by the control device 31 of the self-driving control device 30 and the control device 41 of the driving assistance device 40. The first road 210, the second road 212, the vehicle 100, the first peripheral vehicle 102a and the second peripheral vehicle 102b are similar to the part (a) of Fig. 19. Person 104 is similar to part (a) of the Fig. 21. The control device 31 calculates the collision possibility with respect to both the first peripheral vehicle 102a and the person 104. If the calculated collision possibility is greater than the predetermined value, the control device 31 decides on the stop behavior.

[0120] The behavior information input unit 54 in Fig. 4 receives from the control device 31 the information about the right turn behavior, as in Fig. 22. The behavior information input unit 54 also receives the information indicative of the stopping behavior from the control device 31. The behavior information input unit 54 outputs the received information to the control device 41. The determiner 76 of the control device 41 performs processing similar to that described above for the first peripheral vehicle 102a and performs processing similar to that described above for the person 104. That is, the determiner 76 determines whether the first peripheral vehicle 102a is in the first state or the second state, and determines whether the person 104 is in the first state or the second state.

[0121] In the case where the determiner 76 determines that the first peripheral vehicle 102a and the person 104 are in the second state, the query processing unit 78 performs the processing of the collective query of the occupant as to whether the collision possibility with the first peripheral vehicle 102a and the person 104 should be excluded from the determination object in the self-driving control device 30. The query processing will be described below with reference to Fig. 23 described in more detail. Fig. 23 shows the image displayed on the notification device 2. A part (a) of the Fig. 23 shows the image generated by the query processing unit 78 and displayed by the image and sound output unit 51 on the visual field display device 2a.

[0122] The query processing unit 78 generates the image indicating the current situation in which the right-turn behavior occurs, ie, the situation in Fig. 22, based on a further item of information received by the determiner 76. The own vehicle symbol 150 corresponding to the vehicle 100, the first peripheral vehicle symbol 152a corresponding to the first peripheral vehicle 102a, the second peripheral vehicle symbol 152b corresponding to the second peripheral vehicle 102b, and the person symbol 154 corresponding to the person 104 are shown in Fig. 23. The rectangular obstacle symbol 156, which collectively surrounds the first peripheral vehicle symbol 152a and the person symbol 154, is also shown. Various aspects can be used as the query aspect. Parts (b) and (c) of the Fig. 23 will be described later. The description returns to Fig. 4 back.

[0123] The occupant checks the image displayed on the visual display device 2a, obtains eye contact for mutual concessions from both an occupant of the first peripheral vehicle 102a and the person 104, and recognizes the situation in which the right turn can be executed. If the occupant wishes to execute the right turn, he or she performs the hand swipe gesture. The third operation unit 4c recognizes this action. The action is not limited to this. The operation signal input unit 50 in Fig. 1 receives this action. The action corresponds to a response signal for collectively eliminating the possibility of collision with the first peripheral vehicle 102a and the person 104 from the target object in response to the collective query from the image and sound output unit 51. Upon receiving the collective response signal, the operation signal input unit 50 notifies the query processing unit 78 of receiving the collective response signal. Upon receiving the notification of the collective reception, the query processing unit 78 instructs the command processing unit 80 to generate the command.

[0124] In the case where the query processing unit 78 instructs the command processing unit 80 to generate the command, the command processing unit 80 generates the command to exclude the possibility of collision between the first peripheral vehicle 102a and the person 104 from the destination object. The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30. Upon receiving the command, the control device 31 of the self-driving control device 30 excludes the possibility of collision with the first peripheral vehicle 102a and the person 104 from the destination object.

[0125] In the case where the control device 31 of the self-driving control device 30 eliminates the possibility of collision between the first peripheral vehicle 102a and the person 104 from the destination object to perform self-driving, the control device 31 outputs the execution of the command or the continuous execution of the command as behavior information to the driving assistance device 40. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 generates the image that allows the occupant to recognize that the possibility of collision with the first peripheral vehicle 102a and the person 104 from the destination object is eliminated in the self-driving control device 30. Part (b) of the Fig. Fig. 23 shows the image displayed on the visual field display device 2a in the case where the possibility of collision with the first peripheral vehicle 102a and the person 104 is excluded from the determination object in the self-driving control device 30. As in part (b) of Fig. 23, the obstacle symbol 156, which collectively surrounds the first peripheral vehicle symbol 152a and the person symbol 154, changes from the solid line display to the dashed line display. The part (c) of the Fig. 23 will be described later. The description returns to Fig. 4 back.

[0126] After the command processing unit 80 issues the command, the determiner 76 continues to determine the first state or the second state with respect to both the first peripheral vehicle 102a and the person 104 until the right-turn behavior is completed. If the determination result for the first peripheral vehicle 102a indicates the first state, the command processing unit 80 generates the command to instruct the self-driving control device 30 to include the collision possibility with the first peripheral vehicle 102a in the determination object. This corresponds to including the collision possibility with the first peripheral vehicle 102a that satisfies the determination object condition in the determination object.On the other hand, in the case where the determination result for the person 104 indicates the first state, the command processing unit 80 generates the command to instruct the self-driving control device 30 to include the collision possibility with the person 104 in the determination object. This corresponds to including the collision possibility with the person 104 that satisfies the determination object condition in the determination object.

[0127] The command output unit 55 outputs the command generated by the command processing unit 80 to the self-driving control device 30. Upon receiving the command, the control device 31 of the self-driving control device 30 includes the collision possibility with the first peripheral vehicle 102a or the person 104 that satisfy the condition of the determination object in the determination object. Therefore, if the collision possibility exceeds the predetermined value, the control device 31 stops the vehicle 100.

[0128] In the case where the control device 31 stops the vehicle 100 to notify the command processing unit 80 of the stop through the behavior information input unit 54, the command processing unit 80 generates the image that notifies the occupant of the suspension of the right turn. Part (c) of the Fig. Fig. 23 shows the image displayed on the visual display device 2a when the right turn is suspended. At this point, it is assumed that the change is made so that the collision possibility with the first peripheral vehicle 102a is included in the determination object of the self-driving control device 30. As shown in part (c) of Fig.As shown in Fig. 23, the person symbol 154 is surrounded by the first obstacle symbol 156a indicated by a dashed line. On the other hand, the first peripheral vehicle symbol 152a is surrounded by the second obstacle symbol 156b indicated by a solid line.

[0129] In the fifth exemplary embodiment, whether the collision possibility with the peripheral vehicle and the person of different types should be excluded from the determination object is collectively inquired, so that the number of inquiries can be reduced. The response signal related to the collective inquiry is received, so that the processing performed by the occupant can be simplified. The processing performed by the occupant is simplified, so that the time period from the inquiry to the response can be shortened. In the case where the distance to the peripheral vehicle or person is shortened, or in the case where the speed is increased, the collision possibility with the peripheral vehicle or person is included in the determination object, so that the occurrence of the collision with the peripheral vehicle or person can be prevented.

[0130] While the exemplary embodiments of the present disclosure have been described above with reference to the drawings, the functions of the above devices and processors may be implemented by a computer program. A computer that implements the above functions by executing the program includes an input device such as a keyboard, a mouse, and a touch panel; an output device such as a display device and a speaker; a central processing unit (CPU); a storage device such as a ROM, a RAM, a hard disk, and a solid state drive (SSD); a reading device that reads information from a recording medium such as a digital versatile disk read-only memory (DVD-ROM) and a USB memory (USB 2.0).: universal serial bus, USB), as well as a network card that carries out communication over a network, with the respective elements being connected to each other via a bus.

[0131] The reading device reads the program from the recording medium on which the program is recorded and stores the program in the storage device. Alternatively, the network card communicates with a server device connected to the network, and a program implementing the respective functions of the above-mentioned devices, downloaded from the server device, is stored in the storage device. The CPU copies the program stored in the storage device to the RAM and sequentially reads the instructions contained in the program from the RAM to execute the instructions and thus implement the functions of the devices. Another road user can be included as an obstacle.For example, a motorcycle (two-wheeled vehicle) and a bicycle (with a person riding on it) can be treated as peripheral vehicles, and a person pushing the bicycle or a person riding a skateboard can be treated as a pedestrian.

[0132] An overview of one aspect of the present disclosure is as follows. (Point 1-1)

[0133] A driving assistance device to be installed in a vehicle, the driving assistance device comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility is greater than a predetermined value; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination object in the self-driving control device to a notification device when a distance from a point on a predicted movement route of the obstacle to the obstacle is greater than or equal to a first threshold and the speed of the obstacle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the obstacle and the vehicle from the determination object; and a command output unit that outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the target object to the self-driving control device when the operation signal input unit receives the response signal.

[0134] According to this aspect, when the distance to the obstacle is greater than or equal to the first threshold, the speed of the obstacle is less than or equal to the second threshold, and the response signal for excluding the possibility of collision between the obstacle and the vehicle is obtained from the determination object, an instruction for excluding the obstacle is given so that the vehicle can travel appropriately when the obstacle is present. (Points 1-2)

[0135] The driving assistance device according to item 1-1, wherein the command output unit outputs a command to include the collision possibility between the obstacle and the vehicle in the determination object to the self-driving control device when the distance from the one point on the predicted movement route of the obstacle to the obstacle falls below the first threshold, or when the speed of the obstacle exceeds the second threshold, after outputting the command to exclude the collision possibility between the obstacle and the vehicle from the determination object to the self-driving control device.

[0136] In this case, when the distance to the obstacle falls below the first threshold or when the speed of the obstacle exceeds the second threshold, the possibility of collision with the obstacle is included in the determination object, so that the occurrence of the collision with the obstacle can be prevented. (points 1-3)

[0137] The driving assistance device according to item 1-1, wherein the collision possibility with a plurality of obstacles including the obstacle increases higher than the predetermined value in the self-driving control device, enables the behavior information input unit to receive the stopping behavior information about the vehicle from the self-driving control device, the query output unit outputs query information for collectively querying the occupant as to whether the possibility of collision with the plurality of obstacles from the target object in the self-driving control device should be excluded to the notification device when a distance from a point on a predicted movement route of each of the plurality of obstacles to a corresponding one of the plurality of obstacles is greater than or equal to the first threshold, and the speed of each of the plurality of obstacles is less than or equal to the second threshold, if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit, the control signal input unit receives a response signal relating to the query about which the occupant has been notified by the notification device, the response signal serving to collectively exclude the possibility of collision with the plurality of obstacles from the destination object, and the command output unit outputs a command for excluding the possibility of collision with the plurality of obstacles from the target object to the self-driving control device when the operation signal input unit receives the response signal.

[0138] In this case, it is collectively queried whether the possibility of collision with the plurality of obstacles should be excluded from the destination object, and then the response signal is received, so that the processing can be simplified. (points 1-4)

[0139] The driving assistance device according to item 1-3, wherein the command output unit outputs a command to include the collision possibility with an obstacle that satisfies a condition in the determination object to the self-driving control device when one of the distances from the respective points on the predicted movement routes of the plurality of obstacles to the plurality of obstacles falls below the first threshold, or when at least one of the speeds of the plurality of obstacles exceeds the second threshold, after the command to exclude the collision possibility with the plurality of obstacles from the determination object is output to the self-driving control device.

[0140] In this case, if the distance to at least one obstacle falls below the first threshold or if the speed of at least one obstacle exceeds the second threshold, the possibility of collision with the obstacle is included in the determination object, so that the occurrence of the collision with the obstacle can be prevented. (points 1-5)

[0141] A self-driving control device to be mounted in a vehicle, the self-driving control device comprising: a self-driving control unit that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility is greater than a predetermined value; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control unit; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point on a predicted movement route of the obstacle to the obstacle is greater than or equal to a first threshold and the speed of the obstacle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the obstacle and the vehicle from the determination object; and a command output unit that outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the destination object to the self-driving control unit when the operation signal input unit receives the response signal. (points 1-6)

[0142] A vehicle comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility is greater than a predetermined value; and a driving assistance device, wherein the driving assistance device comprises: a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point on a predicted movement route of the obstacle to the obstacle is greater than or equal to a first threshold and the speed of the obstacle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the obstacle and the vehicle from the determination object; and a command output unit that outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the target object to the self-driving control device when the operation signal input unit receives the response signal. (points 1-7)

[0143] A driving assistance method in a driving assistance device to be installed in a vehicle, the driving assistance device comprising a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility is greater than a predetermined value, the driving assistance method comprising: a step of receiving stopping behavior information about the vehicle from the self-driving control device; a step of outputting query information to a notification device for querying an occupant whether to exclude the collision possibility between the obstacle and the vehicle from the determination object in the self-driving control device when the distance from a point on a predicted movement route of the obstacle to the obstacle is greater than or equal to a first threshold and the speed of the obstacle is less than or equal to a second threshold if the stopping behavior information about the vehicle is input; a step of receiving a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal being for excluding the possibility of collision between the obstacle and the vehicle from the determination object; and a step of outputting a command for excluding the possibility of collision between the obstacle and the vehicle from the target object to the self-driving control device when the response signal is input. (Points 1-8)

[0144] A program in a driving assistance device to be installed in a vehicle, the driving assistance device comprising a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility is greater than a predetermined value, the program causing a computer to execute the following: a step of receiving stopping behavior information about the vehicle from the self-driving control device; a step of outputting query information to a notification device for querying an occupant whether to exclude the collision possibility between the obstacle and the vehicle from the determination object in the self-driving control device when a distance from a point on a predicted movement route of the obstacle to the obstacle is greater than or equal to a first threshold and the speed of the obstacle is less than or equal to a second threshold if the stopping behavior information about the vehicle is input; a step of receiving a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal being for excluding the possibility of collision between the obstacle and the vehicle from the determination object; and a step of outputting a command for excluding the possibility of collision between the obstacle and the vehicle from the target object to the self-driving control device when the response signal is input. (points 1-9)

[0145] A driving assistance system to be installed in a vehicle, the driving assistance system comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility is greater than a predetermined value; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a notification device that creates a notification of query information for querying an occupant whether the possibility of collision between the obstacle and the vehicle is to be excluded from the determination object in the self-driving control device, for a notification device when the distance from a point on a predicted movement route of the obstacle to the obstacle is greater than or equal to a first threshold and the speed of the obstacle is less than or equal to a second threshold if the notification device receives the stopping behavior information about the vehicle from the behavior information input unit; an input device that receives a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response operation serving to exclude the possibility of collision between the obstacle and the vehicle from the determination object; and a command output unit that outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the destination object to the self-driving control device when the input device receives the response operation. (Point 2-1)

[0146] A driving assistance device to be installed in a vehicle, the driving assistance device comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle is greater than a predetermined value in the event of interruption by the vehicle in front of the other vehicle; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device to a notification device when a distance from a point at which the other vehicle is predicted to finish crossing a road on which the vehicle is traveling to the other vehicle is greater than or equal to a first threshold and a speed of the other vehicle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the other vehicle and the vehicle of the destination object; and a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the operation signal input unit receives the response signal.

[0147] According to this aspect, when the distance to the peripheral vehicle is greater than or equal to the first threshold, the speed of the peripheral vehicle is less than or equal to the second threshold, and the response signal for excluding the possibility of collision between the peripheral vehicle and the vehicle of the determination object is obtained, an instruction for excluding the peripheral vehicle is issued so that the vehicle can travel appropriately when the peripheral vehicle is present. (Point 2-2)

[0148] The driving assistance device according to item 2-1, wherein the query output unit compares a distance from another vehicle to the other vehicle with the first threshold value when the other vehicle is located between the point at which the other vehicle is predicted to finish crossing the road on which the vehicle is traveling and the other vehicle.

[0149] In this case, the distance between the other vehicle and the other vehicle is compared with the first threshold, allowing for various scenarios to be handled. In the case where the other vehicle is present, control can be performed more safely. (points 2-3)

[0150] The driving assistance device according to item 2-1 or 2-2, wherein the command output unit outputs the command to include the collision possibility between the other vehicle and the vehicle in the determination object to the self-driving control device when the distance between the point at which the other vehicle is predicted to finish crossing the road on which the vehicle is traveling and the other vehicle falls below the first threshold, or when the speed of the other vehicle exceeds the second threshold, after the command to exclude the collision possibility between the other vehicle and the vehicle from the determination object is output to the self-driving control device.

[0151] In this case, when the distance to the peripheral vehicle falls below the first threshold or when the speed of the peripheral vehicle exceeds the second threshold, the collision possibility with the peripheral vehicle is included in the determination object, so that the occurrence of the collision with the peripheral vehicle can be prevented. (points 2-4)

[0152] A self-driving control device to be mounted in a vehicle, the self-driving control device comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle is greater than a predetermined value in the event of interruption by the vehicle in front of the other vehicle; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control unit; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device to a notification device when a distance from a point at which the other vehicle is predicted to finish crossing a road on which the vehicle is traveling to the other vehicle is greater than or equal to a first threshold and a speed of the other vehicle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the other vehicle and the vehicle of the destination object; and a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control unit when the operation signal input unit receives the response signal. (points 2-5)

[0153] A vehicle comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle is greater than a predetermined value in the event of interruption by the vehicle in front of the other vehicle; and the driving assistance device, wherein the driving assistance device comprises: a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device to a notification device when a distance from a point at which the other vehicle is predicted to finish crossing a road on which the vehicle is traveling to the other vehicle is greater than or equal to a first threshold and a speed of the other vehicle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the other vehicle and the vehicle of the destination object; and a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the operation signal input unit receives the response signal. (points 2-6)

[0154] A driving assistance method in a driving assistance device to be installed in a vehicle, the driving assistance device comprising a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle is greater than a predetermined value in the event of interruption by the vehicle in front of the other vehicle, the driving assistance method comprising: a step of receiving stopping behavior information about the vehicle from the self-driving control device; a step of outputting query information for querying an occupant as to whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device to a notification device when a distance from a point at which the other vehicle is predicted to finish crossing a road on which the vehicle is traveling to the other vehicle is greater than or equal to a first threshold and a speed of the other vehicle is less than or equal to a second threshold if the stopping behavior information about the vehicle is input; a step of receiving a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal being for eliminating the possibility of collision between the other vehicle and the vehicle of the target object; and a step of outputting a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the response signal is input. (points 2-7)

[0155] A program in a driving assistance device to be installed in a vehicle, the driving assistance device comprising a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls the automatic travel of the vehicle using the calculated collision possibility as a destination object, and stops the vehicle when the collision possibility with another vehicle is greater than a predetermined value in the event of interruption by the vehicle in front of the other vehicle, the program causing a computer to perform the following: a step of receiving stopping behavior information about the vehicle from the self-driving control device; a step of outputting query information for querying an occupant as to whether the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device is to be excluded to a notification device when a distance from a point at which the other vehicle is predicted to finish crossing a road on which the vehicle is traveling to the other vehicle is greater than or equal to a first threshold and a speed of the other vehicle is less than or equal to a second threshold if the stopping behavior information about the vehicle is input; a step of receiving a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal being for eliminating the possibility of collision between the other vehicle and the vehicle of the target object; and a step of outputting a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the response signal is input. (points 2-8)

[0156] A driving assistance system to be installed on a vehicle, the driving assistance system comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle is greater than a predetermined value in the event of interruption by the vehicle in front of the other vehicle; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a notification device that creates a notification of query information for querying an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device, for a notification device when a distance from a point at which the other vehicle is predicted to finish crossing a road on which the vehicle is traveling to the other vehicle is greater than or equal to a first threshold and a speed of the other vehicle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an input device that receives a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response operation being for eliminating the possibility of collision between the other vehicle and the vehicle from the target object; and a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the input device receives the response operation. (Point 3-1)

[0157] A driving assistance device to be installed in a vehicle, the driving assistance device comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with a person crossing a road on which the vehicle is making a left turn is greater than a predetermined value, the collision possibility being calculated when the vehicle is making the left turn; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the person and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point at which the person is predicted to finish crossing to the person is greater than or equal to a first threshold and a speed of the person is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the person and the vehicle from the target object; and a command output unit that outputs a command for excluding the possibility of collision between the person and the vehicle from the target object to the self-driving control device when the operation signal input unit receives the response signal.

[0158] According to this aspect, when the distance to the person is greater than or equal to the first threshold, the speed of the person is less than or equal to the second threshold, and the response signal for excluding the possibility of collision between the person and the vehicle is obtained from the determination object, an instruction for excluding the person is given so that the vehicle can travel appropriately when the person is present. (Point 3-2)

[0159] The driving assistance device according to item 3-1, wherein the command output unit outputs to the self-driving control device the command to include the collision possibility between the person and the vehicle in the determination object when the distance from the point at which the person is predicted to finish crossing to the person falls below the first threshold or when the speed of the person exceeds the second threshold after the command to exclude the collision possibility between the obstacle and the vehicle from the determination object is output to the self-driving control device.

[0160] In this case, when the distance to the person falls below the first threshold or when the speed of the person exceeds the second threshold, the collision possibility with the person is included in the determination object, so that the occurrence of the collision with the person can be prevented. (Point 3-3)

[0161] The driving assistance device according to item 3-1, wherein, when the collision possibility with a plurality of persons including the person increases higher than the predetermined value in the self-driving control device, the behavior information input unit receives the stopping behavior information about the vehicle from the self-driving control device, the query output unit outputs query information for collectively querying the occupant as to whether the possibility of collision with the plurality of persons from the destination object in the self-driving control device should be excluded to the notification device when the distance from the point at which each of the plurality of persons is predicted to complete the crossing to a corresponding one of the plurality of persons is greater than or equal to the first threshold and the speed of each of the plurality of persons is less than or equal to the second threshold, if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit, the operation signal input unit receives a response signal of a response operation with respect to the query about which the occupant has been notified by the notification device, the response signal serving to exclude the possibility of collision with the plurality of persons from the destination object, and the command output unit outputs a command for excluding the possibility of collision with the plurality of persons from the target object to the self-driving control device when the operation signal input unit receives the response signal.

[0162] In this case, it is collectively queried whether the possibility of collision with the plurality of people should be excluded from the destination object in order to receive the response signal, so that the processing can be simplified. (points 3-4)

[0163] The driving assistance device according to item 3-3, wherein the command output unit outputs a command for including the possibility of collision with a person satisfying a condition in the determination object to the self-driving control device when at least one of the distances from the respective points at which the plurality of people are predicted to finish crossing to the plurality of people falls below the first threshold, or when at least one of the speeds of the plurality of people exceeds the second threshold, after the command for excluding the possibility of collision with the plurality of people from the determination object is output to the self-driving control device.

[0164] In this case, if the distance to at least one person falls below the first threshold or if the speed of at least one person exceeds the second threshold, the possibility of collision with the person is included in the determination object, so that the occurrence of the collision with the person can be prevented. (points 3-5)

[0165] A self-driving control device to be mounted in a vehicle, the self-driving control device comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with a person crossing a road on which the vehicle is making a left turn is greater than a predetermined value, the collision possibility being calculated when the vehicle is making the left turn; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control unit; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the person and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point at which the person is predicted to finish crossing to the person is greater than or equal to a first threshold and a speed of the person is less than or equal to a second threshold, if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the person and the vehicle from the target object; and a command output unit that outputs a command for excluding the possibility of collision between the person and the vehicle from the destination object to the self-driving control unit when the operation signal input unit receives the response signal. (points 3-6)

[0166] A vehicle comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with a person crossing a road on which the vehicle is making a left turn is greater than a predetermined value, wherein the collision possibility is calculated when the vehicle is making the left turn; and a driving assistance device, wherein the driving assistance device comprises: a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the person and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point at which the person is predicted to finish crossing to the person is greater than or equal to a first threshold and a speed of the person is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the person and the vehicle from the target object; and a command output unit that outputs a command for excluding the possibility of collision between the person and the vehicle from the target object to the self-driving control device when the operation signal input unit receives the response signal. (points 3-7)

[0167] A driving assistance method in a driving assistance device to be installed in a vehicle, the driving assistance device comprising a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with a person crossing a road on which the vehicle is making a left turn is greater than a predetermined value, the collision possibility being calculated when the vehicle is making the left turn, the driving assistance method comprising: a step of receiving stopping behavior information about the vehicle from the self-driving control device; a step of outputting query information for querying an occupant as to whether the collision possibility between the person and the vehicle is to be excluded from the determination object in the self-driving control device to a notification device when the distance from a point at which the person is predicted to finish crossing to the person is greater than or equal to a first threshold and a speed of the person is less than or equal to a second threshold if the stopping behavior information is input via the vehicle; a step of receiving a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the person and the vehicle from the determination object; and a step of issuing a command for excluding the possibility of collision between the person and the vehicle from the target object to the self-driving control device when the response signal is input. (points 3-8)

[0168] A program in a driving assistance device to be installed in a vehicle, the driving assistance device comprising a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with a person crossing a road on which the vehicle is making a left turn is greater than a predetermined value, the collision possibility being calculated when the vehicle is making the left turn, and the program causing a computer to perform the following: a step of receiving stopping behavior information about the vehicle from the self-driving control device; a step of outputting query information for querying an occupant as to whether to exclude the possibility of collision between the person and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point at which the person is predicted to finish crossing to the person is greater than or equal to a first threshold and a speed of the person is less than or equal to a second threshold if the stopping behavior information is input via the vehicle; a step of receiving a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the person and the vehicle from the target object; and a step of issuing a command for excluding the possibility of collision between the person and the vehicle from the target object to the self-driving control device when the response signal is input. (points 3-9)

[0169] A driving assistance system to be installed in a vehicle, the driving assistance system comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with a person crossing a road on which the vehicle is making a left turn is greater than a predetermined value, the collision possibility being calculated when the vehicle is making the left turn; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a notification device that creates a notification of query information for querying an occupant whether to exclude the possibility of collision between the person and the vehicle from the determination object in the self-driving control device, for a notification device when the distance from a point at which the person is predicted to finish crossing to the person is greater than or equal to a first threshold and the speed of the person is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an input device that receives a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response operation serving to exclude the possibility of collision between the person and the vehicle from the determination object; and a command output unit that outputs a command for excluding the possibility of collision between the person and the vehicle from the target object to the self-driving control device when the input device receives the response operation. (Point 4-1)

[0170] A driving assistance device to be installed in a vehicle, the driving assistance device comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle that crosses the vehicle during a right turn of the vehicle while traveling opposite to the vehicle is greater than a predetermined value, the collision possibility being calculated when the vehicle performs the right turn; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point at which the other vehicle is predicted to stop crossing to the other vehicle is greater than or equal to a first threshold and a speed of the other vehicle is less than or equal to a second threshold, if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the other vehicle and the vehicle of the destination object; and a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the operation signal input unit receives the response signal.

[0171] According to this aspect, when the distance to the peripheral vehicle is greater than or equal to the first threshold, the speed of the peripheral vehicle is less than or equal to the second threshold, and the response signal for excluding the possibility of collision between the peripheral vehicle and the vehicle of the determination object is obtained, a command for excluding the peripheral vehicle is issued so that the vehicle can travel appropriately when the peripheral vehicle is present. (Point 4-2)

[0172] The driving assistance device according to item 4-1, wherein the query output unit compares a distance from another vehicle to the other vehicle with the first threshold value when the other vehicle is located between the point at which the other vehicle is predicted to finish crossing and the other vehicle.

[0173] In this case, the distance between the other vehicle and the other vehicle is compared with the first threshold, allowing for various scenarios to be handled. In the case where the other vehicle is present, control can be performed more safely. (Point 4-3)

[0174] The driving assistance device according to item 4-1 or 4-2, wherein the command output unit outputs the command to exclude the collision possibility between the other vehicle and the vehicle in the destination object to the self-driving control device when the distance from the point at which the other vehicle is predicted to finish crossing and the other vehicle falls below the first threshold, or when the speed of the other vehicle exceeds the second threshold, after the command to exclude the collision possibility between the obstacle and the vehicle in the destination object is output to the self-driving control device.

[0175] In this case, when the distance to the peripheral vehicle falls below the first threshold or when the speed of the peripheral vehicle exceeds the second threshold, the collision possibility with the peripheral vehicle is included in the determination object, so that the occurrence of the collision with the peripheral vehicle can be prevented. (Point 4-4)

[0176] A driving assistance device according to any one of items 4-1 to 4-3, wherein the behavior information input unit receives stopping behavior information about the vehicle from the self-driving control device when the collision possibility with a person crossing a road on which the vehicle is making a right turn is greater than or equal to a predetermined value, the collision possibility being calculated in the self-driving control device when the vehicle is making the right turn, the query output unit outputs query information for querying an occupant whether the collision possibility between the person and the vehicle should be excluded from the determination object in the self-driving control device to a notification device when the distance from a point at which the person is predicted to finish crossing to the person is greater than or equal to a third threshold and a speed of the person is less than or equal to a fourth threshold, if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit, the operation signal input unit receives a response signal of a response operation performed by the occupant with respect to a query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the person and the vehicle from the target object, and the command output unit outputs a command for excluding the possibility of collision between the person and the vehicle from the target object to the self-driving control device when the operation signal input unit receives the response signal.

[0177] According to this aspect, when the distance to the person is greater than or equal to the third threshold, the speed of the person is less than or equal to the fourth threshold, and the response signal for excluding the possibility of collision between the person and the vehicle is obtained from the determination object, an instruction for excluding the person is given so that the vehicle can travel appropriately when the person is present. (points 4-5)

[0178] The driving assistance device according to item 4-4, wherein the command output unit outputs to the self-driving control device the command to exclude the collision possibility between the person and the vehicle from the destination object when the distance from the point at which the person is predicted to finish crossing to the person falls below the third threshold or when the speed of the person exceeds the fourth threshold after the command to exclude the collision possibility between the obstacle and the vehicle from the destination object is output to the self-driving control device.

[0179] In this case, when the distance to the person falls below the third threshold or when the speed of the person exceeds the fourth threshold, the possibility of collision with the person is included in the determination object, so that the occurrence of the collision with the person can be prevented. (points 4-6)

[0180] The driving assistance device according to item 4-1 or 4-2, wherein, when the collision possibility with a plurality of other vehicles including the other vehicle increases higher than the predetermined value in the self-driving control device, the behavior information input unit receives the stopping behavior information about the vehicle from the self-driving control device, the query output unit outputs query information for collectively querying the occupant as to whether the possibility of collision with the plurality of other vehicles from the target object in the automatic driving control should be excluded to the notification device when the distance from the point at which each of the plurality of other vehicles is predicted to stop crossing to a corresponding one of the plurality of other vehicles is greater than or equal to the first threshold and the speed of each of the plurality of other vehicles is less than or equal to the second threshold, if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit, the operation signal input unit receives a response signal of a response operation with respect to the query about which the occupant has been notified by the notification device, the response signal serving to exclude the possibility of collision with the plurality of other vehicles from the destination object, and the command output unit outputs a command for excluding the possibility of collision with the plurality of other vehicles from the target object to the self-driving control device when the operation signal input unit receives the response signal.

[0181] In this case, it is collectively queried whether the possibility of collision with the multitude of other vehicles should be excluded from the destination object in order to receive the response signal, so that the processing can be simplified. (points 4-7)

[0182] The driving assistance device according to item 4-6, wherein the command output unit outputs a command for including the possibility of collision with other vehicles satisfying a determination object condition to the self-driving control device when one of the distances from the respective points at which the plurality of other vehicles are predicted to finish crossing to the plurality of other vehicles falls below the first threshold, or when at least one of the speeds of the plurality of other vehicles exceeds the second threshold, after the command for excluding the possibility of collision with the plurality of other vehicles from the determination object is output to the self-driving control device.

[0183] In this case, if the distance to at least one peripheral vehicle falls below the first threshold or if the speed of at least one peripheral vehicle exceeds the second threshold, the possibility of collision with the peripheral vehicle is included in the determination object, so that the occurrence of the collision with the peripheral vehicle can be prevented. (points 4-8)

[0184] The driving assistance device according to item 4-4, wherein the collision possibility with a plurality of persons including the person increases higher than the predetermined value in the self-driving control device, which enables the behavior information input unit to receive the stopping behavior information about the vehicle from the self-driving control device, the query output unit outputs query information for collectively querying the occupant as to whether the possibility of collision with the plurality of persons from the destination object in the automatic driving control should be excluded to the notification device when the distance from the point at which each of the plurality of persons is predicted to finish crossing to a corresponding one of the plurality of persons is greater than or equal to the third threshold and the speed of each of the plurality of persons is less than or equal to the fourth threshold, if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit, the operation signal input unit receives a response signal of a response operation with respect to the query about which the occupant has been notified by the notification device, the response signal serving to exclude the possibility of collision with the plurality of persons from the destination object, and the command output unit outputs a command for excluding the possibility of collision with the plurality of persons from the target object to the self-driving control device when the operation signal input unit receives the response signal.

[0185] In this case, it is collectively asked whether the possibility of collision with the plurality of people should be excluded from the destination object in order to receive the response signal, so that the processing can be simplified. (points 4-9)

[0186] The driving assistance device according to item 4-8, wherein the command output unit outputs a command for including the possibility of collision with a person who satisfies a determination object condition to the self-driving control device when at least one of the distances from the respective points at which the plurality of persons are predicted to finish crossing to the plurality of persons falls below the third threshold, or when at least one of the speeds of the plurality of persons exceeds the fourth threshold, after the command for excluding the possibility of collision with the plurality of persons from the determination object is output to the self-driving control device.

[0187] In this case, if the distance to at least one person falls below the third threshold or if the speed of at least one person exceeds the fourth threshold, the possibility of collision with the person is included in the determination object, so that the occurrence of the collision with the person can be prevented. (points 4-10)

[0188] The driving assistance device according to item 4-4, wherein the query output unit outputs query information for collectively querying the occupant as to whether the possibility of collision between the other vehicle and the person from the target object in the self-driving control device should be excluded to the notification device when the distance from a point at which the other vehicle is predicted to finish crossing to the other vehicle is greater than or equal to the first threshold, the speed of the other vehicle is less than or equal to the second threshold, the distance from the point at which the person is predicted to finish crossing to the person is greater than or equal to the third threshold, and the speed of the person is less than or equal to the fourth threshold, if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit, the operation signal input unit receives a response signal of a response operation with respect to the query of which the occupant has been notified by the notification device, the response signal serving to exclude the possibility of collision between the other vehicle and the person from the destination object, and the command output unit outputs a command for excluding the possibility of collision between the other vehicle and the person from the target object to the self-driving control device when the operation signal input unit receives the response signal.

[0189] In this case, it is collectively queried whether the collision possibility between the peripheral vehicle and the person should be excluded from the destination object to receive the response signal, so that the processing can be simplified. (points 4-11)

[0190] The driving assistance device according to item 4-10, wherein (1) the command output unit outputs the command to include the collision possibility with the other vehicle that satisfies a condition in the determination object to the self-driving control device when the distance from the point at which the other vehicle is predicted to finish crossing to the other vehicle falls below the first threshold or when the speed of the other vehicle exceeds the second threshold, and (2) the command output unit outputs the command to include the collision possibility with the person that satisfies a condition in the determination object to the self-driving control device when the distance from the point at which the person is predicted to finish crossing to the person falls below the third threshold or when the speed of the person exceeds the fourth threshold,after the command to exclude the possibility of collision between the other vehicle and the person from the destination object has been issued to the self-driving control device.

[0191] In the case where the distance to one of the peripheral vehicles or the person is shortened, or in the case where the speed is increased, the possibility of collision with the peripheral vehicle or the person is included in the determination object, so that the occurrence of the collision with the peripheral vehicle or the person can be prevented. (points 4-12)

[0192] A self-driving control device to be mounted in a vehicle, the self-driving control device comprising: a self-driving control unit that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle that crosses the vehicle during a right turn of the vehicle while traveling opposite to the vehicle is greater than a predetermined value, the collision possibility being calculated when the vehicle performs the right turn; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control unit; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point at which the other vehicle is predicted to stop crossing to the other vehicle is greater than or equal to a first threshold and a speed of the other vehicle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the other vehicle and the vehicle from the target object; and a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control unit when the operation signal input unit receives the response signal. (points 4-13)

[0193] A vehicle comprising: the driving assistance device comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle that crosses the vehicle during a right turn of the vehicle while traveling opposite to the vehicle is greater than a predetermined value, wherein the collision possibility is calculated when the vehicle performs the right turn; and a driving assistance device, wherein the driving assistance device comprises: a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a query output unit that outputs query information for querying an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point at which the other vehicle is predicted to stop crossing to the other vehicle is greater than or equal to a first threshold and a speed of the other vehicle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an operation signal input unit that receives a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal serving to exclude the possibility of collision between the other vehicle and the vehicle from the target object; and a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the operation signal input unit receives the response signal. (points 4-14)

[0194] A driving assistance method in a driving assistance device to be installed in a vehicle, the driving assistance device comprising a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle that crosses the vehicle during a right turn of the vehicle while traveling opposite to the vehicle is greater than a predetermined value, the collision possibility being calculated when the vehicle executes the right turn, and the driving assistance method comprising: a step of receiving stopping behavior information about the vehicle from the self-driving control device; a step of outputting query information for querying an occupant as to whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point at which the other vehicle is predicted to finish crossing to the other vehicle is greater than or equal to a first threshold and the speed of the other vehicle is less than or equal to a second threshold if the stopping behavior information about the vehicle is input; a step of receiving a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal being for eliminating the possibility of collision between the other vehicle and the vehicle of the target object; and a step of outputting a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the response signal is input. (points 4-15)

[0195] A program in a driving assistance device to be installed in a vehicle, the driving assistance device comprising a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle that crosses the vehicle during a right turn of the vehicle while traveling opposite to the vehicle is greater than a predetermined value, the collision possibility being calculated when the vehicle performs the right turn, the program causing a computer to perform the following: a step of receiving stopping behavior information about the vehicle from the self-driving control device; a step of outputting query information for querying an occupant as to whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device to a notification device when the distance from a point at which the other vehicle is predicted to finish crossing to the other vehicle is greater than or equal to a first threshold and the speed of the other vehicle is less than or equal to a second threshold if the stopping behavior information about the vehicle is input; a step of receiving a response signal of a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response signal being for eliminating the possibility of collision between the other vehicle and the vehicle of the target object; and a step of outputting a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the response signal is input. (points 4-16)

[0196] A driving assistance system to be installed in a vehicle, the driving assistance system comprising: a self-driving control device that calculates a collision possibility between a detected obstacle and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination object, and stops the vehicle when the collision possibility with another vehicle that crosses the vehicle during a right turn of the vehicle while traveling opposite to the vehicle is greater than a predetermined value, the collision possibility being calculated when the vehicle performs the right turn; a behavior information input unit that receives stopping behavior information about the vehicle from the self-driving control device; a notification device that creates a notification of query information for querying an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination object in the self-driving control device, for a notification device when the distance from a point at which the other vehicle is predicted to stop crossing to the other vehicle is greater than or equal to a first threshold and the speed of the other vehicle is less than or equal to a second threshold if the query output unit receives the stopping behavior information about the vehicle from the behavior information input unit; an input device that receives a response operation performed by the occupant with respect to the query notified to the occupant by the notification device, the response operation being for eliminating the possibility of collision between the other vehicle and the vehicle from the target object; and a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the destination object to the self-driving control device when the input device receives the response operation. (Point 5-1)

[0197] A driving assistance system comprising: a detector that detects at least one of a speed of an obstacle around a vehicle and a distance to the vehicle; a self-driving control device that calculates a collision possibility between the obstacle detected by the detector and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination parameter, and stops the vehicle when the collision possibility is greater than a predetermined value; a notification device that creates a notification at least from information about the control of the self-driving control device; and a driving assistance device that supports the notification, wherein the driving assistance device outputs first query information to the notification device to query an occupant whether the collision possibility between the obstacle and the vehicle should be excluded from the determination parameter when a distance from a first point at which a predicted movement route of the vehicle and a movement route of the obstacle predicted based on the detection by the detector intersect to the obstacle is greater than or equal to a first threshold and the speed of the obstacle detected by the detector is less than or equal to a second threshold, if stopping behavior information about the vehicle is input from the self-driving control device, and the driving assistance device outputs a first command for excluding the possibility of collision between the obstacle and the vehicle from the determination parameter to the self-driving control device when a response signal of an exclusion response operation performed by the occupant is inputted with respect to the first query information from which the notification device creates the notification. (Point 5-2)

[0198] The driving assistance system according to item 5-1, wherein the driving assistance device outputs a command for including the collision possibility between the obstacle and the vehicle in the determination parameter to the self-driving control device when a distance from the first point to the obstacle is smaller than the first threshold, or when a speed of the obstacle exceeds the second threshold after the first command is output to the self-driving control device. (Point 5-3)

[0199] The driving assistance system according to item 5-1, wherein the driving assistance device outputs second query information for querying the occupant whether a collision possibility with a plurality of obstacles including the obstacle should be excluded from the determination parameter to the notification device when a distance from a point at which a predicted movement route of the vehicle and a movement route of each of the plurality of obstacles predicted based on the detection by the detector intersect to a corresponding obstacle is greater than or equal to the first threshold, and a speed of each of the plurality of obstacles is less than or equal to the second threshold if stopping behavior information about the vehicle is input from the self-driving control device while the collision possibility with the plurality of obstacles is greater than a predetermined value, and the driving assistance device outputs a second command for excluding the possibility of collision with the plurality of obstacles from the determination parameter to the self-driving control device when a response signal of the collective exclusion is input with respect to the second query information from which the notification device creates the notification. (Point 5-4)

[0200] The driving assistance system according to item 5-3, wherein the driving assistance device outputs a command to include the possibility of collision with an obstacle that satisfies a condition in the determination parameter to the self-driving control device when at least one of the distances from the respective points to the plurality of obstacles is smaller than the first threshold, or when at least one of the speeds of the plurality of obstacles exceeds the second threshold after the second command is output to the self-driving control device. (Point 5-5)

[0201] A driving assistance device to be installed in a vehicle, the driving assistance device comprising: a detector that detects at least one of a speed of an obstacle around a vehicle and a distance between the vehicle and the obstacle; a self-driving control device that calculates a collision possibility between the obstacle detected by the detector and the vehicle, controls self-driving of the vehicle using the calculated collision possibility as a determination parameter, and stops the vehicle when the collision possibility is greater than a predetermined value; and a notification device that creates a notification at least from information about the control of the self-driving control device, wherein first query information for querying an occupant as to whether the possibility of collision between the obstacle and the vehicle should be excluded from the determination parameter is output to the notification device when the distance from a first point at which a predicted movement route of the vehicle and a movement route of the obstacle predicted based on the detection by the detector intersect to the obstacle is greater than or equal to a first threshold value and the speed of the obstacle detected by the detector is less than or equal to a second threshold value, if the stopping behavior information about the vehicle is input from the self-driving control device, and a first command for excluding the possibility of collision between the obstacle and the vehicle from the determination parameter is output to the self-driving control device when a response signal of an exclusion response operation performed by the occupant is inputted with respect to the first query information from which the notification device creates the notification. (points 5-6)

[0202] A driving assistance method in a driving assistance device to be installed in a vehicle, the driving assistance device comprising: a detector that detects at least one of a speed of an obstacle around a vehicle and a distance between the vehicle and the obstacle; a self-driving control device that calculates a collision possibility between the vehicle and the obstacle detected by the detector, controls self-driving of the vehicle using the calculated collision possibility as a determination parameter, and stops the vehicle when the collision possibility is greater than a predetermined value; and a notification device that creates a notification at least from information about the control of the self-driving control device, the driving assistance method comprising: a step of outputting first query information for querying an occupant as to whether the possibility of collision between the obstacle and the vehicle should be excluded from the determination parameter to the notification device when the distance from a first point at which a predicted movement route of the vehicle and a movement route of the obstacle predicted based on the detection by the detector intersect to the obstacle is greater than or equal to a first threshold and a speed of the obstacle detected by the detector is less than or equal to a second threshold, if stopping behavior information about the vehicle is input from the self-driving control device; and a step of outputting a first command for excluding the possibility of collision between the obstacle and the vehicle from the determination parameter to the self-driving control device when a response signal of an exclusion response operation performed by the occupant is inputted with respect to the first query information from which the notification device creates the notification.

[0203] The present disclosure has been described above according to exemplary embodiments. Those skilled in the art will appreciate that the exemplary embodiment is merely an example; other exemplary modifications are possible, combining components and / or processes of the exemplary embodiment differently, and the other exemplary modifications are still within the scope of the present disclosure.

[0204] For example, in the first to fifth exemplary embodiments, the vehicle 100 stays on the left side of the road. However, the present disclosure is not limited to left-hand traffic; rather, the vehicle 100 may stay on the right side of the road. At this point, the description of the left-turn behavior and right-turn behavior will be opposite to the first to fifth exemplary embodiments. With this modification, a scope of application can be expanded.

[0205] In the first to fifth exemplary embodiments, the road on which the vehicle 100 or the peripheral vehicle is traveling is described as the predicted movement route of the obstacle. However, the present disclosure is not limited to this; a specific lane on the road may be calculated. At this point, by replacing "road" with "lane," the predicted movement route of the obstacle can be calculated more accurately, and the vehicle can be controlled more accurately. With this modification, a range of application can be expanded.

[0206] In the first to fifth exemplary embodiments, the junction behavior, the left-turn behavior, and the right-turn behavior are described as driving behaviors. However, the present disclosure is not limited to left-hand traffic; other driving behaviors may be used. The determination distance 120 may be determined according to the driving behavior. With this modification, a range of application can be expanded.

[0207] In the first to fifth exemplary embodiments, when the control device 31 decides the stop behavior, the control device 31 stops the vehicle 100 and transmits the information indicating the stop behavior. For this reason, after the behavior information input unit 54 receives the stop behavior, the control device 41 executes the processing of deciding whether to exclude the possibility of collision with the obstacle from the determination object in the state where the vehicle 100 is stopped. However, the present disclosure is not limited to this. For example, the behavior information input unit 54 receives the stop behavior before the vehicle 100 stops, and the control device 41 may execute the processing of deciding whether to exclude the possibility of collision with the obstacle from the determination object in the state where the vehicle 100 is traveling.In this variation, the vehicle 100 does not stop, so that traffic can be further smoothed.

[0208] In the fourth exemplary embodiment, during the right turn, the control device 41 executes the processing for the person 104 while executing the processing for the first peripheral vehicle 102a. However, the present disclosure is not limited to this. For example, during the right turn, the control device 41 may only execute the processing for the person 104 without executing the processing for the first peripheral vehicle 102a. At this point, the third threshold and the fourth threshold correspond to the first threshold and the second threshold. With this modification, a range of application can be expanded. INDUSTRIAL APPLICABILITY

[0209] The present disclosure is useful for self-driving the vehicle, which can drive appropriately even if the obstacle is present. REFERENCE SYMBOLS IN THE DRAWINGS 2 Notification device 2a Field of view display device 2b Central display device 4 Input device 4a, 4b Control unit 4c Control unit 6 speakers 8 Radio device 10 Driving control unit 11 Steering wheel 12 Brake pedal 13 Accelerator pedal 14 indicator light switch 20 detector 21 Position information acquisition unit 22 Sensor 23 Speed ​​information acquisition unit 24 Card information acquisition unit 30 Self-propelled control device 31 Control unit 32 memory 33 I / O unit 40 Driver assistance device 41 Control unit 42 storage 43 I / O unit 50 Operating signal input unit 51 Image and sound output unit 52 Recognition information input unit 54 Behavioral information input unit 55 Command output unit 76 determiners 78 Query processing unit 80 Command processing unit 100 vehicles 102a, 102b Peripheral vehicle 104, 104a, 104b, 104b, 104c person 110a, 110b, 110c Route 111a, 111b passenger route 112 Intersection end point 114 Crossing end point 120 Determination distance 122 Vehicle following distance 124 surveillance area 150 Own vehicle symbol 152a, 152b peripheral vehicle symbol 154, 154a, 154b, 154c person symbol 156, 156a, 156b obstacle symbol 200 joining street 202 through street 210, 212 Street

Claims

[1] Driver assistance system, comprising: a detector (20) that detects at least one of a speed of an obstacle around a vehicle (100) and a distance between the vehicle (100) and the obstacle; a self-driving control device (30) that calculates a collision possibility between the obstacle detected by the detector (20) and the vehicle (100), controls self-driving of the vehicle (100) using the calculated collision possibility as a determination parameter, and stops the vehicle (100) when the collision possibility is greater than a predetermined value; a notification device (2) which creates a notification at least from information about the control of the self-driving control device (30); and a driver assistance device (40) that supports the notification, wherein the driving assistance device (40) outputs first query information to the notification device (2) to query an occupant of the vehicle (100) whether the possibility of collision between the obstacle and the vehicle (100) should be excluded from the determination parameter when a distance from a first point to the obstacle is greater than or equal to a first threshold value, and the speed of the obstacle detected by the detector (20) is less than or equal to a second threshold value, if stopping behavior information about the vehicle (100) is input from the self-driving control device (30), wherein the first point is a point at which a predicted movement route of the vehicle (100) intersects with a movement route of the obstacle predicted based on the detection by the detector (20), and the driving assistance device (40) outputs a first command for excluding the possibility of collision between the obstacle and the vehicle (100) from the determination parameter to the self-driving control device (30) when a response signal of an exclusion response operation performed by the occupant is inputted with respect to the first query information from which the notification device (2) creates the notification. [2] The driving assistance system according to claim 1, wherein the driving assistance device (40) outputs a command for including the collision possibility between the obstacle and the vehicle (100) in the determination parameter to the self-driving control device (30) when the distance from the first point to the obstacle falls below the first threshold value, or when the speed of the obstacle exceeds the second threshold value after the first command is output to the self-driving control device (30). [3] The driving assistance system according to claim 1, wherein the driving assistance device (40) outputs second query information to the notification device (2) to collectively query the occupant of the vehicle (100) whether a collision possibility with a plurality of obstacles including the obstacle should be excluded from the determination parameter when each of the distances from the intersection points to the corresponding plurality of obstacles is greater than or equal to the first threshold value and a speed of each of the plurality of obstacles is less than or equal to the second threshold value, if stopping behavior information about the vehicle (100) is input from the self-driving control device (30) while the collision possibility with the plurality of obstacles is greater than a predetermined value, wherein the intersection points are points,at which the predicted movement route of the vehicle (100) intersects with a movement route of each of the plurality of obstacles predicted based on the detection by the detector (20), and, the driving assistance device (40) outputs a second command for excluding the collision possibility with respect to the plurality of obstacles from the determination parameter to the self-driving control device (30) when a response signal of the collective exclusion is input with respect to the second query information from which the notification device (2) creates the notification. [4] The driving assistance system according to claim 3, wherein the driving assistance device (40) outputs a command to include the possibility of collision with an obstacle that satisfies a condition in the determination parameter to the self-driving control device (30) when at least one of the distances from the respective points to the plurality of obstacles falls below the first threshold, or when at least one of the speeds of the plurality of obstacles exceeds the second threshold after the second command is output to the self-driving control device (30). [5] Driver assistance device (40) for installation in a vehicle (100), the driver assistance device (40) comprising: a detector (20) that detects at least one of a speed of an obstacle around a vehicle (100) and a distance between the vehicle (100) and the obstacle; a self-driving control device (30) that calculates a collision possibility between the obstacle detected by the detector (20) and the vehicle (100), controls self-driving of the vehicle (100) using the calculated collision possibility as a determination parameter, and stops the vehicle (100) when the collision possibility is greater than a predetermined value; and a notification device (2) which creates a notification at least from information about the control of the self-driving control device (30), wherein first query information for querying an occupant of the vehicle (100) whether the possibility of collision between the obstacle and the vehicle (100) should be excluded from the determination parameter is output to the notification device (2) when a distance from a first point to the obstacle is greater than or equal to a first threshold value and the speed of the obstacle detected by the detector (20) is less than or equal to a second threshold value, if stopping behavior information about the vehicle (100) is input from the self-driving control device (30), wherein the first point is a point at which a predicted movement route of the vehicle (100) intersects with a movement route of the obstacle predicted based on the detection by the detector (20), and a first command for excluding the possibility of collision between the obstacle and the vehicle (100) from the determination parameter is output to the self-driving control device (30) when a response signal of an exclusion response operation performed by the occupant is inputted with respect to the first query information from which the notification device (2) creates the notification. [6] Driving assistance method in a driving assistance device (40) to be installed in a vehicle (100), the driving assistance device (40) comprising: a detector (20) that detects at least one of a speed of an obstacle around a vehicle (100) and a distance between the vehicle (100) and the obstacle; a self-driving control device (30) that calculates a collision possibility between the obstacle detected by the detector (20) and the vehicle (100), controls self-driving of the vehicle (100) using the calculated collision possibility as a determination parameter, and stops the vehicle (100) when the collision possibility is greater than a predetermined value; and a notification device (2) which creates a notification at least from information about the control of the self-driving control device (30), The driver assistance procedure includes: a step of outputting first query information to the notification device (2) for querying an occupant of the vehicle (100) whether the possibility of collision between the obstacle and the vehicle (100) should be excluded from the determination parameter when a distance from a first point to the obstacle is greater than or equal to a first threshold and the speed of the obstacle detected by the detector (20) is less than or equal to a second threshold, if stopping behavior information about the vehicle (100) is input from the self-driving control device (30), wherein the first point is a point at which a predicted movement route of the vehicle (100) intersects with a movement route of the obstacle predicted based on the detection by the detector (20); and a step of outputting a first command for excluding the possibility of collision between the obstacle and the vehicle (100) from the determination parameter to the self-driving control device (30) when a response signal of an exclusion response operation performed by the occupant is inputted with respect to the first query information from which the notification device (2) creates the notification.

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