Support device, vehicle, program, and support method

Abstract

To appropriately perform travel support when there is a travel danger point for a vehicle.SOLUTION: A support device comprises: a receiving unit that receives information indicating a travel danger point transmitted from the outside of a vehicle; a calculation unit that calculates a distance and a direction from the vehicle to the travel danger point on the basis of the travel danger point and a current position of the vehicle; a detection unit that detects the travel danger point within a detection range that is set in front of the vehicle in the travel direction; a support control unit that performs travel support when the travel danger point is detected within the detection range; a turn detection unit that detects that the vehicle is taking a turn; and a range changing unit that, when the turn detection unit detects that the vehicle is taking a turn, expands the detection range to a direction of turn of the vehicle.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an assistance device, a vehicle, a program, and an assistance method. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable people among transportation participants have been gaining momentum. To achieve this, we are focusing on research and development to further improve traffic safety and convenience through research and development of driving assistance technology. Patent documents 1 and 2 describe technology related to the range of detecting objects and other vehicles. [Prior art document] [Patent documents] [Patent Document 1] JP 2015-45622 A [Patent Document 2] JP 2011-253241 A Summary of the Invention [Problem to be solved by the invention]

[0003] However, in driving assistance technology, it is an issue to provide appropriate driving assistance when there is a dangerous driving point for the vehicle. In order to solve the above issue, the present application aims to provide appropriate assistance regarding dangerous driving points for the vehicle. In addition, the present application also aims to contribute to the development of a sustainable transportation system. [Means for solving the problem]

[0004] In a first aspect of the present invention, an assistance device is provided. The assistance device includes a receiving unit that receives information indicating a dangerous traveling point transmitted from outside the vehicle. The assistance device includes a calculation unit that calculates a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and a current position of the vehicle. The assistance device includes a detection unit that detects the dangerous traveling point within a detection range set ahead in the traveling direction of the vehicle. The assistance device includes an assistance control unit that performs driving assistance when the dangerous traveling point is detected within the detection range. The assistance device includes a turning detection unit that detects that the vehicle is turning. The assistance device includes a range change unit that expands the detection range in the turning direction of the vehicle when the turning detection unit detects that the vehicle is turning.

[0005] In the above assistance device, when the turning detection unit detects that the vehicle is turning, the range change unit may expand the detection range in the turning direction of the vehicle by adding a second detection range to a first detection range that is set when the turning detection unit detects that the vehicle is not turning.

[0006] In any of the above-mentioned assistance devices, when the turning detection unit detects that the vehicle is turning, the range change unit may expand the detection range in the turning direction of the vehicle more widely the smaller the turning radius of the vehicle.

[0007] In any of the above-mentioned assistance devices, when the turning detection unit detects that the vehicle is turning, the range change unit may set a point defining the second detection range to a position closer to a turning center than the first detection range.

[0008] In any of the above-mentioned assistance devices, when the turning detection unit detects that the vehicle is turning, the range change unit may set the point defining the second detection range to a position closer to the turning center than the first detection range, the smaller the turning radius of the vehicle.

[0009] In any of the above-mentioned assistance devices, when the turning detection unit detects that the vehicle is turning, the range change unit may set the point defining the second detection range farther from the vehicle the faster the speed of the vehicle.

[0010] In any of the assistance devices described above, the first detection range may be set to be longer in the traveling direction of the vehicle as the traveling speed of the vehicle increases.

[0011] In any of the above assistance devices, the turning detection unit may detect the turning radius based on at least one of a yaw rate and a vehicle speed, a steering angle, a lateral acceleration, and position information based on a GNSS.

[0012] In a second aspect of the present invention, there is provided a vehicle, the vehicle including any one of the assistance devices described above.

[0013] In a third aspect of the present invention, a method is provided. The assistance method includes a step of receiving information indicating a dangerous traveling point transmitted from outside the vehicle. The assistance method includes a step of calculating a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and a current position of the vehicle. The assistance method includes a step of detecting the dangerous traveling point within a detection range set ahead in a traveling direction of the vehicle. The assistance method includes a step of performing driving assistance when the dangerous traveling point is detected within the detection range. The assistance method includes a step of detecting that the vehicle is turning. The assistance method includes a step of expanding the detection range in a turning direction of the vehicle when it is detected that the vehicle is turning.

[0014] In a fourth aspect of the present invention, there is provided a program that causes a computer to function as any one of the support devices described above.

[0015] The above summary of the invention does not list all of the features of the present invention. Also, subcombinations of these features may also be inventions. [Brief description of the drawings]

[0016] [Figure 1] 1A and 1B are schematic diagrams illustrating a usage scene of a support device 40 according to an embodiment. [Diagram 2] 3 shows a detection range 120 that is set when the vehicle 20 is traveling on a curved road 72. [Diagram 3] 2 shows a system configuration of a vehicle 20. [Figure 4] FIG. 2 is a diagram for explaining a first detection range 100 that is set when the vehicle 20 is traveling straight. [Diagram 5] FIG. 1 is a diagram for explaining a detection range 120 that is set when the vehicle 20 is turning. [Figure 6] 1 shows an example of a flowchart relating to a support method executed by the support device 40. [Figure 7] An example of a computer 2000 is shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0018] 1 is a schematic diagram showing a usage scenario of an assistance device 40 according to an embodiment. A vehicle 20 is equipped with an assistance device 40. A vehicle 21 is equipped with an assistance device 41. The assistance device 40 and the assistance device 41 each have a driving assistance function for controlling driving assistance of the vehicle.

[0019] The vehicle 21 is a preceding vehicle traveling ahead on the travel path of the vehicle 20. The support device 40 and the support device 41 can transmit, to the other vehicles, dangerous driving point information indicating points that may be dangerous for the driving of the other vehicles.

[0020] In this embodiment, a form will be described in which the support device 40 performs control regarding the support of the vehicle 20 when it receives the dangerous driving point information transmitted by the support device 41. For example, when the magnitude of the deceleration of the vehicle 21 exceeds a predetermined value, the support device 41 may transmit the dangerous driving point information indicating the point where the magnitude of the deceleration exceeds the predetermined value to the surrounding vehicles. The dangerous driving point information may be, for example, a message for an emergency electronic brake light (EEBL). When the support device 41 detects that the vehicle 21 has slipped, the support device 41 may transmit the dangerous driving point information indicating the point where the vehicle has slipped to the surrounding vehicles. The support of the vehicle may be, for example, an alarm regarding the presence of an object that is an obstacle to the vehicle's driving (for example, an alarm indicating the presence of a vehicle ahead, a crashed vehicle / broken down vehicle alarm (PCW), etc.). The dangerous driving point information may be information transmitted to the support device 40 from a server other than the other vehicles.

[0021] 1, when the vehicle 21 suddenly decelerates while traveling, the support device 41 transmits a point Q where the sudden deceleration occurred as traveling danger point information to surrounding vehicles. The traveling danger point information may include, for example, latitude and longitude information and speed information of the point where the sudden deceleration occurred.

[0022] It is assumed that the vehicle 20 is traveling on a straight road 70. When the assistance device 40 receives the dangerous traveling point information, it sets a first detection range 100, which is a range within which the dangerous traveling point is detected. The first detection range 100 is a range located ahead of the vehicle 20 along the traveling direction of the vehicle 20 from the current position P of the vehicle 20. The first detection range 100 is, for example, a rectangular range.

[0023] The assistance device 40 performs driving assistance when the dangerous driving point indicated by the received dangerous driving point information is within the first detection range 100. As shown in Fig. 1, point Q, which is a dangerous driving point, is present within the first detection range 100, so the assistance device 40 performs driving assistance. The assistance device 40 does not perform driving assistance when the dangerous driving point is not within the detection range, and may perform driving assistance when the dangerous driving point enters the detection range as the vehicle 20 moves.

[0024] When providing driving assistance, even if the assistance device 40 receives new dangerous driving point information from another vehicle, the assistance device 40 may continue the driving assistance until the vehicle 20 passes point Q, and may not provide driving assistance based on information indicating the new dangerous driving point.

[0025] When the assistance device 40 detects a dangerous traveling point, the assistance device 40 may transmit dangerous traveling point information indicating the detected dangerous traveling point to the outside of the vehicle 20. When the assistance device 40 detects a dangerous traveling point, the assistance device 40 may not perform driving assistance in the vehicle 20.

[0026] 2 shows a detection range 120 that is set when the vehicle 20 is traveling on a curved road 72. When the assistance device 40 detects that the vehicle 20 is turning based on the traveling speed and yaw rate of the vehicle 20, the assistance device 40 sets a second detection range 110, and sets a range obtained by adding the second detection range 110 to the first detection range 100 as a detection range 120 for detecting dangerous traveling points. The second detection range 110 is a range located on the turning direction side of the vehicle 20 from the first detection range 100. For example, when the vehicle 20 is turning right as shown in FIG. 2, the second detection range 110 is a range located on the right side of the vehicle 20 from the first detection range 100.

[0027] As a result, when the vehicle 20 is turning, the detection range can be expanded in the direction along the turning direction of the vehicle 20 compared to when the vehicle 20 is traveling straight. This makes it possible to prevent failure to detect point Q, which is a dangerous traveling point.

[0028] 3 shows a system configuration of the vehicle 20. The vehicle 20 includes a sensor 29, an assistance device 40, a communication device 250, and an alarm device 270.

[0029] The sensor 29 includes a yaw rate sensor 24, a GNSS receiver 25, and a vehicle speed sensor 26. The vehicle speed sensor 26 detects the speed of the vehicle 20. The yaw rate sensor 24 detects the yaw rate of the vehicle 20. The GNSS receiver 25 acquires current position information of the vehicle 20 by a global navigation satellite system (GNSS). The alarm device 270 is, for example, a device equipped with an HMI (Human Machine Interface) function. The communication device 250 is responsible for communication with the outside of the vehicle 20. The communication device 250 performs inter-vehicle communication by direct communication such as a PC5. The communication device 250 may perform communication with other vehicles by communicating through a mobile communication base station. The communication device 250 includes a receiving unit 251 and a transmitting unit 252.

[0030] The support device 40 includes a processing unit 200 and a storage unit 290. The processing unit 200 is realized by, for example, an arithmetic processing device including a processor. The storage unit 290 is realized by including a non-volatile storage medium. The processing unit 200 performs processing using information stored in the storage unit 290. The processing unit 200 may be realized by an ECU (Electronic Control Unit) including a microcomputer equipped with a CPU, ROM, RAM, I / O, buses, etc.

[0031] The processing unit 200 includes a calculation unit 210, a range change unit 220, a detection unit 230, and an assistance control unit 240.

[0032] The receiving unit 251 receives information indicating a dangerous traveling point transmitted from outside the vehicle 20. For example, the receiving unit 251 receives dangerous traveling point information transmitted from the support device 41 provided in the vehicle 21.

[0033] The calculation unit 210 calculates the distance and direction from the vehicle 20 to the dangerous traveling point based on the dangerous traveling point and the current position of the vehicle 20. The detection unit 230 detects the dangerous traveling point within a detection range set ahead of the vehicle 20 in the traveling direction.

[0034] The assistance control unit 240 performs driving assistance when a dangerous driving point is detected within the detection range. For example, the assistance control unit 240 notifies the occupants of the vehicle 20 of the presence of the dangerous driving point through an HMI function provided in the warning device 270. The assistance control unit 240 may assist in the driving itself of the vehicle 20. The assistance control unit 240 may assist in the control of the driving speed of the vehicle 20. The assistance control unit 240 may assist in the steering of the vehicle 20.

[0035] The turning detection unit 222 detects that the vehicle 20 is turning. The turning detection unit 222 detects that the vehicle 20 is turning, based on information detected by the yaw rate sensor 24 and the vehicle speed sensor 26. The range change unit 220 expands the detection range in the turning direction of the vehicle 20 when the turning detection unit 222 detects that the vehicle 20 is turning.

[0036] When the turning detection unit 222 detects that the vehicle 20 is turning, the range change unit 220 expands the detection range in the turning direction of the vehicle 20 by adding the second detection range 110 to the first detection range 100 that is set when the turning detection unit 222 detects that the vehicle 20 is not turning.

[0037] When the turning detection section 222 detects that the vehicle 20 is turning, the range change section 220 may expand the detection range in the turning direction of the vehicle 20 to a greater extent as the turning radius of the vehicle 20 becomes smaller.

[0038] When the turning detection section 222 detects that the vehicle 20 is turning, the range change section 220 sets the point that defines the second detection range 110 to a position closer to the turning center than the first detection range 100 .

[0039] When the turning detection unit 222 detects that the vehicle 20 is turning, the range change unit 220 sets the point defining the second detection range 110 to a position closer to the turning center than the first detection range 100, as the turning radius of the vehicle 20 becomes smaller. The turning detection unit 222 may detect the turning radius based on at least one of the speed and yaw rate of the vehicle 20, the steering angle, the lateral acceleration, and the position information by the GNSS.

[0040] When the turning detection unit 222 detects that the vehicle 20 is turning, the range change unit 220 sets the points defining the second detection range 110 farther from the vehicle 20 as the speed of the vehicle 20 increases. The first detection range 100 is set to be longer in the traveling direction of the vehicle 20 as the traveling speed of the vehicle 20 increases.

[0041] When the transmitting unit 252 detects that a point where the vehicle 20 has traveled is dangerous for traveling, the transmitting unit 252 transmits dangerous traveling point information indicating the detected dangerous traveling point to the outside of the vehicle 20. For example, when deceleration exceeding a predetermined value is detected in the vehicle 20, the transmitting unit 252 transmits dangerous traveling point information indicating the point where the deceleration exceeding the predetermined value was detected to the outside of the vehicle 20. When the transmitting unit 252 detects an object such as a pedestrian that is dangerous for the traveling of the vehicle around the vehicle 20, the transmitting unit 252 may transmit dangerous traveling point information indicating the point where the detected object is present to the outside of the vehicle 20. When the transmitting unit 252 detects slippage due to the ABS function of the vehicle 20, the transmitting unit 252 may transmit dangerous traveling point information indicating the point where the slippage was detected to the outside of the vehicle 20.

[0042] When driving assistance is being provided, even if the receiving unit 251 receives information indicating a new dangerous driving point, the assistance control unit 240 may continue driving assistance until the vehicle 20 passes the dangerous driving point, and may suppress driving assistance based on the information indicating the new dangerous driving point.

[0043] 4 is a diagram for explaining a first detection range 100 that is set when the vehicle 20 is traveling straight. The first detection range 100 is a rectangular range defined by points P1, P2, P3, and P4.

[0044] Points P1 and P2 are points set on both sides of the current position P of the vehicle 20 in the driving direction of the vehicle 20. Point P1 is a point set on the left side of the current position P in the driving direction of the vehicle 20. Point P2 is a point set on the right side of the current position P. Points P1 and P2 are set so that a line connecting points P1 and P2 is perpendicular to the traveling direction. The distance between points P1 and P2 may be set to a predetermined length. Points P1 and P2 may be set based on the width of the driving lane of the vehicle 20. The distance between points P1 and P2 may be set to be at least longer than the width of the driving lane of the vehicle 20.

[0045] Point P3 is set at a position L1 away from point P1 in the traveling direction of vehicle 20. Point P4 is set at a position L1 away from point P2 in the traveling direction of vehicle 20. L1 is set according to the speed of vehicle 20. L1 is set longer as the speed of vehicle 20 is faster. L1 is set longer than the distance that vehicle 20 travels before the speed of vehicle 20 decelerates to a predetermined speed when vehicle 20 is decelerated at a predetermined deceleration rate.

[0046] The detection unit 230 determines whether or not the point Q is included within the first detection range 100 based on the distance and direction from the vehicle 20 to the point Q, which is a dangerous traveling point, calculated by the calculation unit 210, and the current position P of the vehicle 20. The assistance control unit 240 performs driving assistance when the point Q is included within the detection range 100. For example, the assistance control unit 240 notifies the occupant of the vehicle 20 of information regarding the point Q through the alarm device 270.

[0047] 5 is a diagram for explaining the detection range 120 that is set when the vehicle 20 is turning. The turning detection unit 222 detects that the vehicle 20 is turning, based on the yaw rate detected by the yaw rate sensor 24 and the speed detected by the vehicle speed sensor 26.

[0048] When the turning detection unit 222 detects that the vehicle 20 is turning, the range modification unit 220 sets a point P5 that defines the second detection range 110 at a position shifted in the turning direction from the point P4. In the example of Fig. 5, the range modification unit 220 sets the point P5 to the right of the point P4 in the traveling direction of the vehicle 20.

[0049] Specifically, the range change unit 220 calculates a radius of curvature R around which the vehicle 20 turns, based on the yaw rate detected by the yaw rate sensor 24 and the speed detected by the vehicle speed sensor 26. The range change unit 220 sets a circle C of radius R that passes through the current position P of the vehicle 20. The range change unit 220 sets a point P5' that is L1 away from the current position P of the vehicle 20 along the circle C. For example, if the turning center of the vehicle 20 is O, the range change unit 220 calculates the angle θ between PO and P5' based on the radius of curvature and L1, thereby calculating point P5'.

[0050] The range modification unit 220 sets the point P5 on a straight line passing through the points P4 and P5'. The range modification unit 220 may set the distance between the points P4 and P5 to a predetermined distance. The range modification unit 220 may set the distance between the points P4 and P5 based on the width of the lane in which the vehicle 20 is traveling. The range modification unit 220 may set the distance between the points P4 and P5 to be at least longer than the width of the lane in which the vehicle 20 is traveling. The range modification unit 220 sets the range of a polygon defined by the points P1, P2, P5, P4, and P3 as the detection range 120.

[0051] As a result, when the vehicle 20 is turning, the detection range can be expanded in the turning direction of the vehicle 20 compared to when the vehicle 20 is traveling straight ahead. As a result, when the vehicle 20 is turning, it is possible to prevent failure to detect point Q, which is a dangerous traveling point ahead in the traveling direction.

[0052] According to the method of setting point P5 described in relation to FIG. 5, the smaller the turning radius R, the larger the angle θ, so that the smaller the turning radius R, the more inside the turning direction point P5 can be set than the first detection range 100. In other words, the smaller the turning radius, the more the point P5 can be set at a position closer to the turning center O than the first detection range 100. In this way, the smaller the turning radius R, the wider the second detection range 110 can be in the turning direction of the vehicle 20. In this way, the range change unit 220 can set the second detection range 110 according to the turning radius of the vehicle 20, so that when the vehicle 20 is turning, it is possible to prevent the failure to detect point Q, which is a dangerous traveling point ahead in the traveling direction.

[0053] 6 shows an example of a flowchart relating to the assistance method executed by the assistance device 40. The process of this flowchart is repeatedly executed in the vehicle 20. The process of this flowchart may be executed after receiving the traveling danger point information. The process of this flowchart may be executed repeatedly after receiving the traveling danger point information.

[0054] In S602, the range change unit 220 sets, as the detection range, a rectangular first detection range 100 according to the speed of the vehicle 20. The first detection range 100 is set to be longer along the traveling direction of the vehicle 20 as the speed of the vehicle 20 is faster.

[0055] In S604, the turning detection unit 222 acquires turning information of the vehicle 20. For example, the turning detection unit 222 acquires information indicating a yaw rate and a vehicle speed from the sensor 29. The turning detection unit 222 may acquire, as the turning information of the vehicle 20, the steering angle of the vehicle 20, the lateral acceleration, and a time change in the position information of the vehicle 20 obtained by the GNSS.

[0056] In S606, the turning detection unit 222 judges whether or not the vehicle 20 is turning based on the turning information. If it is judged in S606 that the vehicle 20 is not turning, it is judged in S612 whether or not point Q is present within the detection range set in S602. If it is judged that point Q is present within the detection range set in S602, driving assistance is performed in S614, and the processing of this flowchart is terminated.

[0057] If it is determined in S606 that the vehicle 20 is turning, then in S608 the range change unit 220 sets the second detection range 110 according to the turning radius of curvature R. In S610, the range change unit 220 sets the first detection range 100 and the second detection range 110 as the detection range. Then, in S612, it is determined whether or not point Q exists within the detection range set in S610. If it is determined that point Q exists within the detection range set in S610, then in S614, driving assistance is performed, and the processing of this flowchart ends.

[0058] According to the assistance device 40 described above, when the vehicle 20 is turning, the detection range of dangerous driving points can be set broadly in the turning direction. Therefore, the detection range can be set not to be excessively broad while reducing the possibility of failing to provide driving assistance. This makes it possible to more appropriately notify the occupants of the vehicle 20 of information on points that may be dangerous in the driving of the vehicle 20, such as points where the preceding vehicle suddenly decelerates or where the preceding vehicle slips.

[0059] In the present embodiment, the danger point information is transmitted and received by vehicle-to-vehicle communication. However, a configuration may be adopted in which a server that holds the danger point information is further provided. For example, when the server receives the danger point information transmitted from each vehicle, the server may hold the danger point indicated by the danger point information for a predetermined period of time. The server may transmit the information indicating the held danger point to a vehicle that is traveling toward the danger point. A vehicle that is traveling away from another vehicle that has detected a danger point may not be able to receive the danger point information by vehicle-to-vehicle communication, but by providing a server that holds the danger point information, the danger point information can be provided to the vehicle more reliably.

[0060] The vehicle 20 is an example of a vehicle that is a transportation device. The vehicle may be an automobile equipped with an internal combustion engine, an electric vehicle, a fuel cell vehicle (FCV), or the like. The automobile includes a bus, a truck, a two-wheeled vehicle, or the like. The vehicle may be a saddle-type vehicle, or the like, or may be a motorcycle. In addition to vehicles, the transportation device includes equipment such as aircraft, including unmanned aerial vehicles, and ships. The transportation device may be any equipment that transports people or goods. The transportation device is an example of a moving body. The moving body is not limited to a transportation device, and may be any equipment that can be moved.

[0061] 7 shows an example of a computer 2000 in which multiple embodiments of the present invention may be embodied in whole or in part. A program installed in the computer 2000 may cause the computer 2000 to function as a system or each part of a system according to an embodiment, or an apparatus such as the support device 40 or each part of the apparatus, to execute operations associated with the system or each part of the system or the apparatus or each part of the apparatus, and / or to execute a process or steps of the process according to an embodiment. Such a program may be executed by the CPU 2012 to cause the computer 2000 to execute specific operations associated with some or all of the blocks of the process steps and block diagrams described herein.

[0062] The computer 2000 according to this embodiment includes a CPU 2012 and a RAM 2014, which are connected to each other by a host controller 2010. The computer 2000 also includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the host controller 2010 via the input / output controller 2020.

[0063] The CPU 2012 operates according to the programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0064] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000. The ROM 2026 stores a boot program and the like executed by the computer 2000 upon activation, and / or a program that depends on the hardware of the computer 2000. The input / output chip 2040 may also connect various input / output units, such as a keyboard, mouse, and monitor, to the input / output controller 2020 via input / output ports, such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, an HDMI port, and the like.

[0065] The programs are provided via a computer-readable storage medium such as a CD-ROM, a DVD-ROM, or a memory card, or a network. The RAM 2014, the ROM 2026, or the flash memory 2024 are examples of computer-readable storage media. The programs are installed in the flash memory 2024, the RAM 2014, or the ROM 2026, and executed by the CPU 2012. Information processing described in these programs is read by the computer 2000, and brings about cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constructed by implementing an operation or processing of information according to the use of the computer 2000.

[0066] For example, when communication is performed between the computer 2000 and an external device, the CPU 2012 may execute a communication program loaded in the RAM 2014 and instruct the communication interface 2022 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2012, the communication interface 2022 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as the RAM 2014 and the flash memory 2024, transmits the read transmission data to a network, and writes reception data received from the network to a reception buffer processing area or the like provided on the recording medium.

[0067] Furthermore, the CPU 2012 may cause all or a necessary portion of a file or database stored on a recording medium such as the flash memory 2024 to be read into the RAM 2014, and perform various types of processing on the data on the RAM 2014. The CPU 2012 then writes back the processed data to the recording medium.

[0068] Various types of information, such as various types of programs, data, tables, and databases, may be stored in the recording medium and subjected to information processing. The CPU 2012 may execute various types of processing, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., described herein and specified by the instruction sequence of the program, on the data read from the RAM 2014, and write back the results to the RAM 2014. The CPU 2012 may also search for information in a file, database, etc. in the recording medium. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 2012 may search for an entry that matches a condition in which an attribute value of the first attribute is specified from among the plurality of entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0069] The above-described programs or software modules may be stored in a computer-readable storage medium on the computer 2000 or in the vicinity of the computer 2000. A recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer-readable storage medium. The programs stored in the computer-readable storage medium may be provided to the computer 2000 via a network.

[0070] A program installed in the computer 2000 and causing the computer 2000 to function as the support device 40 may act on the CPU 2012, etc., to cause the computer 2000 to function as each part of the support device 40. When the information processing described in these programs is read into the computer 2000, the computer 2000 functions as each part of the support device 40, which is a specific means in which the software and the various hardware resources described above work together. These specific means then realize calculation or processing of information according to the intended use of the computer 2000 in this embodiment, thereby constructing a specific support device 40 according to the intended use.

[0071] Various embodiments have been described with reference to block diagrams or the like. In the block diagrams, each block may represent (1) a stage of a process where an operation is performed or (2) a portion of an apparatus responsible for performing an operation. Particular stages and portions may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuitry may include digital and / or analog hardware circuitry and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuitry may include reconfigurable hardware circuitry including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, memory elements such as flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

[0072] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon constitutes at least a portion of a product that includes instructions that can be executed to provide a means for performing the operations specified in a process or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), Blu-ray disks, memory sticks, integrated circuit cards, and the like.

[0073] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0074] The computer readable instructions may be provided to a processor or programmable circuitry of a general purpose computer, special purpose computer, or other programmable data processing apparatus, either locally or over a wide area network (WAN) such as a local area network (LAN), the Internet, etc., to cause the computer readable instructions to execute means for performing operations specified in the process steps or block diagrams described. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0075] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the description of the claims that such modifications and improvements can also be included in the technical scope of the present invention.

[0076] It should be noted that the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and may be realized in any order unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is explained using "first," "next," etc. for convenience, it does not mean that it is essential to perform the process in this order. [Explanation of symbols]

[0077] 20 Vehicles 29 Sensors 24 Yaw rate sensor 25 GNSS receivers 26 Vehicle speed sensor 40 Support equipment 100 First detection range 110 Second detection range 120 Detection Range 200 Processing section 210 Calculation Unit 220 Range change section 222 Rotation detection unit 230 Detection unit 240 Support control section 250 Communication Equipment 251 Receiving unit 252 Transmitter 270 Alarm device 290 Storage section 2000 Computer 2010 Host Controller 2012 CPU 2014 RAM 2020 Input / Output Controller 2022 Communication Interface 2024 Flash Memory 2026 ROM 2040 Input / Output Chip

Claims

1. A receiving unit that receives information indicating a dangerous driving point transmitted from outside the vehicle; a calculation unit that calculates a distance and a direction from the vehicle to the danger point based on the danger point and a current position of the vehicle; a detection unit that detects the dangerous traveling point within a detection range that is set ahead in a traveling direction of the vehicle; an assistance control unit that performs driving assistance when the dangerous driving point is detected within the detection range; A turning detection unit that detects whether the vehicle is turning; a range change unit that expands the detection range in a turning direction of the vehicle when the turning detection unit detects that the vehicle is turning; A support device comprising:

2. When the turning detection unit detects that the vehicle is turning, the range change unit adds a second detection range to a first detection range that is set when the turning detection unit detects that the vehicle is not turning, thereby expanding the detection range in the turning direction of the vehicle. The support device according to claim 1 .

3. When the turning detection unit detects that the vehicle is turning, the range change unit expands the detection range in the turning direction of the vehicle to a larger extent as the turning radius of the vehicle becomes smaller.

3. The support device according to claim 1 or 2.

4. The range change unit sets a point defining the second detection range to a position closer to a turning center than the first detection range when the turning detection unit detects that the vehicle is turning. The support device according to claim 2 .

5. When the turning detection unit detects that the vehicle is turning, the range change unit sets the point defining the second detection range to a position closer to a turning center than the first detection range as the turning radius of the vehicle becomes smaller.

5. The support device according to claim 4.

6. When the turning detection unit detects that the vehicle is turning, the range change unit sets the point defining the second detection range farther from the vehicle as the speed of the vehicle increases.

6. The support device according to claim 5.

7. The first detection range is set to be longer in the traveling direction of the vehicle as the traveling speed of the vehicle increases.

7. The support device according to claim 6.

8. The turning detection unit detects the turning radius based on at least one of a yaw rate, a vehicle speed, a steering angle, a lateral acceleration, and position information based on a Global Navigation Satellite (GNSS). The support device according to claim 3.

9. A vehicle comprising the assistance device according to claim 1 or 2.

10. receiving information indicating a danger point transmitted from outside the vehicle; calculating a distance and a direction from the vehicle to the danger point based on the danger point and a current position of the vehicle; detecting the dangerous traveling point within a detection range set ahead in a traveling direction of the vehicle; providing driving assistance when the dangerous driving point is detected within the detection range; detecting that the vehicle is turning; expanding the detection range in a turning direction of the vehicle when it is detected that the vehicle is turning; A method of support that provides:

11. A program for causing a computer to function as the support device according to claim 1 or 2.

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