Driving assist device

Abstract

To provide a technology that can ensure a safety of entry / exit into / from a facility.SOLUTION: A driving assist device 10 comprises: a first acquisition unit 11 that acquires first data obtained by measuring a traffic participant in an external area which is a region outside a facility where a target vehicle 5 enters / exits; a passage that connects the facility to the external area; a second acquisition unit 12 that acquires second data obtained by measuring the target vehicle 5 moving toward a passing area which is a part of the external area that overlaps with the external area; a first calculation unit 16 that calculates a first time for the traffic participant to arrive at the passing area using the first data; a second calculation unit 18 that uses the second data to calculate a second time that the target vehicle 5 will arrive at the passing area; a determination unit 19 that generates a determination result of determining whether or not passing between the facility and the external area via the passing area is possible using the first time and the second time; and a communication unit 15 that outputs the determination result to the target vehicle 5.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a driving assistance device. [Background technology]

[0002] There are known technologies for predicting vehicle congestion. Patent Document 1 describes a device that controls the display of a display device installed at a junction based on the presence of vehicles traveling on the main road and the access road. Patent Document 2 describes a device that predicts congestion and determines a route to a large parking lot with multiple entrance gates. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-102655 A [Patent Document 2] JP 2015-64719 A Summary of the Invention [Problem to be solved by the invention]

[0004] Traffic controllers guide vehicles at the vehicle entrances and exits of facilities. For example, traffic controllers visually determine whether or not vehicles can enter or exit the facility. Traffic controllers' decisions on whether or not to allow vehicles to enter the facility vary. Due to the variation in judgment, vehicles may be allowed to enter when they should not. As a result, safety issues may arise.

[0005] The present disclosure aims to provide technology capable of ensuring safety when entering and exiting a facility. [Means for solving the problem]

[0006] A driving assistance device according to one aspect of the present disclosure includes a first acquisition unit that acquires first data measuring traffic participants in an external area, which is an area outside a facility where a target vehicle enters and exits, a second acquisition unit that acquires second data measuring a target vehicle heading toward a passage connecting the facility and the external area and a traffic area that is part of the external area where the external area overlaps, a first calculation unit that calculates a first time at which the traffic participants reach the traffic area using the first data, a second calculation unit that calculates a second time at which the target vehicle arrives at the traffic area using the second data, a determination unit that generates a determination result determining whether or not passage is possible between the facility and the external area via the traffic area using the first and second times, and a communication unit that outputs the determination result to the target vehicle.

[0007] In the driving assistance device, first data measured by traffic participants in the external area and second data measured by a target vehicle heading toward the traffic area are acquired. From the first data, a first time at which the traffic participants reach the traffic area is calculated. From the second data, a second time at which the target vehicle reaches the traffic area is calculated. Then, based on the first and second times, it is determined whether or not it is possible to travel between the facility and the external area via the traffic area, and the determination result is output to the target vehicle. Thus, the determination result is provided to the driver of the target vehicle. As a result, the safety of entering and exiting the facility can be ensured.

[0008] The determination unit may generate a determination result by further using a condition of whether or not the traffic participant is present in the traffic area. By reflecting the situation of the traffic area in the determination result, it is possible to improve safety when entering and exiting the facility.

[0009] The determination unit may generate the determination result by further using a condition of whether or not a predetermined time is between the first time and the second time. By reflecting the situation of the passage area in the determination result, it is possible to improve the safety of entering and exiting the facility.

[0010] The communication unit may acquire a travel schedule through the travel area from the target vehicle. In response to acquiring the travel schedule, the communication unit may output a determination result to the target vehicle. In this case, the determination result is provided to the target vehicle at an appropriate timing. This can improve safety when entering and exiting the facility.

[0011] The second calculation unit may use the second data to calculate the second time by setting a vehicle that has decelerated in the external area and in the peripheral area of ​​the traffic area as a target vehicle. The determination unit may generate a determination result that determines whether the target vehicle is permitted to enter. The vehicle that has decelerated in the peripheral area is highly likely to be a target vehicle that will enter the facility via the traffic area. By narrowing down the target vehicles, the calculation cost of calculating the second time can be reduced.

[0012] The second calculation unit may use the second data to calculate the second time by setting a vehicle passing through the passage as a target vehicle. The determination unit may generate a determination result that determines whether the target vehicle can exit. The vehicle passing through the passage is highly likely to be a target vehicle that will exit the facility via the traffic area. By narrowing down the target vehicles, the calculation cost of calculating the second time can be reduced.

[0013] The driving assistance device may include an identification unit that identifies the vehicle type of the target vehicle. The second calculation unit may calculate the second time by further adding the time required for the target vehicle to exit the traffic area according to the vehicle type. The target vehicle has different sizes and acceleration performances depending on the vehicle type. That is, the time required to exit the traffic area may differ depending on the vehicle type of the target vehicle. By using the time required to exit the traffic area as a buffer depending on the vehicle type, the safety of entering and exiting the facility can be improved. Effect of the Invention

[0014] According to the present disclosure, it is possible to provide a technology capable of ensuring safety when entering and exiting a facility. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic diagram showing an example of traffic conditions related to a facility. [Diagram 2] FIG. 2 is a block diagram illustrating the configuration of the driving assistance system. [Diagram 3] FIG. 3 is a conceptual diagram showing an example of the first time and the second time. [Figure 4] FIG. 4 is a flowchart showing an example of the operation of the driving assistance system. [Diagram 5] FIG. 5 is a diagram illustrating an example of a hardware configuration related to the driving assistance system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are given the same reference numerals and duplicated explanations will be omitted.

[0017] FIG. 1 is a schematic diagram showing an example of a traffic situation related to a facility. FIG. 1 shows a facility F, an external area E, and a passage R. Examples of the facility F include, but are not limited to, a logistics facility, a commercial facility, a public facility, and an educational facility. The external area E is an area outside the facility F. For example, the external area E is a road on which traffic participants can pass. The external area E includes, for example, a sidewalk E1 and a roadway E2. The traffic participants are movable objects or people. Examples of the traffic participants include pedestrians, bicycles, motorcycles, regular cars, and large cars. The passage R is an entrance, exit, or entrance / exit of the facility F. The passage R connects the facility F and the external area E.

[0018] A traffic area A is formed on the external area E. The traffic area A is a part of the external area E where the passage R and the external area E overlap. For example, the traffic area A is an area through which a vehicle passes when entering or exiting a facility F. The traffic area A can also be called an entry area, an exit area, or an entry / exit area for the facility F. Hereinafter, a vehicle heading toward the traffic area A is referred to as a "target vehicle." The target vehicle enters and exits the facility. In one example, the target vehicle at the time of entry proceeds from the external area E to the passage R via the traffic area A. In another example, the target vehicle at the time of exit proceeds from the passage R to the external area E via the traffic area A.

[0019] A surrounding area N, which is the periphery of the traffic area A, is formed on the external area E. The surrounding area N is, for example, a predetermined area on the roadway E2 that is continuous with the traffic area A. When the target vehicle enters the facility F from the roadway E2, it starts to gradually decelerate on the surrounding area N.

[0020] FIG. 1 shows a scene in which a target vehicle 5 exits a facility F. That is, the target vehicle 5 heads toward a traffic area A via a passage R. FIG. 1 shows pedestrians P1 and P2 and vehicles V1 and V2 as examples of traffic participants. The pedestrians P1 and P2 are traveling on a sidewalk E1 of an external area E. The vehicles V1 and V2 are traveling on a roadway E2 of the external area E. The traffic participants may travel through the traffic area A.

[0021] 2 is a block diagram illustrating a configuration of a driving assistance system 1 according to an embodiment. The driving assistance system 1 includes a driving assistance device 10, a first measuring device 2, a second measuring device 3, and an authentication camera 4. The driving assistance device 10 is communicatively connected to the first measuring device 2, the second measuring device 3, and the authentication camera 4 via wired or wireless communication. The driving assistance device 10 may be communicatively connected to a target vehicle 5 via wireless communication.

[0022] The first measuring device 2 is a device that measures traffic participants in the external area E. In one example, the first measuring device 2 may measure traffic participants passing through the sidewalk E1. In another example, the first measuring device 2 may measure traffic participants passing through the roadway E2. The first measuring device 2 is, for example, a LiDAR (Light Detection And Ranging) sensor or a millimeter wave sensor. The LiDAR or millimeter wave sensor provides stable measurement accuracy even when visibility is poor due to bad weather or the like. The first measuring device 2 is disposed, for example, in a position close to the passage R or the external area E. The first measuring device 2 may be configured from multiple units.

[0023] The first measuring device 2 generates first data indicating the measured traffic participants. The first data is electronic data indicating the number of measurement points, the range of the point cloud, etc. The first measuring device 2 generates the first data at a predetermined frame rate. From the first data, the distance to a measurement point of a certain coordinate, time information, etc. can be extracted. The first measuring device 2 transmits the first data to the driving assistance device 10.

[0024] The second measurement device 3 is a device that measures a target vehicle 5 heading towards the traffic area A. In one example, the second measurement device 3 may measure a target vehicle 5 passing through the passage R. In another example, the second measurement device 3 may measure a target vehicle 5 passing through the roadway E2. The second measurement device 3 is, for example, a LiDAR sensor or a millimeter wave sensor. The second measurement device 3 is disposed in a position close to the passage R or the external area E, for example. The second measurement device 3 may be configured by multiple units.

[0025] The second measuring device 3 generates second data indicating the measured target vehicle 5. The second data is electronic data indicating the number of measurement points, the range of the point cloud, etc. The second measuring device 3 generates the second data at a predetermined frame rate. From the second data, the distance to a measurement point of a certain coordinate, time information, etc. can be extracted. The second measuring device 3 transmits the second data to the driving assistance device 10.

[0026] The authentication camera 4 photographs the license plate of the target vehicle 5. The authentication camera 4 is disposed, for example, in a position close to the passage R or the external area E. The authentication camera 4 acquires various information displayed on the license plate. For example, the authentication camera 4 acquires the registration number of the target vehicle 5. The registration number is a number that identifies the target vehicle 5. The authentication camera 4 transmits the registration number to the driving assistance device 10.

[0027] The target vehicle 5 enters or exits the facility F. The target vehicle 5 is passing through, for example, an external area E or a passage R. The target vehicle 5 is equipped with a communication device 51. The communication device 51 is, for example, a radio or an IP radio. The communication device 51 transmits, for example, the registration number of the target vehicle 5 to the driving assistance device 10. The communication device 51 may transmit a travel schedule through the traffic area A to the driving assistance device 10. The travel schedule is, for example, information indicating that the target vehicle will pass through the traffic area A at the current time or a time in the near future (for example, several seconds later). In other words, the travel schedule is information indicating that the target vehicle will enter or exit the facility F. The travel schedule can also be said to be an entry / exit signal.

[0028] The driving support device 10 is a device that supports the entry and exit of a target vehicle 5 at a facility F. The driving support device 10 outputs whether or not entry and exit are possible using the positions and speeds of traffic participants and the target vehicle 5. The driving support device 10 includes a first acquisition unit 11, a second acquisition unit 12, a number acquisition unit 13, a storage unit 14, a communication unit 15, a first calculation unit 16, an identification unit 17, a second calculation unit 18, and a determination unit 19 as functional elements.

[0029] The first acquisition unit 11 acquires first data from the first measurement device 2. The first data indicates measurement results of traffic participants passing through the external area E. In one example, the first data may be electronic data indicating measurement results of pedestrians P1 and P2 and measurement results of vehicles V1 and V2.

[0030] The second acquisition unit 12 acquires second data from the second measurement device 3. The second data indicates the measurement results of the target vehicle 5 heading toward the traffic area A. In one example, the second data may be the measurement results of the target vehicle 5 passing through the passage R. In another example, the second data may be the measurement results of the target vehicle 5 passing through the external area E.

[0031] The number acquisition unit 13 acquires the registration number of the target vehicle 5 from the authentication camera 4. The number acquisition unit 13 may acquire the image captured by the authentication camera 4 and acquire the registration number of the target vehicle 5.

[0032] The storage unit 14 is a non-transitory storage medium or storage device that stores various data used by the driving assistance device 10. The storage unit 14 stores, for example, the registration number and the vehicle type of the target vehicle 5 in association with each other. For example, when the facility F is a logistics facility, the vehicles that enter and exit the facility F are determined to a certain extent. Examples of the vehicle type include, but are not limited to, ordinary cars and large cars. The storage unit 14 may store, for example, the registration number and the IP address of the target vehicle 5 in association with each other. Various information may be registered in the storage unit 14 in advance. The storage unit 14 may be constructed as a single database or may be a collection of multiple databases. The location of the storage unit 14 is not limited. For example, the storage unit 14 may be provided in a computer system separate from the driving assistance system 1.

[0033] The communication unit 15 transmits and receives information to and from the target vehicle 5. For example, the communication unit 15 acquires the registration number and the travel schedule through the travel area A from the target vehicle 5. The communication unit 15 may be configured as a communication device separate from the driving assistance device 10.

[0034] The identification unit 17 identifies information about the target vehicle 5. For example, the identification unit 17 identifies information about the target vehicle 5 using the registration number acquired by the number acquisition unit 13 or the communication unit 15. For example, the identification unit 17 refers to the memory unit 14 to identify the vehicle type and IP address of the target vehicle 5 associated with the registration number. The identification unit 17 may identify the vehicle type of the target vehicle 5 using the second data. For example, the identification unit 17 may identify the vehicle type based on the size of the vehicle acquired from the range of the point cloud of the second data.

[0035] The first calculation unit 16 uses the first data to calculate a first time at which the traffic participant will arrive at the traffic area A. The first time is a time at which the traffic participant is predicted to arrive at the traffic area A from an area other than the traffic area A in the external area E. For example, the first time is calculated as "30 seconds" or the like, but is not limited to this. For example, the first calculation unit 16 extracts the distance between the coordinates of the first measurement device 2 and the coordinates of the measurement point of the traffic participant. The first calculation unit 16 calculates the speed of the traffic participant using the movement amount of the traffic participant in the frame rate interval. The first calculation unit 16 calculates the first time at which the traffic participant will arrive at the traffic area A using the speed and coordinates of the traffic participant and the coordinates of the traffic area A.

[0036] The second calculation unit 18 calculates the second time when the target vehicle 5 reaches the traffic area A using the second data. The second time is the time when the target vehicle 5 is predicted to reach the traffic area A from the passage R. Alternatively, the second time is the time when the target vehicle 5 is predicted to reach the traffic area A from an area other than the traffic area A in the external area E. For example, the second time is calculated as "30 seconds" or the like, but is not limited to this. For example, the second calculation unit 18 extracts the distance between the coordinates of the second measurement device 3 and the coordinates of the measurement point of the target vehicle 5. The second calculation unit 18 calculates the speed of the target vehicle 5 using the movement amount of the target vehicle 5 in the frame rate interval. The second calculation unit 18 calculates the second time when the target vehicle 5 reaches the traffic area A using the speed and coordinates of the target vehicle 5 and the coordinates of the traffic area A.

[0037] The second calculation unit 18 may calculate the second time by further adding the time required for the target vehicle 5 to exit the traffic area. The second calculation unit 18 may calculate the second time by using the second data, assuming that a vehicle that has decelerated in the external area E and in the peripheral area N of the traffic area A is the target vehicle 5. The second calculation unit 18 may calculate the second time by using the second data, assuming that a vehicle traveling through the passage R is the target vehicle 5.

[0038] The determination unit 19 generates a determination result that determines whether or not the target vehicle 5 can pass between the facility F and the external area E via the traffic area A using the first time and the second time. The determination result indicates whether or not the target vehicle 5 can enter or exit the facility F. The determination unit 19 may generate a determination result that further uses a condition of whether or not a traffic participant is present in the traffic area A. The determination unit 19 may generate a determination result that further uses a condition of whether or not a predetermined time is present between the first time and the second time. The predetermined time is, for example, 10 seconds, but is not limited to this. The determination unit 19 may generate a determination result that determines whether or not the target vehicle 5 can enter. The determination unit 19 may generate a determination result that determines whether or not the target vehicle 5 can exit.

[0039] The communication unit 15 outputs the determination result to the target vehicle 5. The communication unit 15 may output the determination result to the target vehicle 5 using the IP address of the target vehicle 5. The communication unit 15 may output the determination result to the target vehicle 5 in response to acquisition of the passage schedule. The target vehicle 5 outputs the determination result acquired from the communication unit 15 by voice or the like. In this way, the determination result is provided to the driver of the target vehicle 5.

[0040] Fig. 3 is a conceptual diagram showing an example of a first time and a second time. At the current time t0, a vehicle V2, which is an example of a traffic participant, is traveling on a roadway E2 in an external area E. At the current time t0, a target vehicle 5 is traveling on a passage R. Fig. 3 shows an example of a first time t1 until the vehicle V2 reaches the traffic area A. Fig. 3 shows an example of a second time t2 until the target vehicle 5 reaches the traffic area A. There is a time difference Δt between the first time t1 and the second time t2.

[0041] The determination unit 19 may determine that passage is "possible" when it is predicted that the target vehicle 5 will arrive at the traffic area A earlier than the traffic participants. For example, the determination unit 19 may determine that passage is "possible" when the second time t2 is earlier than the first time t1.

[0042] The determination unit 19 may determine that passage is “impossible” when the target vehicle 5 is predicted to arrive at the traffic area A later than the traffic participants. For example, the determination unit 19 may determine that passage is “impossible” when the second time t2 is later than the first time t1.

[0043] The determination unit 19 may determine that passage is "possible" when it is predicted that the target vehicle 5 will arrive at the traffic area A earlier than the traffic participants by a predetermined time or more. For example, when the first time t1 is "30 seconds" and the second time t2 is "20 seconds", the time difference Δt is "10 seconds". The determination unit 19 may determine that passage is "possible" when the predetermined time is "10 seconds".

[0044] The determination unit 19 may determine that passage is "impossible" when the target vehicle 5 is predicted to arrive at the traffic area A earlier than the traffic participant, but there is not a predetermined time gap between the arrival time of the two. For example, when the first time t1 is "30 seconds" and the second time t2 is "25 seconds", the time difference Δt is "5 seconds". The determination unit 19 may determine that passage is "impossible" when the predetermined time is "10 seconds".

[0045] [Operation of driving assistance system] An example of an operation method (driving assistance method) by the driving assistance system 1 will be described with reference to Fig. 4. Fig. 4 is a flowchart showing an example of the operation of the driving assistance system 1. A target vehicle 5 is passing through an external area E or a passage R, for example.

[0046] In step S1, the driving assistance system 1 acquires first data. For example, the first measuring device 2 measures traffic participants in the external area E. In one example, the first measuring device 2 may measure traffic participants traveling on the sidewalk E1. In another example, the first measuring device 2 may measure traffic participants traveling on the roadway E2. The first measuring device 2 generates first data indicating the measured traffic participants. The first measuring device 2 generates the first data at a predetermined frame rate. The first measuring device 2 transmits the first data to the driving assistance device 10. The first acquiring unit 11 acquires the first data from the first measuring device 2.

[0047] In step S2, the driving assistance system 1 acquires second data. For example, the second measurement device 3 measures the target vehicle 5 heading toward the traffic area A. In one example, the second measurement device 3 may measure the target vehicle 5 passing through the passage R. In another example, the second measurement device 3 may measure the target vehicle 5 passing through the roadway E2. The second measurement device 3 generates second data indicating the measured target vehicle 5. The second measurement device 3 generates the second data at a predetermined frame rate. The second measurement device 3 transmits the second data to the driving assistance device 10.

[0048] In step S3, the driving assistance system 1 calculates the first time. For example, the first calculation unit 16 uses the first data to calculate the first time when the traffic participant arrives in the traffic area A. For example, the first calculation unit 16 extracts the distance between the coordinates of the first measurement device 2 and the coordinates of the measurement point of the traffic participant. The first calculation unit 16 calculates the speed of the traffic participant using the movement amount of the traffic participant in the frame rate interval. The first calculation unit 16 uses the speed and coordinates of the traffic participant and the coordinates of the traffic area A to calculate the first time when the traffic participant arrives in the traffic area A.

[0049] In step S4, the driving assistance system 1 identifies the target vehicle 5. For example, the authentication camera 4 may capture an image of the license plate of the target vehicle 5. The authentication camera 4 may acquire various information displayed on the license plate. For example, the authentication camera 4 may acquire the registration number of the target vehicle 5. The authentication camera 4 may transmit the registration number to the driving assistance device 10. The number acquisition unit 13 may acquire the registration number of the target vehicle 5 from the authentication camera 4. The number acquisition unit 13 may acquire the image captured by the authentication camera 4 and acquire the registration number of the target vehicle 5.

[0050] The communication device 51 of the target vehicle 5 may transmit, for example, the registration number of the target vehicle 5 and a travel schedule through the travel area A to the driving assistance device 10. The communication unit 15 may acquire the registration number and the travel schedule through the travel area A from the target vehicle 5.

[0051] The identification unit 17 identifies information about the target vehicle 5. For example, the identification unit 17 identifies information about the target vehicle 5 using the registration number acquired by the number acquisition unit 13 or the communication unit 15. For example, the identification unit 17 refers to the memory unit 14 to identify the vehicle type and IP address of the target vehicle 5 associated with the registration number. The identification unit 17 may identify the vehicle type of the target vehicle 5 using the second data. For example, the identification unit 17 may identify the vehicle type based on the size of the vehicle acquired from the range of the point cloud of the second data.

[0052] In step S5, the driving assistance system 1 calculates the second time. For example, the second calculation unit 18 uses the second data to calculate the second time when the target vehicle 5 arrives in the traffic area A. For example, the second calculation unit 18 extracts the distance between the coordinates of the second measurement device 3 and the coordinates of the measurement point of the target vehicle 5. The second calculation unit 18 calculates the speed of the target vehicle 5 using the movement amount of the target vehicle 5 in the frame rate interval. The second calculation unit 18 uses the speed and coordinates of the target vehicle 5 and the coordinates of the traffic area A to calculate the second time when the target vehicle 5 arrives in the traffic area A.

[0053] The second calculation unit 18 may calculate the second time by further adding the time required for the target vehicle 5 to exit the traffic area A according to the vehicle type. The size and acceleration performance of the target vehicle 5 differ depending on the vehicle type. For example, if the vehicle type of the target vehicle 5 is a large vehicle, it tends to take longer to accelerate than a normal vehicle. Also, the longer the vehicle type, the longer it tends to take to exit the traffic area A. In one example, the second calculation unit 18 may calculate the second time by adding the time according to the vehicle type. The time according to the vehicle type may be determined in advance. The storage unit 14 may associate the vehicle type with the time and store it as the time according to the vehicle type.

[0054] The second calculation unit 18 may use the second data to calculate the second time by assuming that the vehicle that has decelerated in the external area E and in the peripheral area N of the traffic area A is the target vehicle 5. A plurality of vehicles may travel along the roadway E2 of the external area E. The plurality of vehicles includes a target vehicle 5 that enters the facility F and a vehicle that does not enter the facility F. Of the plurality of vehicles, the vehicle that has decelerated in the peripheral area N is highly likely to be the target vehicle 5. For example, a vehicle traveling through the external area E travels through the peripheral area N and then the traffic area A. In this case, the vehicle passes through a first position on the peripheral area N that is separated from the traffic area A, and then passes through a second position on the peripheral area N that is closer to the traffic area A than the first position. Here, the vehicle that has decelerated between the first position and the second position is highly likely to be the target vehicle 5.

[0055] The second calculation unit 18 may use the second data to calculate the second time period, regarding a vehicle traveling along the passage R as the target vehicle 5. A vehicle traveling along the passage R and heading toward the traffic area A is highly likely to be the target vehicle 5.

[0056] In step S6, the driving assistance system 1 determines whether or not it is possible to travel between the facility F and the external area E via the travel area A. For example, the determination unit 19 may generate a determination result that determines whether or not it is possible to travel between the facility and the external area E via the travel area A, using the first time and the second time.

[0057] In one example, the determination unit 19 may determine that passage is "possible" when the second time is earlier than the first time. Specifically, the determination unit 19 may determine that passage is "possible" when the first time is "30 seconds" and the second time is "10 seconds."

[0058] In another example, the determination unit 19 may determine that passage is "impossible" when the second time is later than the first time. Specifically, the determination unit 19 may determine that passage is "impossible" when the first time is "10 seconds" and the second time is "30 seconds."

[0059] The determination unit 19 may generate a determination result by further using a condition of whether or not the traffic participant is present in the traffic area A. In one example, the determination unit 19 may determine that the traffic participant is "possible" to pass when the traffic participant is not present in the traffic area A. In another example, the determination unit 19 may determine that the traffic participant is "impossible" to pass when the traffic participant is present in the traffic area A.

[0060] The determination unit 19 may generate a determination result by further using a condition of whether or not a predetermined time is left between the first time and the second time. In one example, the determination unit 19 may determine that passage is "possible" when the second time is earlier than the first time and there is a predetermined time left. Specifically, when the first time is "30 seconds", the second time is "10 seconds", and the predetermined time is "10 seconds", there is a time difference of "20 seconds" between the first time and the second time, which is greater than the predetermined time. In this case, the determination unit 19 may determine that passage is "possible". In other words, when the target vehicle 5 arrives at the traffic area A before the traffic participant and there is a sufficient time left, it may be determined that the target vehicle 5 is allowed to pass.

[0061] In another example, the determination unit 19 may determine that passage is "impossible" when the second time is earlier than the first time and there is no predetermined time available. Specifically, when the first time is "30 seconds", the second time is "25 seconds", and the predetermined time is "10 seconds", there is a time difference of "5 seconds" between the first time and the second time, which is smaller than the predetermined time. In this case, the determination unit 19 may determine that passage is "impossible". In other words, when the target vehicle 5 arrives at the traffic area A earlier than the traffic participant but there is not enough time available, it may be determined that the target vehicle 5 is not allowed to pass.

[0062] The determination unit 19 may generate a determination result as to whether or not the target vehicle 5 is permitted to enter. The determination unit 19 may generate a determination result as to whether or not the target vehicle 5 is permitted to exit.

[0063] In step S7, the driving assistance system 1 outputs the determination result. For example, the communication unit 15 outputs the determination result to the target vehicle 5. The communication unit 15 may output the determination result to the target vehicle 5 in response to acquisition of the travel schedule. The target vehicle 5 outputs the determination result acquired from the communication unit 15 by voice or the like. As a result, the determination result is provided to the driver of the target vehicle 5.

[0064] [Hardware configuration] Fig. 5 is a diagram showing an example of a hardware configuration related to the driving assistance system 1. Fig. 5 shows a computer 100 functioning as the driving assistance device 10. The computer 100 has a processor 101, a main memory unit 102, an auxiliary memory unit 103, a communication control unit 104, an input device 105, and an output device 106. The driving assistance device 10 is composed of one or more computers 100 constituted by these hardware units and software such as programs.

[0065] When the driving assistance device 10 is configured by multiple computers 100, these computers 100 may be connected locally or via a communication network such as the Internet or an intranet. This connection logically constructs one driving assistance device 10.

[0066] The processor 101 is a central processing unit (CPU) that executes an operating system, application programs, etc. The main memory 102 is composed of a read only memory (ROM) and a random access memory (RAM). The auxiliary memory 103 is a storage medium composed of a hard disk, a flash memory, etc. The auxiliary memory 103 generally stores a larger amount of data than the main memory 102. The communication control unit 104 is composed of a network card or a wireless communication module. At least a part of the communication function with other devices in the driving assistance device 10 may be realized by the communication control unit 104. The input device 105 is composed of a keyboard, a mouse, a touch panel, a microphone for voice input, etc. The output device 106 is composed of a display, a printer, etc.

[0067] The auxiliary storage unit 103 stores in advance a program 110 (driving assistance program) and data necessary for processing. The program 110 causes the computer 100 to execute each functional element of the driving assistance device 10. The program 110 causes, for example, processing related to the driving assistance method described above to be executed in the computer 100. For example, the program 110 is read by the processor 101 or the main storage unit 102, and causes at least one of the processor 101, the main storage unit 102, the auxiliary storage unit 103, the communication control unit 104, the input device 105, and the output device 106 to operate. For example, the program 110 reads and writes data in the main storage unit 102 and the auxiliary storage unit 103.

[0068] The program 110 may be provided in a form recorded on a tangible storage medium such as a CD-ROM, a DVD-ROM, a semiconductor memory, etc. The program 110 may be provided as a data signal via a communication network.

[0069] As described above, the driving assistance device 10 according to one aspect of the present disclosure includes a first acquisition unit 11 that acquires first data measuring traffic participants in the external area E, which is an area outside the facility F where the target vehicle 5 enters and exits; a second acquisition unit 12 that acquires second data measuring the target vehicle 5 heading toward the passage R connecting the facility F and the external area E and the traffic area A, which is a part of the external area E that overlaps with the external area E; a first calculation unit 16 that calculates a first time at which the traffic participant reaches the traffic area A using the first data; a second calculation unit 18 that calculates a second time at which the target vehicle 5 reaches the traffic area A using the second data; a determination unit 19 that generates a determination result determining whether or not passage is possible between the facility F and the external area E via the traffic area A using the first and second times; and a communication unit 15 that outputs the determination result to the target vehicle 5.

[0070] In the driving support device 10, first data in which traffic participants in the external area E are measured and second data in which a target vehicle 5 heading toward the traffic area A is measured are acquired. From the first data, a first time at which the traffic participants reach the traffic area A is calculated. From the second data, a second time at which the target vehicle 5 reaches the traffic area A is calculated. Then, based on the first and second times, it is determined whether or not the target vehicle 5 can pass between the facility F and the external area E via the traffic area A, and the determination result is output to the target vehicle 5. Thereby, the determination result is provided to the driver of the target vehicle 5. As a result, it is possible to ensure safety in entering and exiting the facility F. In addition, since the possibility of the target vehicle 5 passing does not depend on the judgment of a traffic guide or the like, the entry and exit guidance can be stably operated. Furthermore, there is no need to secure a traffic guide.

[0071] The determination unit 19 generates a determination result by further using a condition of whether or not the traffic participant is present in the traffic area A. By reflecting the situation in the traffic area A in the determination result, it is possible to improve the safety of entering and exiting the facility F.

[0072] The determination unit 19 generates the determination result by further using the condition of whether or not a predetermined time is between the first time and the second time. By reflecting the situation in the traffic area A in the determination result, it is possible to improve the safety of entering and exiting the facility F.

[0073] The communication unit 15 acquires a travel schedule through the travel area A from the target vehicle 5. In response to acquiring the travel schedule, the communication unit 15 outputs a determination result to the target vehicle 5. In this case, the determination result is provided to the target vehicle 5 at an appropriate timing. This can improve the safety of entering and exiting the facility F.

[0074] The second calculation unit 18 uses the second data to calculate the second time by assuming that the vehicle that has decelerated in the external area E and in the surrounding area of ​​the traffic area A is the target vehicle 5. The determination unit 19 generates a determination result that determines whether the target vehicle 5 is permitted to enter. The vehicle that has decelerated in the surrounding area is highly likely to be the target vehicle 5 entering the facility F via the traffic area A. By narrowing down the target vehicles 5, the calculation cost for calculating the second time can be reduced.

[0075] The second calculation unit 18 uses the second data to calculate the second time by treating a vehicle passing through the passage R as the target vehicle 5. The determination unit 19 generates a determination result that determines whether the target vehicle 5 can exit. There is a high possibility that the vehicle passing through the passage R is the target vehicle 5 that will exit the facility F via the traffic area A. By narrowing down the target vehicles 5, the calculation cost for calculating the second time can be reduced.

[0076] The driving assistance device 10 includes an identification unit 17 that identifies the vehicle type of the target vehicle 5. The second calculation unit 18 calculates the second time by further adding the time required for the target vehicle 5 to exit the traffic area A depending on the vehicle type. The size and acceleration performance of the target vehicle 5 differ depending on the vehicle type. That is, the time required to exit the traffic area A may differ depending on the vehicle type of the target vehicle 5. By using the time required to exit the traffic area A as a buffer depending on the vehicle type, the safety of entering and exiting the facility F can be improved.

[0077] [Variations] The present disclosure is not necessarily limited to the above-described embodiment, and various modifications are possible without departing from the spirit and scope of the present disclosure.

[0078] The communication unit 15 may transmit the determination result to a display device arranged in a position close to the traffic area A. The display device may be, for example, a display or an electronic bulletin board. The display device may be arranged so as to be visible from a target vehicle 5 passing around the traffic area A. The display device may display the received determination result.

[0079] In the above embodiment, the first time has been described as the time until the traffic participant reaches the traffic area A, but the first time may be a future time. The second time has been described as the time until the target vehicle 5 reaches the traffic area A, but the second time may be a future time. The determination unit 19 may determine whether or not passage is permitted by comparing the future times.

[0080] When comparing the magnitude of two numerical values, either of the two criteria "greater than or equal to" or "greater than" may be used, or either of the two criteria "less than or equal to" or "less than".

[0081] [Note] The following is a summary of the present disclosure. [1] A first acquisition unit that acquires first data measuring traffic participants in an external area that is an area outside the facility where the target vehicle enters and exits; a second acquisition unit that acquires second data measuring the target vehicle heading toward a passageway connecting the facility and the external area and a traffic area that is a part of the external area and overlaps with the external area; a first calculation unit that calculates a first time when the traffic participant arrives at the traffic area using the first data; a second calculation unit that calculates a second time when the target vehicle will arrive at the traffic area using the second data; a determination unit that generates a determination result determining whether or not passage between the facility and the external area via the passage area is permitted, using the first time and the second time; a communication unit that outputs the determination result to the target vehicle; Equipped with Driving assistance device. [2] The driving assistance device according to [1], wherein the determination unit generates the determination result by further using a condition as to whether the traffic participant is present in the traffic area. [3] The driving assistance device according to [1] or [2], wherein the determination unit generates the determination result by further using a condition of whether or not a predetermined time period is between the first time and the second time. [4] The driving assistance device according to any one of [1] to [3], wherein the communication unit acquires a travel schedule through the traffic area from the target vehicle, and outputs the judgment result to the target vehicle in response to acquiring the travel schedule. [5] The second calculation unit calculates the second time period by using the second data, with a vehicle that has decelerated in the external area and in a peripheral area of ​​the traffic area as the target vehicle; The determination unit generates the determination result indicating whether or not the target vehicle is permitted to enter. A driving assistance device according to any one of [1] to [4]. [6] The second calculation unit calculates the second time period by using the second data and assuming that a vehicle passing through the passage is the target vehicle; and The determination unit generates the determination result indicating whether or not the target vehicle is allowed to exit. A driving assistance device according to any one of [1] to [5]. [7] An identification unit for identifying a vehicle type of the target vehicle, The second calculation unit calculates the second time by further adding a time required for the target vehicle to exit the traffic area according to the vehicle type. A driving assistance device according to any one of [1] to [6]. [Explanation of symbols]

[0082] 1. Driving assistance system 2. First measuring device 3. Second measurement device 4. Authentication Camera 5 Target Vehicle 10 Driving assistance devices 11 First acquisition part 12 Second acquisition part 13 Number Acquisition Department 14 Storage section 15 Communications Department 16 First calculation section 17 Specific section 18 Second Calculation Section 19 Judgment section 51 Communication equipment A Traffic Area E. External Area F Facility N Surrounding Area R aisle E1 Sidewalk E2 roadway P1 Pedestrian V1 Vehicle

Claims

1. A first acquisition unit that acquires first data obtained by measuring traffic participants in an external area that is an area outside the facility where the target vehicle enters and exits; a second acquisition unit that acquires second data obtained by measuring the target vehicle traveling along a passageway connecting the facility and the external area and a traffic area that is a part of the external area and overlaps with the external area; a first calculation unit that calculates a first time for the traffic participant to arrive at the traffic area using the first data; a second calculation unit that calculates a second time when the target vehicle will arrive at the traffic area by using the second data; a determination unit that generates a determination result determining whether or not passage between the facility and the external area via the passage area is permitted, using the first time and the second time; a communication unit that outputs the determination result to the target vehicle; Equipped with Driving assistance device.

2. The driving assistance device according to claim 1 , wherein the determination unit generates the determination result by further using a condition as to whether or not the traffic participant is present in the traffic area.

3. The driving assistance device according to claim 1 , wherein the determination unit generates the determination result by further using a condition of whether or not a predetermined time is between the first time and the second time.

4. The driving assistance device according to claim 1 , wherein the communication unit acquires a travel schedule through the travel area from the target vehicle, and outputs the determination result to the target vehicle in response to acquiring the travel schedule.

5. The second calculation unit calculates the second time period by using the second data, with a vehicle that has decelerated in the external area and in a peripheral area of ​​the traffic area as the target vehicle; The determination unit generates the determination result indicating whether or not the target vehicle is permitted to enter. The driving assistance device according to claim 1 .

6. The second calculation unit calculates the second time period by using the second data and by considering a vehicle passing through the passage as the target vehicle; The determination unit generates the determination result indicating whether or not the target vehicle is allowed to exit. The driving assistance device according to claim 1 .

7. An identification unit for identifying a vehicle type of the target vehicle, The second calculation unit calculates the second time by further adding a time required for the target vehicle to exit the traffic area according to the vehicle type. The driving assistance device according to claim 1 .

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