Driver assistance device

Abstract

Driver assistance device (1; 1A; 1B) comprising the following: - a carrier vehicle information acquisition device (10) for acquiring carrier vehicle information, which is vehicle information from a carrier vehicle (VV); - a device (11) for communication with an external device to receive mobile object information from a mobile object (3) outside the carrier vehicle (HV) using wireless communication; - a right / left turning determination device (12) for detecting a turning maneuver of the carrier vehicle (HV) to the right or to the left on the basis of the carrier vehicle information determined by the carrier vehicle information determination device (10); - a right / left turn prediction device (13) for determining a prediction point by calculating a right or left turn point of the carrier vehicle (VV) based on the carrier vehicle information; - a collision detection device (14) for determining whether the carrier vehicle (HV) collides with the mobile object (3) or not, using the carrier vehicle information, the mobile object information received by the device (11) for communication with the external device, and the prediction point determined by the right / left turn prediction device (13); and - a driver assistance device (15) for performing a driver assistance of the carrier vehicle (HV) on the basis of a result of the collision determination determined by the collision detection device (14), wherein the right / left turn prediction device (13) determines the prediction point by calculating, on the basis of a given deceleration, a distance that the carrier vehicle (HV) needs to slow down its speed contained in the carrier vehicle information to a predetermined target speed.

Description

Technical field

[0001] The present invention relates to a driver assistance device for performing a driver assistance function in a vehicle. Relevant state of the art

[0002] A driver assistance device exchanges information such as position, speed, acceleration, and direction with a mobile object surrounding an equipped vehicle or carrier vehicle, and recognizes the environment based on the driving state of the carrier vehicle and the positional relationship between the carrier vehicle and the mobile object, thus providing various driver assistance features to improve safety and comfort.

[0003] In recent years, a driving assistance function has been proposed for such a driver assistance device, in particular to avoid a collision with a mobile object whose path intersects the path of the carrier vehicle when the vehicle turns right or left.

[0004] For example, a driving assistance system described in patent document 1 discloses a technique for predicting the arrival times of a vehicle and another mobile object entering an intersection on a road in order to determine a possible collision.

[0005] The driver assistance device described in patent document 2 discloses a technique for determining whether a carrier vehicle is waiting to turn right or left, in order to determine a possible collision with another mobile object. State-of-the-art documents, patent documents Patent document 1: JP 2010 - 165 021 A Patent document 2: JP 2013 - 254 296 A Patent document 3: DE 10 2017 210 569 A1 Patent document 4: JP 2016 - 103 199 A Brief description of the invention: Technical problem

[0006] However, the technology described in patent document 1 uses road map information that includes intersection information. Therefore, if a vehicle performs a right or left turn at a point on a road that is not an intersection, or at an intersection whose intersection information is not included in the road map information, a potential collision with the mobile object cannot be accurately determined.

[0007] Since the technique described in patent document 2 determines the waiting state of the carrier vehicle for the turning maneuver to the right or left and determines the arrival time of another vehicle at the carrier vehicle's stop position, the possible collision with the mobile object is not correctly determined when the carrier vehicle is in motion.

[0008] Patent document 3 relates to a vehicle direction prediction device which can predict the direction of travel of a vehicle.

[0009] Patent document 4 describes a wireless device for a vehicle which can receive a signal containing predetermined information.

[0010] The present invention addresses the problems described above. That is, even at a location that is not an intersection, or at an intersection whose intersection information is not included in road map data, the mobile object that actually poses a collision hazard is determined in advance by determining whether the carrier vehicle will turn right or left based on its behavior and predicting the carrier vehicle's turning point (right or left) or the carrier vehicle's right or left turning point. The objective is therefore to reduce unnecessary driver assistance systems as well as the omission of necessary driver assistance systems. Solution to the problem

[0011] The problem underlying the invention is solved by a driver assistance device with the features of independent claim 1. Advantageous embodiments of the driver assistance device according to the invention are specified in dependent claims 2-7. Advantageous effects of the invention

[0012] According to the present invention, by detecting a turning maneuver of the carrier vehicle to the right or to the left and by predicting the right or left turning point of the carrier vehicle, the driver assistance with regard to the turning maneuver to the right / left can be carried out without using the road map information containing the intersection positions.

[0013] Furthermore, by predicting the right or left turning point of the carrier vehicle, a correct collision assessment can be performed even for a distant mobile object where no possibility of a collision could have been identified using conventional methods; this allows the driver to be provided with advance driver assistance. Thus, the activation of unnecessary driver assistance measures and the failure to activate necessary ones can be reduced. Brief description of the drawings

[0014] The drawings show: Fig. 1 a block diagram to illustrate a configuration of a driver assistance device according to embodiment 1 of the present invention; Fig. 2 a flowchart to explain the operation of the driver assistance device according to embodiment 1 of the present invention; Fig. 3 a diagram to illustrate an example of the operation of the driver assistance device according to embodiment 1 of the present invention; Fig. 4 a diagram to illustrate an example of the operation of the driver assistance device according to embodiment 1 of the present invention; Fig. 5 a block diagram to illustrate a configuration of a driver assistance device according to embodiment 2 of the present invention; Fig. 6 a block diagram to illustrate a configuration of a driver assistance device according to embodiment 3 of the present invention; Fig. 7 a diagram to illustrate an intersection environment area according to embodiment 3 of the present invention; Fig. 8 a flowchart to explain the operation of the driver assistance device according to embodiment 3 of the present invention; Fig. 9 a diagram illustrating examples of the operation of the driver assistance device according to embodiment 3 of the present invention; and Fig. 10 a diagram to illustrate a hardware configuration example of the driver assistance devices according to embodiments 1 to 3 of the present invention. Description of the embodiments

[0015] Embodiments of a driver assistance device according to the present invention are described in detail with reference to the drawings.

[0016] The embodiments described below are merely examples, and the invention is not limited by the following embodiments. Design 1.

[0017] In embodiment 1, a case is described in which it is assumed that the driver assistance device is primarily an in-vehicle device and provides services as a driver assistance device of a driver assistance system.

[0018] Fig. Figure 1 shows a block diagram to illustrate a configuration of a driver assistance device 1 according to embodiment 1 of the present invention.

[0019] In Fig. In the case of the driver assistance system 50, the driver assistance device 1 provides driver assistance by exchanging position information, speed information, and the like with a mobile object 3 located around a carrier vehicle HV using wireless communication. The driver assistance system 50 comprises the driver assistance device 1, an in-vehicle sensor array 2, and the mobile object 3 located around the carrier vehicle. Fig. In 1, the mobile object 3 surrounding the carrier vehicle is simply represented as "mobile object 3".

[0020] In the following description, the mobile object 3 surrounding the carrier vehicle can similarly be referred to simply as "mobile object 3". The mobile object 3 surrounding the carrier vehicle 3 (mobile object 3) is a mobile object located outside the carrier vehicle HV.

[0021] Wireless communication can be achieved using Dedicated Short Range Communication (DSRC), a communication system used in a wireless local area network (LAN), or a mobile phone. Furthermore, wireless communication can be achieved using a communication system for IEEE 802.11p or the Communication Access for Land Vehicles (CALMS) system, which is being studied in Europe and the USA.

[0022] The vehicle's internal sensor equipment 2 includes one or more sensor devices intended for the carrier vehicle HV to generate vehicle information indicating the vehicle's status and driving state. The vehicle's internal sensor equipment 2 includes, for example, a position sensor 20, such as a global navigation satellite system (GNSS), for determining the position of the carrier vehicle HV; a vehicle speed sensor 21 for determining the vehicle speed from a vehicle speed pulse, a change in position, etc.; and an electronic control unit (ECU) 22 for determining acceleration, direction, turn signal status, braking status, accelerator pedal status, engine status, or the like.

[0023] It should be noted that the vehicle's internal sensor equipment 2 may be installed in the driver assistance device 1 or may be connected to the driver assistance device 1 directly or via an internal vehicle network.

[0024] Furthermore, a CAN (Controller Area Network), which is generally used for in-vehicle communication, or FlexRay or Ethernet (registered trademark), which is capable of high-speed communication, can be used for the vehicle's internal network.

[0025] In the following description, the vehicle information generated by the vehicle's internal sensor system 2 for the carrier vehicle HV is referred to as "carrier vehicle information". This carrier vehicle information includes, for example, position, speed, acceleration, direction, steering angle, yaw rate, braking status, turn signal status, weight, and vehicle length.

[0026] The mobile object 3 surrounding the carrier vehicle is a mobile object that is present around the carrier vehicle HV or moves in the vicinity of the carrier vehicle HV, such as a car, a motorcycle, a personal transporter, a pedestrian, a drone and a robot.

[0027] The area around the carrier vehicle (HV) refers to the range of wireless communications or a distribution area of ​​mobile object information defined by the wireless communication system. For example, when using IEEE 802.11p, the range of wireless communications is approximately 1 km, so the area around the carrier vehicle is the area within 1 km of the carrier vehicle. Since the range of wireless communications varies depending on the communication environment, an error due to such variations is inherent in actual operation. The mobile object 3 surrounding the carrier vehicle generates object information and information indicating a movement state of the mobile object 3 surrounding the carrier vehicle based on the sensor equipment (not shown) provided for the mobile object 3 surrounding the carrier vehicle or a mobile device (not shown) carried by the mobile object 3 surrounding the carrier vehicle, and transmits the generated information using wireless communication.

[0028] The carrier vehicle HV receives the information directly from the mobile object 3 located around the carrier vehicle or indirectly using a repeater, such as a roadside unit positioned at the side of a road. A variety of mobile objects 3 can be located around the carrier vehicle HV.

[0029] In the following description, information indicating the object state and motion state of the mobile object 3, transmitted by the mobile object (mobile object 3) surrounding the carrier vehicle, is referred to as "mobile object information". This mobile object information includes, for example, an identification device for uniquely specifying the mobile object 3, its position, positioning state, velocity, acceleration, direction, and size information.

[0030] Furthermore, specific information can be added for each mobile object. If the mobile object is a vehicle, such as a car, motorcycle, or personal transporter, vehicle-specific information can be added, such as steering angle, yaw rate, braking status, and turn signal status. Yaw rate is the rotational angular velocity around a vehicle's vertical axis, such as a car or motorcycle.

[0031] If the mobile object 3 is a pedestrian, pedestrian-specific information, such as walking status and owner information obtained from the pedestrian's mobile device, can be added. If the mobile object 3 is an unmanned machine, such as a drone or robot, unique information for the unmanned machine, such as its operating status, can be added.

[0032] The driver assistance device 1 is a vehicle-internal communication information processing device that receives mobile object information generated by the mobile object 3 via wireless communication, determines a collision between the carrier vehicle HV and the mobile object 3 by predicting a right / left turning point of the carrier vehicle HV and provides driver assistance for a driver of the carrier vehicle HV.

[0033] In this context, a right / left turn point refers to a turning point to the right or a turning point to the left, i.e., a turn from a turning point to the right and a turning point to the left. In the following description, a right / left turn maneuver refers to a turning maneuver to the right or a turning maneuver to the left, i.e., a turn from a turning maneuver to the right and a turning maneuver to the left.

[0034] As in Fig. As shown in Figure 1, the driver assistance device 1 comprises the following: a carrier vehicle information acquisition device 10, a device 11 for communication with an external device, a right / left turn determination device 12, a right / left turn prediction device 13, a collision determination device 14 and a driver assistance device 15.

[0035] In Fig. 1. Solid arrows illustrate driver assistance processing sequences performed by the driver assistance device 1.

[0036] The carrier vehicle information acquisition unit 10 is a processing unit that determines carrier vehicle information generated by the vehicle's internal sensor equipment 2 and provides the carrier vehicle information to the unit 11 for communication with an external device, the right / left turn determination unit 12, the right / left turn prediction unit 13 and the collision determination unit 14.

[0037] The information that the carrier vehicle information acquisition device 10 obtains from the vehicle's internal sensor equipment 2 can be a value that is directly output by the vehicle's internal sensor equipment 2, or a value that is subject to a specific processing.

[0038] The communication device 11 with an external device is a processing unit that receives mobile object information generated by the mobile object 3 via wireless communication and provides this information to the collision detection device 14. The communication device 11 also performs processing to transmit the carrier vehicle information generated by the carrier vehicle information acquisition device 10 to the mobile object 3.

[0039] The right / left turn determination device 12 is a processing unit that determines whether the carrier vehicle HV is turning right or left based on the carrier vehicle information determined by the carrier vehicle information determination device 10 and provides the determination result to the right / left turn prediction device 13 and the collision determination device 14.

[0040] With regard to a procedure for determining the turning process to the right or to the left by the right / left turning determination device 12, the determination of the turning process of the carrier vehicle HV to the right or to the left is based on speed information, acceleration information and turn signal information contained in the carrier vehicle information.

[0041] In particular, the driving state of the carrier vehicle HV is determined from the speed and acceleration information. For example, whether the vehicle is moving or stopped is determined based on the speed information, and whether the vehicle is decelerating is determined based on the acceleration information. It should be noted that the phrase "the vehicle is stopped" includes "the vehicle is moving slowly," and that "moving slowly" includes "moving very slowly."

[0042] Very slow driving is defined as driving at a speed that would allow the vehicle to stop immediately. Although the case in which the carrier vehicle (HV) is driving very slowly includes a speed of, for example, no more than 10 km / h, the upper speed limit for determining whether the vehicle is driving very slowly varies depending on traffic conditions and is not limited to this value.

[0043] Next, the right / left turn determination device 12 determines, based on the result of the driving state determination, whether the behavior of the carrier vehicle HV indicates a right / left turn (turning to the right or to the left) or a lane change. If the driving state is "stopped" or "driving and slowing down," the determination is made that the behavior is a right or left turn. If, on the other hand, the driving state is "driving but not slowing down," the determination is made that the behavior indicates a lane change.

[0044] If the right / left turn determination device 12 determines that the behavior of the carrier vehicle HV indicates a right / left turn, it determines, based on the turn signal information, that the behavior indicates a right turn when the right turn signal is activated and a left turn when the left turn signal is activated. If the turn signals are off, the determination is made that a different behavior is occurring.

[0045] It should be noted that the right / left turn determining device 12 does not have to determine the three types of right turn, left turn, and other (e.g., going straight ahead), and that the number of determination types can be decreased or increased. The determination can be a "turn right or other," a "turn left or other," or a "turn right or going straight ahead."

[0046] The driving state can be determined by an instantaneous value, can be determined by a value calculated by processing with a filter, such as a low-pass filter, or can be determined by time series processing.

[0047] The right / left turn determination device 12 can perform the determination on the basis not only of the speed information, the acceleration information and the indicator information contained in the carrier vehicle information, but also, for example, on the basis of information explicitly entered by the driver, or on the basis of route information from a navigation device, if one is available.

[0048] The right / left turn prediction device 13 is a processing unit that predicts a point at which the carrier vehicle turns right or left, based on the carrier vehicle information generated by the carrier vehicle information determination device 10 and the determination result of the turning process to the right or left determined by the right / left turn determination device 12, and transmits the prediction point to the collision determination device 14.

[0049] Regarding the prediction point at which the carrier vehicle HV turns right or left, the prediction point is calculated using the speed information contained in the carrier vehicle information. Specifically, the prediction point for the right / left turn is determined by calculating, based on the specified deceleration, the required distance that the carrier vehicle HV needs to travel to reach the specified target speed.

[0050] The specified deceleration and target speed can be specified at the time of manufacture of the driver assistance device 1, can be specified by a driver, or can be specified with values ​​predicted by the driver assistance device 1 based on past driving histories.

[0051] The prediction point can be expressed in any form that represents the positional relationship between the vehicle HV and the prediction point, as well as the positional relationship between the mobile object 3 and the prediction point. For example, it can be a relative distance based on the current position of the carrier vehicle HV, an arrival time based on the current time, or absolute coordinates such as latitude and longitude. The specified target speed is intended for cases where a right / left turn without stopping is considered, and can be zero if this is not the case.The specified decelerations for the right turn and the left turn can be different values ​​or the same value, and the specified target speeds for the right turn and the left turn can be different values ​​or the same value.

[0052] The collision detection device 14 uses the carrier vehicle information provided by the carrier vehicle information acquisition device 10, the mobile object information received by the device 11 for communication with an external device, the right / left turn determination result determined by the right / left turn determination device 12, and the right / left turn prediction location predicted by the right / left turn prediction device 13.

[0053] The collision detection device 14 is a processing unit that determines the possibility of a collision between the carrier vehicle HV and the mobile object 3 on the basis of the aforementioned information and supplies the determination result to the driver assistance device 15.

[0054] Regarding the determination of the collision between the carrier vehicle HV and the mobile object 3, if the carrier vehicle HV turns right or left and if the route of the carrier vehicle crosses the route of the mobile object 3, it is determined that there is a possibility of a collision with the mobile object 3, and if this is not the case, it is determined that there is no possibility of a collision with the mobile object 3.

[0055] It should be mentioned that the possibility of a collision can be determined by two values ​​(either collision or no collision), by stepwise values, or by calculating the probability of the event occurring.

[0056] The determination of the collision between the carrier vehicle HV and the mobile object 3 is carried out using the prediction point calculated by the right / left turn prediction device 13 on the basis of the geographical relation between the prediction point and the mobile object 3 or the geographical relation between the prediction point, the carrier vehicle HV and the mobile object 3.

[0057] The collision detection procedure includes a method for determining whether a collision is possible for the mobile object 3, whose distance to the prediction point lies within a certain range, and a method for determining whether a collision is possible for the mobile object 3 approaching the prediction point. The collision detection procedure can be a method for calculating the arrival times of the carrier vehicle HV and the mobile object 3 at the prediction point, and a method for determining whether a collision is possible if the difference between the arrival time of the carrier vehicle and the arrival time of the mobile object 3 is equal to or less than a predetermined threshold.

[0058] Regarding the collision detection procedure, a specific procedure can be used for each mobile object 3, or different procedures can be used for different mobile objects 3.

[0059] The driver assistance device 15 is a processing unit that provides driver assistance to a driver with regard to the mobile object 3, which is at risk of collision, based on the determination result obtained by the collision detection device 14. A human-machine interface (HMI) device, such as a dashboard, a loudspeaker, and a vibration device, is used for the driver assistance provided by the driver assistance device 15.

[0060] Using the MMS device, the driver is warned of a collision with the mobile object 3 by means of a screen display, sound, vibration, and the like. Alternatively, the driver assistance device 15 performs such driver assistance, such as automatic braking and preventing the vehicle from starting or moving forward, by controlling a braking device of the carrier vehicle HV driven by the driver.

[0061] The driver assistance device 15 can be attached to the driver assistance device 1 or can be attached to another device, whereby the collision detection device 14 transmits the information about the mobile object 3, where there is a possibility of collision, to another vehicle-internal device via the vehicle's internal network.

[0062] Each component of the driver assistance device 1 described above is implemented by a central processing unit (CPU) of the driver assistance device 1, which executes a program stored in a memory of the driver assistance device 1. The respective component is designated as the carrier vehicle information acquisition unit 10, the unit 11 for communication with an external device, the right / left turn determination unit 12, the right / left turn prediction unit 13, the collision detection unit 14, or the driver assistance unit 15 as described in Fig. The driver assistance device 1 shown in 1 is, however, not limited to it.

[0063] Next, the operation of the driver assistance device 1 according to the present embodiment will be described with reference to Fig. 2 described.

[0064] Fig. Figure 2 shows an example of a flowchart to explain the operation of the respective devices of the driver assistance device 1 according to embodiment 1 of the present invention.

[0065] The carrier vehicle information acquisition unit 10 receives information constituting the carrier vehicle information from the vehicle's internal sensor equipment 2 and generates the carrier vehicle information (step S1). After the carrier vehicle information acquisition unit 10 has generated the carrier vehicle information, processing continues with a step S2.

[0066] In step S2, the device 11 waits to receive mobile object information from mobile object 3 for communication with an external device. After the mobile object information has been determined by receiving it from mobile object 3, the processing continues with step S3.

[0067] Step S1 and step S2 can be performed in reverse order or in parallel.

[0068] In step S3, the right / left turning determination device 12 determines whether the carrier vehicle HV is performing a right turn or a left turn (one of a right turn and one of a left turn), based on the carrier vehicle information determined in step S1.

[0069] If the right / left turn determination device 12 determines that the behavior of the carrier vehicle HV indicates a right turn or a left turn, processing continues with step S4. If the right / left turn determination device 12 determines that the behavior of the carrier vehicle HV indicates neither a right turn nor a left turn, processing is terminated.

[0070] In step S4, the right / left turn prediction device 13 predicts a right turn or a left turn of the carrier vehicle HV based on the carrier vehicle information determined in step S1.

[0071] After the right / left turn prediction device 13 has predicted the right turn or the left turn of the carrier vehicle HV, processing continues with step S5.

[0072] In step S5, the collision detection device 14 determines whether the carrier vehicle HV collides with the mobile object 3 at the right-turn point or left-turn point predicted by the right / left-turn prediction device 13.

[0073] If the collision detection device 14 determines that there is a possibility of a collision between the carrier vehicle HV and the mobile object 3, processing continues with step S6. If the collision detection device 14 determines that there is no possibility of a collision between the carrier vehicle HV and the mobile object 3, processing is terminated.

[0074] In step S6, the driver assistance system 15 initiates the driver assistance for the driver with regard to the mobile object 3, which the collision detection system 14 has determined to be potentially colliding with. After the driver assistance has been executed, the processing is terminated.

[0075] The driver assistance device 1 performs the function described above and in Fig. 2 illustrated processing repeatedly during its operation.

[0076] Next, a specific example of the operation of the driver assistance device 1 according to embodiment 1 will be given with reference to Fig. 3 and Fig. 4 described.

[0077] Fig. Figure 3 shows a diagram to illustrate an example of the operation of the driver assistance device 1 according to embodiment 1 of the present invention. Fig. Figure 3 illustrates a specific example of how the driver assistance system works, providing assistance in avoiding a collision with an oncoming vehicle in regions where vehicles drive on the left. Fig. 3(a) and Fig. Figure 3(b) shows both the carrier vehicle HV traveling on the road and the mobile objects 3 (RV1, RV2) from a bird's-eye view from above.

[0078] The Fig. 3(a) and Fig. 3(b) shows the carrier vehicle HV, which travels straight ahead on the road and then turns right across the oncoming lane, as well as oncoming vehicles RV1 and RV2 as two mobile objects 3, which travel on a lane opposite the lane on which the carrier vehicle HV is traveling. It should be noted that the reference signs RV1 and RV2 in the Fig. 3(a) and Fig. 3(b) are shown in brackets. In the following, the oncoming vehicles RV1 and RV2 can be referred to simply as "oncoming vehicle RV1" and "oncoming vehicle RV2", respectively, as mobile objects 3.

[0079] Fig. 3(b) shows a determination result indicating that there is no possibility of collision with the oncoming vehicle RV1 and that there is a possibility of collision with the oncoming vehicle RV2; the determination is made by the right / left turning determination device 12, the right / left turning prediction device 13 and the collision determination device 14.

[0080] In Fig. 3(a) and Fig. 3(b) The dashed arrows provided on the carrier vehicle HV and the oncoming vehicles RV1 and RV2 indicate their directions of movement. A triangle attached to the front right side of the body of the carrier vehicle HV indicates that the right turn signal is activated.

[0081] To in Fig. 3(a) To execute a right turn, the driver of the carrier vehicle HV first activates the right turn signal and begins to decelerate. At this point, the carrier vehicle information acquisition device 10 obtains the carrier vehicle information, which includes speed information, acceleration information, turn signal information, direction information, and the like, from the vehicle's internal sensor equipment 2. Subsequently, the device 11 obtains the mobile object information from the oncoming vehicles RV1 and RV2 for communication with an external device.

[0082] In Fig. 3(b) Based on the carrier vehicle information, the right / left turning determination device 12 then next determines the activation of the right turn signal from the turn signal information and the deceleration from the acceleration information and concludes that the carrier vehicle HV wants to turn right.

[0083] Based on the carrier vehicle information, the right / left turn prediction device 13 then calculates, from the speed information, a distance that the carrier vehicle needs to decelerate its speed (current speed) to the target speed, and thereby calculates a prediction point PP for the right turn. If, for example, the speed (current speed) of the carrier vehicle HV is approximately 60 km / h, the target speed is 30 km / h, and the acceleration is 0.25G (where G represents the acceleration due to gravity), the required deceleration distance is approximately 42.5 m.

[0084] The collision detection system 14 then determines whether the carrier vehicle HV collides with the oncoming vehicles RV1 and RV2. Specifically, based on the carrier vehicle information and the mobile object information, the collision detection system 14 determines whether the oncoming vehicles RV1 and RV2 are approaching the carrier vehicle HV in the right-hand lane or not. The collision detection system 14 then calculates a relative distance between the carrier vehicle HV and the oncoming vehicle RV1, as well as a relative distance between the carrier vehicle HV and the oncoming vehicle RV2.

[0085] The collision detection device 14 determines the possibility of a collision by comparing the relative distance between the carrier vehicle HV and the prediction point calculated by the right / left turn prediction device 13 with the relative distance between the carrier vehicle HV and the oncoming vehicle RV1 and by comparing the relative distance between the carrier vehicle HV and the prediction point calculated by the right / left turn prediction device 13 with the relative distance between the carrier vehicle HV and the oncoming vehicle RV2.

[0086] This assumes that the collision determination is simply carried out by comparing the relative distances. The result of this determination is that there is no possibility of collision with the oncoming vehicle RV1, as it is located closer to the predicted location. However, it is determined that there is a possibility of collision with the oncoming vehicle RV2, as it is farther away from the predicted location. The results of these determinations are in Fig. 3(b) presented in speech bubbles or boxes.

[0087] Finally, the driver assistance device 15 provides the driver with driver assistance regarding the approach of the oncoming vehicle RV2, which has been determined by the collision detection device 14 to be at risk of collision.

[0088] Next, a working example is described where the mobile object 3 is a pedestrian.

[0089] Fig. Figure 4 shows a diagram to illustrate a further example of the operation of the driver assistance device 1 according to embodiment 1 of the present invention. Fig. Figure 4 illustrates a specific example of the operation of the driver assistance device 1, which provides assistance in avoiding a collision with a pedestrian in regions where vehicles drive on the left side. Fig. 4 is largely based on a top-down approach, in the same way as in Fig. 3, however, pedestrians are shown in side view to illustrate in a simple way that they are pedestrians.

[0090] Fig. Figure 4(a) shows that the carrier vehicle HV intends to turn left on the road and that the pedestrians RP1, RP2, and RP3, which are the mobile objects 3, are walking on the adjacent sidewalk on the left side of the road on which the carrier vehicle HV is traveling. It should be noted that reference symbols RP1, RP2, and RP3 in Fig. 4(a) and Fig. 4(b) are shown in parentheses. In Fig. 4(a) and Fig. 4(b) The sidewalk is represented by a hatched area using diagonal lines from top right to bottom left and diagonal lines from top left to bottom right. A triangle attached to the front left side of the body of the carrier vehicle HV indicates that the turn signal is activated.

[0091] In the following, the pedestrians RP1, RP2 and RP3, which are the mobile objects 3, can simply be referred to as "pedestrian RP1", "pedestrian RP2" and "pedestrian RP3" respectively.

[0092] Fig. 4(b) illustrates a determination result showing that there is no possibility of collision for pedestrian RP1 and there is a possibility of collision for pedestrians RP2 and RP3; the determination is made by the right / left turning determination device 12, the right / left turning prediction device 13 and the collision determination device 14.

[0093] In Fig. 4(a) and Fig. 4(b) The arrows shown in dashed lines, attached to the carrier vehicle HV and the pedestrians RP1, RP2 and RP3, indicate the directions of movement of the same.

[0094] To perform a left turn into Fig. 4(a) The driver of the carrier vehicle HV first activates the left turn signal and begins to decelerate. At this point, the carrier vehicle information acquisition device 10 determines the carrier vehicle information, which includes speed information, acceleration information, turn signal information, direction information, and the like, from the vehicle's internal sensor equipment 2. In addition, the device 11, for communication with an external device, determines the mobile object information from the pedestrians RP1, RP2, and RP3.

[0095] Based on the carrier vehicle information, the right / left turning determination device 12 then displays in Fig. 4(b) determines the activation of the left turn signal based on the turn signal information and the deceleration based on the acceleration information and concludes that the carrier vehicle HV intends to turn left.

[0096] Based on the carrier vehicle information, the right / left turn prediction device 13 then calculates the distance required to slow down to the target speed from the speed information, and it calculates a prediction point PP for turning left based on the position information of the carrier vehicle information.

[0097] The collision detection device 14 then determines whether the carrier vehicle HV collides with pedestrians RP1, RP2, and RP3. Specifically, based on the carrier vehicle information and the mobile object information, the collision detection device 14 determines whether pedestrians RP1, RP2, and RP3 are walking on the left side of the carrier vehicle. Next, the collision detection device 14 determines whether pedestrians RP1, RP2, and RP3 are approaching the left-turn prediction point PP calculated by the right / left turn prediction device 13. Based on the fact that pedestrian RP1 is moving away from the prediction point, the device concludes that there is no possibility of a collision.

[0098] Since, on the other hand, pedestrian RP2 and pedestrian RP3 are moving in the direction in which they are approaching the prediction point, it is determined that there is a possibility of collision. The results of these determinations are in Fig. 4(b) is shown in speech bubbles or boxes.

[0099] Finally, the driver assistance device 15 provides the driver with information about the presence of pedestrians RP2 and RP3, for which the collision detection device 14 determines that there is a possibility of collision, and it performs a driver assistance action.

[0100] The work examples described above are based on the Fig. 3 and Fig. 4 are examples of regions where vehicles drive on the left; however, the same procedure can also be implemented for regions where vehicles drive on the right by swapping right turns and left turns.

[0101] As described above, the driving assistance device 1 according to the present embodiment detects a turning maneuver of the carrier vehicle HV to the right or to the left and predicts a point for the turning maneuver of the carrier vehicle HV to the right or to the left; this enables the execution of the driving assistance with regard to the turning maneuver to the right or to the left without the use of road map information that includes intersection positions or the like.

[0102] Furthermore, even for a distant mobile object where it is conventionally determined that there is no possibility of collision, a correct collision determination can be carried out by the driving assistance device 1, which predicts a turning maneuver of the carrier vehicle HV to the right or to the left; this enables the driver to be provided with appropriate driving assistance in advance.

[0103] Furthermore, determining whether the carrier vehicle HV is turning right or left based on speed information, acceleration information, and turn signal information allows for differentiation between a lane change and a right / left turn, and enables collision determination limited to right / left turns; this allows for a reduction in unnecessary driver assistance.

[0104] Furthermore, by predicting the right or left turning point of the carrier vehicle HV, the mobile object 3 can be specified, which is at risk of collision at the time of turning right or left, thus reducing unnecessary driver assistance.

[0105] Furthermore, when predicting the point of the right or left turn, the system calculates the point at which the current speed of the carrier vehicle (HV) decreases to the target speed. This ensures that the point of the right or left turn can be correctly predicted even if the carrier vehicle (HV) turns right or left without stopping. In this way, the determination of a potential collision with the mobile object can be carried out correctly, thus reducing the risk of driver assistance system failure.

[0106] Furthermore, by determining that there is a possibility of collision with the mobile object approaching the prediction point for turning right / left, not only the determination regarding the oncoming vehicle, but also the determination regarding the mobile object, such as a pedestrian walking in the same direction, can be carried out without omission; this can reduce the risk of a driver assistance system being omitted.

[0107] In the present embodiment, the driver assistance device 15 is included in the driver assistance device 1, however, the driver assistance device 15 can also be provided outside the driver assistance device 1. Design 2.

[0108] In the configuration of the invention described in embodiment 1, the deceleration and target speed used by the right / left turn prediction device 13 of the driver assistance device 1 to predict the right / left turn are values ​​that are unique for the driver assistance device 1.

[0109] In the configuration of the invention described in the present embodiment, the deceleration and target speed used by the right / left turn prediction device 13 to predict the right / left turn are not only fixed values, but also values ​​specified by the user or values ​​that are dynamically changed in the driver assistance device.

[0110] Fig. Figure 5 shows a block diagram to illustrate a configuration of a driver assistance device 1A according to embodiment 2 of the present invention.

[0111] As in Fig. As shown in Figure 5, the driver assistance device 1A is the same as the one in Figure 5. Fig. 1 Driving assistance device 1 as shown in embodiment 1 with the exception that a parameter setting device 16 and a user setting file 17 are added.

[0112] In Fig. 5. Dashed arrows indicate the processing sequence for specifying a target speed and a delay for the right / left turn prediction device 13 using the parameter setting device 16. The solid arrows in Fig. 5 are the same as in the driver assistance device 1 in Fig. 1.

[0113] In Fig. The 5 components are the same as in the one in Fig. The driver assistance device 1 shown in embodiment 1 is designated with the same reference numerals, without a detailed description thereof.

[0114] The parameter specification unit 16 is a processing unit that dynamically changes parameters used by the right / left turn prediction unit 13 to predict a right or left turn of the carrier vehicle HV, and that specifies the parameters for the right / left turn prediction unit 13.

[0115] The parameter specification device 16 specifies parameters based on the carrier vehicle information provided by the carrier vehicle information acquisition device 10, the mobile object information determined by the device 11 for communication with an external device, and the user specification information held in the user specification file 17.

[0116] In particular, the parameter setting device 16 calculates the target speed and the deceleration or slowing down from the carrier vehicle information, the mobile object information and the user setting information and specifies these for the right / left turn prediction device 13.

[0117] The target speed and deceleration specification procedure can, for example, be a procedure that uses a value read from the user specification file 17, or a procedure for determining them from the mobile object information sent by one or more mobile objects. Alternatively, it can be a procedure that uses the acceleration / deceleration of the carrier vehicle HV in the carrier vehicle information, or a procedure for specifying them from the carrier vehicle information using a machine learning process.

[0118] It can be a combination of the aforementioned methods. For example, it could be a method that uses the carrier vehicle information when the delay is small and the user-defined information when the delay is large.

[0119] The user specification file 17 is a file for specifying a calculation method and default values ​​of parameters for the prediction, which are specified by the user of the driving assistance device 1A, such as a driver, and are calculated by the parameter specification device 16.

[0120] The calculation method is, for example, a method that uses a value specified by the user specification file 17, a method that uses the acceleration / deceleration in the carrier vehicle information, a method to estimate the same from information from one or more mobile objects, or a combination of the same.

[0121] In the case of a combination, for example, depending on the deceleration of the carrier vehicle HV, the fixed value specified by the user can be used if the deceleration is less than a certain threshold, and the acceleration / deceleration in the carrier vehicle information can be used if the deceleration is equal to or greater than the specified threshold.

[0122] In this way, the target speed and deceleration can be specified based on the acceleration behavior of the respective vehicle. The target speed and acceleration can also be specified based on the driving characteristics of the individual driver, so that the right or left turning point can be predicted based on the right / left turning speed of the respective driver.

[0123] As described above, in the driver assistance device 1A, the target speed and deceleration used to predict the right turn or the left turn can be specified in the right / left turn prediction device 13 and changed in the carrier vehicle HV.

[0124] In the present embodiment, the process of driver assistance processing in the carrier assistance device 1A is in Fig. 5 is represented by the solid arrows, as described above. This is the same processing sequence as for the driver assistance device 1 according to embodiment 1.

[0125] Thus, similar effects can be achieved in the present embodiment as in embodiment 1.

[0126] In the present embodiment, the driver assistance device 1A includes the parameter setting device 16. By setting or changing the target speed and deceleration, it is thus possible to predict a right or left turning point depending on the acceleration / deceleration behavior of the respective vehicle or the right / left turning speed of the respective driver. In this way, it is possible to predict the right / left turning point with high accuracy and to improve the accuracy of collision detection.

[0127] This reduces the use of unnecessary driver assistance systems as well as the failure to use necessary driver assistance systems. embodiment 3

[0128] In the following, a driver assistance device 1B according to embodiment 3 of the present invention is described with reference to the drawings.

[0129] Similar to embodiments 1 and 2, the driving assistance device 1B according to the present embodiment is primarily assumed to be an in-vehicle device, and a case is described in which it provides services as a driving assistance device of the driving assistance system 50.

[0130] Fig. Figure 6 shows a block diagram to illustrate a configuration of the driver assistance device 1B according to embodiment 3 of the present invention.

[0131] The driver assistance system 50 in Fig. 6 is a system that provides driver assistance when road map information containing intersection information can be used. The driver assistance system 50 according to the present embodiment has the same configuration as the driver assistance system 50 according to embodiment 1, except that the driver assistance device 1 is replaced by the driver assistance device 1B and a position sensor 4 is added.

[0132] Road map information refers to information that includes relationships regarding the positions and connections of roads. This information is represented, for example, by a road connection format and includes details about the type of connection, the positions of connection start and end points, road types, and connections with other road connections.

[0133] Intersection information is information about an intersection on a road that is included in the road map information, such as the position of the intersection, the size of the intersection, and road connections for entering or leaving the intersection.

[0134] The position of the intersection can be the central position of the intersection, or a position where roads (two representative roads if there are three or more roads) intersect for entering and exiting the intersection, or it can be an area or surface of the intersection.

[0135] The position transmitter 4 is a device that stores the road map information and calculates the current position of the carrier vehicle HV on the road map information based on the vehicle information generated by the vehicle's internal sensor equipment 2, as well as displaying the vehicle status and the driving status of the carrier vehicle HV.

[0136] The position sensor 4 provides the driver assistance device 1B with information about a nearby intersection located in the direction of travel of the carrier vehicle HV, based on its current position. The intersection is hereinafter referred to as the "nearby intersection". The position sensor 4 can provide a single piece of intersection information or multiple pieces of intersection information.

[0137] The nearby intersection is an intersection located within the range of wireless communications or within the distribution area of ​​mobile object information specified by the wireless communication system.

[0138] The position sensor 4 can be included in the driver assistance device 1B or can be connected to the driver assistance device 1B directly or via an in-vehicle network.

[0139] The driver assistance device 1B is an in-vehicle communication information processing device that provides driver assistance to the driver of the carrier vehicle HV and performs the following functions: Driver assistance device 1B receives the mobile object information generated by the mobile object 3 via wireless communication, predicts the right / left turning point of the carrier vehicle HV, and determines a collision between the carrier vehicle HV and the mobile object 3 using the intersection information provided by the position sensor 4. Driver assistance device 1B then provides driver assistance to the driver of the carrier vehicle HV based on the collision determination result.

[0140] The driver assistance device 1B has the same configuration as the driver assistance device 1 according to embodiment 1, except that a junction information detection device 100 and a determination device 101 for turning right / left at a junction are added.

[0141] The intersection information determination unit 100 is a processing unit that determines map information, includes the intersection information about nearby intersections provided by the position transmitter 4, and provides the map information to the determination unit 101 for turning right / left at an intersection.

[0142] The intersection information detection device 100 can request the position transmitter 4 to send information about nearby intersections, or can determine information about nearby intersections that the position transmitter 4 sends periodically.

[0143] The right / left turning determination unit 101 at an intersection is a processing unit that determines the right / left turning position of the carrier vehicle HV, updates the prediction point for the right / left turn at the intersection, and feeds the updated prediction point to the collision detection unit 14. The right / left turning determination unit 101 at an intersection determines the right / left turning position of the carrier vehicle HV based on the prediction point generated by the right / left turn prediction unit 13 and the intersection information provided by the intersection information determination unit 100.

[0144] Regarding right / left turns (turning right or turning left), the determining device 101 for right / left turns at an intersection determines whether the carrier vehicle HV is performing a right / left turn within the intersection or outside of it. A right / left turn within an intersection is, for example, a right / left turn at a location such as a public road intersection, the intersection information of which is contained in the road map information.

[0145] The right / left turning maneuver outside the intersection refers, for example, to a right / left turning maneuver at a location whose intersection information is not included in the road map information. This includes a case where one enters a location that is not an intersection, such as a private parking lot, as well as a case where one enters a private road that adjoins the intersection.

[0146] The determination of the right / left turning point of the carrier vehicle HV is carried out by determining whether the prediction point is located in the intersection area specified for the intersection, based on the prediction point predicted by the right / left turning point prediction device 13 and the position contained in the intersection information provided by the intersection information determination device 100.

[0147] If the prediction point is located within the intersection area, the right / left turning determination device 101 determines that the carrier vehicle HV is performing a right or left turn at the intersection, replaces the prediction point with the position of the intersection and transmits this information to the collision determination device 14.

[0148] If, on the other hand, the prediction point is located outside the intersection area, the determining device 101 for turning right / left at an intersection determines that the carrier vehicle HV is performing a turning maneuver to the right or left outside the intersection, and forwards the prediction point to the collision determining device 14 without updating it.

[0149] It should be noted that if no intersection information can be determined by the intersection information detection unit 100, it is determined that the vehicle is performing a right / left turn outside the intersection and the prediction point is passed to the collision detection unit 14 without updating it.

[0150] The intersection area can be specified using a format that represents the positional relationship between the intersection and the carrier vehicle HV, as well as the positional relationship between the intersection and the mobile object 3. This format includes a format that specifies a distance from the intersection center, a format that specifies coordinates such as latitude and longitude, a format that specifies an area, such as a rectangle, and a format that specifies an arrival time at the intersection center from the current position. The format that specifies a rectangular area uses the coordinates of the rectangle's four corners for specification.

[0151] The intersection area can be specified by predefined values ​​based on predefined fixed values, can be specified based on the intersection information, or can be specified by predefined values ​​determined by the determining device 101 for turning right / left at an intersection based on the intersection information.

[0152] When the intersection area is specified by distances from the intersection center, the area is defined as a rectangular area with two sides parallel to the centerline of the road on which the carrier vehicle HV travels, where the intersection center is the center of gravity of the area and the length of the two parallel sides is twice the distance from the intersection center. The width of the rectangular area, i.e., the distance between the two parallel sides, is a distance extending across the road on which the vehicle HV travels. The width of the rectangular area can be greater than the width of the road on which the carrier vehicle HV travels.

[0153] Fig. Figure 7 illustrates an example of specifying the intersection area. Fig. Figure 7 shows an example of specifying the intersection area CA in a case where the distance from an intersection center CP is specified, and in a case where the carrier vehicle HV is immediately about to enter the intersection, whose intersection center is indicated by the symbol CP. In the illustration, a predetermined distance d (50 m in the preceding example) is given as the distance from the intersection center CP.

[0154] As described above, in the intersection area CA, the lengths of the two sides parallel to the center line of the road on which the vehicle HV is traveling are each 2d, and the lengths of the two other sides perpendicular to the two aforementioned sides are each equal to or longer than the width of the road on which the vehicle HV is traveling.

[0155] The centroid of the rectangular area that defines the intersection area CA coincides with the intersection center CP. Thus, when the predetermined distance d is specified as the distance from the intersection center CP, the intersection area CA is defined.

[0156] For some road configurations for entering or exiting the intersection, specifying a rectangular area is not optimal. An example is a case where, near the intersection, the center line of the road on which the carrier vehicle HV travels is not straight but curved; in this context, "near the intersection" means, for example, "within an area of ​​the predetermined distance d from the intersection center CP".

[0157] In this case, based on the road connection shape data provided by the position transmitter 4, which is contained in the road map information, the intersection area CA can be defined as an area that includes a road segment whose length, measured along the road connection from the intersection center, is equal to or shorter than a predetermined distance d. In this case, the width of the intersection area CA, i.e., the width measured in the direction perpendicular to the road connection, is equal to or greater than the road width.

[0158] Even in a case where the road on which the carrier vehicle HV is traveling changes its direction relative to the direction before the carrier vehicle HV entered the intersection when leaving the intersection, a similar requirement can be made as in the case where the center line of the road is curved near the intersection.

[0159] With renewed reference to Fig. Section 6 continues the description of the configuration of the driver assistance device 1B.

[0160] As an example, a case is described in which the distance from the intersection center CP is specified and the intersection area CA is defined as a rectangular area by the procedure described above. In this case, the right / left turning determination device 101 at an intersection determines that the carrier vehicle HV will execute a right or left turn at the intersection if the turning point predicted by the right / left turn prediction device 13 is within a predetermined distance (e.g., 50 m) from the intersection center (or within the intersection area).

[0161] The determination device 101 for turning right / left at an intersection determines that the carrier vehicle HV will perform a right / left turning maneuver outside the intersection if the predicted right / left turning point is outside the intersection area CA.

[0162] Next, the operation of the driver assistance device 1B according to the present embodiment will be described.

[0163] Fig. Figure 8 shows an example of a flowchart to explain the operation of the devices that form the driver assistance device 1B according to the present embodiment.

[0164] As in Fig. As shown in Figure 8, in the driving assistance device 1B according to the present embodiment, work steps S10, S11 and S12 are performed between step S4 and step S5 in the operation of the device described in Figure 8. Fig. 2 driver assistance device 1 according to embodiment 1 added.

[0165] The processing from step S1 to step S4 in Fig. 8 is the same as the processing from step S1 to step S4 in Fig. 2. These steps are designated with the same reference symbols, and a further detailed description of them is omitted.

[0166] After the right / left turn prediction device 13 in step S4 in Fig. If step 8 has predicted a right or left turn, processing continues with step S10.

[0167] In step S10, the intersection information detection unit 100 determines information about an intersection located in front of the carrier vehicle HV (in the direction of travel). After the intersection information has been determined, processing continues with step S11.

[0168] In step S11, the right / left turn determination device 101 at an intersection determines whether the predicted right or left turn location, as predicted in step S4, lies within the intersection area CA (or the intersection area) for the intersection information determined in step S10. If the right or left turn prediction location lies within the intersection area, processing continues with step S12. In the case where multiple intersection information is available, processing continues with step S12 if the right or left turn prediction location is found to be within the intersection area for any of the multiple intersection information. If this is not the case, i.e.,If the prediction point for turning right or left is not located in any of the intersection surrounding areas, processing continues with step S5.

[0169] In step S12, the right / left turning determination unit 101 updates the right or left turn prediction point at an intersection based on the intersection information of the intersection that was determined in step S11 to be within the intersection's vicinity. After the update is complete, processing continues with step S5.

[0170] Subsequently, the processes from steps S5 to S6 are the same as the processes from steps S5 to S6 of embodiment 1 in Fig. 2, and the same reference symbols are used, without a detailed description of them.

[0171] During operation, the driver assistance device 1B performs the above-mentioned actions with reference to Fig. The processing described in section 8 is repeated.

[0172] Next, a working example of the driver assistance device 1B according to the present embodiment will be presented with reference to Fig. 9 described.

[0173] Fig. Figure 9 shows a diagram to illustrate an example of the operation of the driver assistance device 1B according to embodiment 3 of the present invention. Fig. Figure 9 illustrates an example of regions where vehicles drive on the left. Fig. 9 shows similarity to Fig. 3. An example from a bird's-eye view from above.

[0174] Fig. 9(a) illustrates a case in which an intersection with its intersection center CP is located in front of the carrier vehicle HV and an oncoming vehicle RV3, which is a mobile object 3, is approaching the carrier vehicle HV when the carrier vehicle HV turns to the right.

[0175] Fig. 9(b) shows a diagram to illustrate an intersection environment area CA, which in the case of the Fig. 9(a) is specified around the intersection.

[0176] Fig. 9(c) illustrates the way in which the prediction of a right turn by the carrier vehicle HV is made at the prediction point PP and the determination is made that the carrier vehicle HV will make the right turn outside of the intersection area CA.

[0177] Fig. Figure 9(d) illustrates the way in which the prediction of a right turn by the carrier vehicle HV is made at the prediction point PP and the determination is made that the carrier vehicle HV is performing the right turn in the intersection area CA.

[0178] Fig. 9(e) illustrates the way in which the prediction point PP is updated when it is determined that a right turn is being made at the intersection.

[0179] In the Fig. In Figures 9(b) to 9(e), the intersection area CA is represented by a rectangular area. However, the intersection area CA is not always specified by a rectangular area.

[0180] In the following, the oncoming vehicle RV3, which is a mobile object 3, can simply be referred to as "oncoming vehicle RV3".

[0181] With reference to the Fig. 9(a) and Fig. 9(c) describes a case in which a right turn is made outside the intersection.

[0182] To execute a right turn, the carrier vehicle HV switches to Fig. 9(a) the right turn signal is activated while driving and the vehicle begins to decelerate. At this time, the right / left turn detection device 12 detects a right turn by the carrier vehicle HV, and the right / left turn prediction device 13 calculates a right turn prediction point PP.

[0183] In Fig. 9(c) determines that the right / left turning determination device 101 at an intersection determines that the predicted location PP (in) predicted by the right / left turning prediction device 13 is Fig. 9(c) (represented by an asterisk) lies outside the intersection area CA. Thus, the right / left turning determination device 101 at an intersection determines that the carrier vehicle HV is performing a right turn outside the intersection (outside the intersection area CA), and it sends the prediction point PP to the collision determination device 14 without updating.

[0184] The collision detection device 14 determines that there is a possibility of a collision with the oncoming vehicle RV3, as the oncoming vehicle RV3 is traveling in a direction in which it is approaching the prediction point PP. The driver assistance device 15 provides driver assistance to the driver of the carrier vehicle HV based on the oncoming vehicle RV3.

[0185] Next, the following will be discussed using the Fig. 9(a), Fig. 9(d) and Fig. 9(e) describes a case in which a turning maneuver to the right is carried out within the intersection.

[0186] In Fig. 9(a) determines the right / left turning determination device 12 similarly to the case described above in which the turning maneuver to the right takes place outside the intersection, a turning maneuver of the carrier vehicle HV to the right from the behavior during the right turning maneuver of the carrier vehicle HV.

[0187] In Fig. 9(d) The right / left turn prediction device 13 identifies a prediction point PP for turning right. The right / left turn determination device 101 at an intersection determines that the prediction point PP predicted by the right / left turn prediction device 13 lies within the intersection area CA, so that it is determined that the carrier vehicle HV turns right at the intersection.

[0188] In Fig. 9(e) replaces the predictor PP of the right / left turn determination device 101 at an intersection with the position information contained in the intersection information to generate a predictor PP', and feeds the predictor PP' to the collision detection device 14. The predictor PP' is the exact predictor when the right turn is executed at the intersection. That is, the predictor PP' is a right turn prediction corrected based on the intersection information.

[0189] The collision detection device 14 determines that there is no possibility of a collision with the oncoming vehicle RV3, which is another mobile object 3, because the oncoming vehicle RV3 is moving away from the prediction point PP' in one direction. The driver assistance device 15 does not provide any driver assistance because it determines that there is no possibility of a collision with the oncoming vehicle RV3.

[0190] The work example described above is based on the Fig. Figure 9 is an example for regions where vehicles drive on the left; however, the same procedure can also be implemented for regions where vehicles drive on the right by swapping right turns and left turns.

[0191] As described above, the driver assistance device according to the present embodiment, which can access a road map, detects a right or left turn based on a predicted right / left turn location and an intersection position. For an intersection where map information is available, a collision with a mobile object can thus be determined with high accuracy using the map information. Even for locations where no map information is available, a correct collision determination can be made. This enables the provision of driver assistance without missed opportunities.

[0192] Furthermore, an intersection environment is defined, specifying the intersection and its surroundings. If the predicted right / left turn location lies within this intersection environment, it is determined that the right / left turn will occur within the intersection. Consequently, a collision detection can be performed using the intersection information, allowing for the accurate identification of any collisions with other moving objects.

[0193] The driver assistance devices 1, 1A and 1B in the embodiments 1 to 3 described above can be, for example, implemented using the [details omitted]. Fig. The hardware configuration shown in section 10 will be implemented. As shown in Fig. Figure 10 shows a microprocessor 31, a memory 32, an additional memory 33 and an input / output interface 34, which work together to implement the driver assistance devices 1, 1A and 1B according to embodiments 1 to 3.

[0194] This means that programs of the driver assistance device 1, 1A, or 1B, which exist as software, are pre-stored in the auxiliary memory 33; the programs are read from the auxiliary memory 33 into the memory 32 to be executed by the microprocessor 31. The driver assistance provided to the driver by the driver assistance device 15 is provided by controlling MMS devices (not shown) that are connected via the Fig. The 10 input / output interfaces shown are connected to 34.

[0195] Alternatively, driver assistance features such as automatic braking and automatic start-up prevention are provided by controlling vehicle control devices (not shown) connected via the input / output interface 34.

[0196] The above-described method for implementing the device as software is merely an example, and the method for implementing the driver assistance device 1, 1A, or 1B is not limited to it. For example, the driver assistance device 1, 1A, or 1B can be implemented as hardware using a special circuit. Alternatively, part of the configuration of the driver assistance device 1, 1A, or 1B can be implemented in hardware using a special circuit, and the other part can be implemented in software.

[0197] In the present invention, the embodiments can be modified according to the scope of the present invention, and parts can be omitted. Reference symbol list 1, 1A, 1B Driver assistance device 3. Mobile object located around the carrier vehicle (mobile object) 10 Carrier vehicle information acquisition device 11 Device for communication with external device 12 Right / Left Turn Determination Device 13 Right / Left Turn Prediction Device 14 Collision detection device 15 Driver assistance equipment 16 Parameter setting device 100 Intersection Information Detection Unit 101 Determination device for turning right / left at intersection HV carrier vehicle

Claims

[1] Driver assistance device (1; 1A; 1B) comprising the following: - a carrier vehicle information acquisition device (10) for acquiring carrier vehicle information, which is vehicle information from a carrier vehicle (VV); - a device (11) for communication with an external device to receive mobile object information from a mobile object (3) outside the carrier vehicle (HV) using wireless communication; - a right / left turning determination device (12) for detecting a turning maneuver of the carrier vehicle (HV) to the right or to the left on the basis of the carrier vehicle information determined by the carrier vehicle information determination device (10); - a right / left turn prediction device (13) for determining a prediction point by calculating a right or left turn point of the carrier vehicle (VV) based on the carrier vehicle information; - a collision detection device (14) for determining whether the carrier vehicle (HV) collides with the mobile object (3) or not, using the carrier vehicle information, the mobile object information received by the device (11) for communication with the external device, and the prediction point determined by the right / left turn prediction device (13); and - a driver assistance device (15) for performing a driver assistance of the carrier vehicle (HV) on the basis of a result of the collision determination determined by the collision detection device (14), wherein the right / left turn prediction device (13) determines the prediction point by calculating, on the basis of a given deceleration, a distance that the carrier vehicle (HV) needs to slow down its speed contained in the carrier vehicle information to a predetermined target speed. [2] Driver assistance device (1; 1A; 1B) according to claim 1, which further comprises a parameter specification device (16) for specifying a parameter that can be used by the right / left turn prediction device (13) to calculate the prediction location, wherein the parameter setting device (16) sets the deceleration and the target speed using the carrier vehicle information, the mobile object information or user-specified information. [3] Driving assistance device (1; 1A; 1B) according to claim 1 or 2, wherein the right / left turning determination device (12) determines a turning operation of the carrier vehicle (HV) to the right or to the left using speed information, acceleration information and turn signal information contained in the carrier vehicle information. [4] Driving assistance device (1; 1A; 1B) according to one of claims 1 to 3, wherein the right / left turning determination device (12) determines whether the carrier vehicle (HV) is performing a right / left turning maneuver or a lane change by determining a driving state of the carrier vehicle (HV) from the speed information and acceleration information contained in the carrier vehicle information. [5] Driving assistance device (1; 1A; 1B) according to one of claims 1 to 4, wherein the collision detection device (14) determines a mobile object (3) approaching the prediction point as a mobile object (3) with which there is a possibility of collision, based on the prediction point and the mobile object information. [6] Driver assistance device (1; 1A; 1B) according to one of claims 1 to 5, further comprising: - an intersection information determination device (100) for determining intersection information about an intersection; and - a right / left turning determination device (101) for determining whether the carrier vehicle (HV) is performing a right or left turn at the intersection, and for updating the prediction location using a location where the carrier vehicle (HV) is performing the right or left turn at the intersection, based on the prediction location and the intersection information determined by the intersection information determination device, wherein the collision determination device (14) performs the determination of whether the carrier vehicle (HV) may collide with the mobile object (3) using the prediction location updated by the right / left turning determination device (101). [7] Driver assistance device (1; 1A; 1B) according to claim 6, wherein the determining device (101) for turning right / left at an intersection uses position information of the intersection contained in the intersection information to determine whether the prediction point determined by the right / left turn prediction device (13) is located in an intersection area specified as the area of ​​the intersection to predict a position at which the carrier vehicle (HV) performs the turning operation to the right or the turning operation to the left at the intersection.

Images