Support device, vehicle, program, and support method

Abstract

To perform appropriate travel support on the basis of a position of a preceding vehicle.SOLUTION: A support device comprises: a receiving unit that receives information indicating a position of a preceding vehicle that travels in front of a vehicle in the travel direction; a setting unit that, when the preceding vehicle is determined to be dangerous in the travel of the vehicle, sets a reference point to be a reference for performing travel support for the vehicle on the basis of the position of the preceding vehicle; and a support control unit that performs the travel support on the basis of the reference point. The setting unit updates the reference point after the preceding vehicle is determined to be dangerous and while a predetermined condition for determining that the preceding vehicle is dangerous is satisfied.SELECTED DRAWING: Figure 8

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, a problem is how to provide appropriate driving assistance based on the position of the preceding vehicle when the preceding vehicle is judged to be dangerous. In order to solve the above problem, the present application aims to provide appropriate driving assistance based on the position of the preceding vehicle. This will ultimately 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 the position of a preceding vehicle traveling ahead in a traveling direction of the vehicle. The assistance device includes a setting unit that sets a reference point that serves as a reference for providing driving assistance for the vehicle based on the position of the preceding vehicle when the preceding vehicle is determined to be dangerous in the traveling of the vehicle. The assistance device includes an assistance control unit that provides driving assistance based on the reference point. After the preceding vehicle is determined to be dangerous, the setting unit updates the reference point while a predetermined condition for determining that the preceding vehicle is dangerous is satisfied.

[0005] In the above-mentioned assistance device, the setting unit may update the reference point while the predetermined condition is satisfied after the preceding vehicle is judged to be a danger to the vehicle's travel, and may stop updating the reference point when the predetermined condition is no longer satisfied.

[0006] In any of the above assistance devices, the setting unit may update the reference point while the predetermined condition is satisfied after the preceding vehicle is judged to be a danger to the vehicle's travel, and may stop updating the reference point and fix the reference point when the predetermined condition is no longer satisfied.

[0007] In any of the above assistance devices, the setting unit may update the reference point while the predetermined condition is satisfied after the preceding vehicle is determined to be a danger to the vehicle, and when the predetermined condition is no longer satisfied, stop updating the reference point and fix the reference point. The assistance control unit may perform driving assistance based on the fixed reference point at least until the vehicle passes the fixed reference point.

[0008] In any of the above assistance devices, the predetermined condition may include a condition related to at least one of a speed and an acceleration of the leading vehicle.

[0009] In any of the above assistance devices, the predetermined condition may include a condition that a magnitude of acceleration of the leading vehicle is equal to or less than a predetermined acceleration value.

[0010] In any of the assistance devices described above, the predetermined condition may include a condition that the speed of the preceding vehicle is equal to or less than a predetermined first speed value.

[0011] In any of the above assistance devices, the setting unit may determine that the preceding vehicle poses a danger to the vehicle's travel when the speed of the preceding vehicle falls below a second speed value that is lower than the first speed value.

[0012] In any of the above assistance devices, the predetermined condition may include a condition that the speed of the preceding vehicle is not constant.

[0013] Any of the above-mentioned assistance devices may include a calculation unit that calculates a distance and a direction from the vehicle to the reference point based on the reference point and a current position of the vehicle. The assistance device may include a detection unit that detects the reference point within a detection range that is set within a predetermined range from the current position of the vehicle. The assistance control unit may perform driving assistance when the reference point is detected within the detection range.

[0014] In a second aspect of the present invention, there is provided a vehicle, the vehicle including any one of the assistance devices described above.

[0015] In a third aspect of the present invention, there is provided an assistance method. The assistance method includes a step of receiving information indicating a position of a leading vehicle traveling ahead of a vehicle in a traveling direction. The assistance method includes a step of setting a reference point that serves as a reference for providing driving assistance to the vehicle based on the position of the leading vehicle when the leading vehicle is determined to be dangerous in the traveling of the vehicle. The assistance method includes a step of providing driving assistance based on the reference point. The step of setting the reference point includes updating the reference point while a predetermined condition for determining that the leading vehicle is dangerous is satisfied after the leading vehicle is determined to be dangerous.

[0016] 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.

[0017] 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]

[0018] [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 state in which a vehicle 20 approaches a leading vehicle 21. [Diagram 3] This indicates a state in which the speed of the leading vehicle 21 exceeds a predetermined speed value. [Figure 4] 2 shows a system configuration of a vehicle 20. [Diagram 5] 13 shows an example of a period during which the setting unit 220 updates the reference point. [Figure 6] 13 shows another example of a period during which the setting unit 220 updates the reference point. [Figure 7] 13 shows another example of a period during which the setting unit 220 updates the reference point. [Figure 8] 1 shows an example of a flowchart relating to a support method executed by the support device 40. [Figure 9] An example of a computer 2000 is shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] 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.

[0020] 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 preceding 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.

[0021] The preceding 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 periodically transmit to the outside the travel information including the identification information, the current position, the current acceleration / deceleration, and the current speed of each vehicle. In this embodiment, a form will be described in which the support device 40 performs control related to the travel support of the vehicle 20 based on the travel information transmitted from the support device 41.

[0022] When the assistance device 40 determines that the preceding vehicle 21 has suddenly decelerated based on the acceleration / deceleration included in the driving information transmitted from the assistance device 41, it determines whether or not a point Q1 indicating the current position of the preceding vehicle 21 included in the driving information is within a detection range 100, which is a range for detecting a reference point that serves as a reference for driving assistance in the vehicle 20. The detection range 100 is a range located in front of the vehicle 20 along the traveling direction of the vehicle 20 from the current position P of the vehicle 20. The detection range 100 is, for example, a rectangular range. The assistance device 40 may set the length of the detection range 100 in the direction along the driving direction of the vehicle 20 to be longer as the speed of the vehicle 20 increases.

[0023] The assistance device 40 performs driving assistance when the point Q1 is within the detection range 100. As shown in FIG. 1, since the point Q is present within the detection range 100, the assistance device 40 performs driving assistance. Specifically, the assistance device 40 performs driving assistance using the point Q as a reference point. For example, the assistance device 40 displays information indicating the distance from the current position P of the vehicle 20 to the point P using an HMI (Human Machine Interface) function provided in the assistance device 40. FIG. 1 shows an example in which "200 m" is displayed as information indicating the distance from the current position P1 of the vehicle 20 to the reference point Q1.

[0024] 2 shows a state in which the vehicle 20 approaches the preceding vehicle 21. The assistance device 40 judges whether the preceding vehicle 21 is dangerous to the vehicle 20 based on the travel information periodically transmitted from the assistance device 41. For example, the assistance device 40 judges that the preceding vehicle 21 is dangerous to the vehicle 20 when the speed of the preceding vehicle 21 included in the travel information is equal to or lower than a predetermined speed value. While the assistance device 40 judges that the preceding vehicle 21 is dangerous to the vehicle 20, it updates the reference point with the latest position of the preceding vehicle 21 and provides travel assistance based on the reference point.

[0025] 2 shows a state in which the preceding vehicle 21 is determined to be dangerous for the vehicle 20, and driving assistance is performed by setting the latest position Q2 of the preceding vehicle 21 as a reference point. Specifically, an example is shown in which "180 m" is displayed as information indicating the distance from the current position P2 of the vehicle 20 to the reference point Q2.

[0026] 3 shows a state where the speed of the preceding vehicle 21 exceeds a predetermined speed value. When the speed of the preceding vehicle 21 included in the travel information transmitted from the travel support device 41 exceeds the predetermined speed value, the support device 40 fixes point Q3, where it is determined that the speed of the preceding vehicle 21 has exceeded the predetermined speed value, as a reference point, and provides travel support.

[0027] 3 shows a state in which a position Q3 is set as a reference point and driving assistance is performed. Specifically, an example is shown in which "140 m" is displayed as information indicating the distance from the current position P3 of the vehicle 20 to the reference point Q3. The assistance device 40 performs driving assistance based on the reference point Q3 until the current position of the vehicle 20 reaches the reference point Q3. When the current position of the vehicle 20 passes the reference point Q3, the assistance device 40 stops driving assistance based on the reference point Q3.

[0028] In this way, after the preceding vehicle 21 suddenly decelerates, the assistance device 40 can provide driving assistance while updating the reference point according to the movement of the preceding vehicle 21. Therefore, if the preceding vehicle 21 continues to move after suddenly decelerating, the assistance device 40 can continue driving without stopping even after the vehicle 20 reaches the point where the preceding vehicle 21 suddenly decelerated, and therefore the distance from the vehicle 20 to the preceding vehicle 21 can be appropriately notified to the occupant of the vehicle 20. This can improve the usability of the vehicle 20, and thus improve traffic safety.

[0029] 4 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.

[0030] The sensor 29 includes a GNSS receiver 25, a vehicle speed sensor 26, an acceleration sensor 27, and the like. The vehicle speed sensor 26 detects the speed of the vehicle 20. The acceleration sensor 27 detects the acceleration 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.

[0031] 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.

[0032] The processing unit 200 includes a calculation unit 210, a setting unit 220, a detection unit 230, and a support control unit 240.

[0033] The receiving unit 251 receives information indicating the position of the leading vehicle 21 traveling ahead in the traveling direction of the vehicle 20. For example, the receiving unit 251 receives traveling information continuously transmitted from the assistance device 41 provided in the leading vehicle 21.

[0034] The setting unit 220 sets a reference point that serves as a reference for providing driving support for the vehicle 20 based on the position of the leading vehicle 21 when the leading vehicle 21 is determined to be dangerous for the driving of the vehicle 20.

[0035] The assistance control unit 240 performs driving assistance based on the reference point. For example, the calculation unit 210 calculates the distance and direction from the vehicle 20 to the reference point based on the reference point and the current position of the vehicle 20. The detection unit 230 detects the reference point within a detection range that is set within a predetermined range from the current position of the vehicle 20. The assistance control unit 240 performs driving assistance when the reference point is detected within the detection range.

[0036] Specifically, the assistance control unit 240 notifies the occupant of the vehicle 20 of the presence of a dangerous point through an HMI function provided in the warning device 270. Specifically, the assistance control unit 240 notifies the occupant of the vehicle 20 of information indicating the distance from the current position of the vehicle 20 to a reference 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 traveling speed of the vehicle 20. The assistance control unit 240 may assist in the steering of the vehicle 20.

[0037] The setting unit 220 updates the reference point while a predetermined condition for determining that the preceding vehicle 21 is dangerous is satisfied after the preceding vehicle 21 is determined to be dangerous in the traveling of the vehicle 20. Specifically, the setting unit 220 updates the reference point while a predetermined condition is satisfied after the preceding vehicle 21 is determined to be dangerous in the traveling of the vehicle 20, and stops updating the reference point when the predetermined condition is no longer satisfied. More specifically, the setting unit 220 updates the reference point while a predetermined condition is satisfied after the preceding vehicle 21 is determined to be dangerous in the traveling of the vehicle 20, and stops updating the reference point and fixes the reference point when the predetermined condition is no longer satisfied. For example, the setting unit 220 updates the reference point while a predetermined condition is satisfied after the preceding vehicle 21 is determined to be dangerous in the traveling of the vehicle 20, and stops updating the reference point and fixes the reference point when the predetermined condition is no longer satisfied, and the assistance control unit 240 performs travel assistance based on the fixed reference point at least until the vehicle 20 passes the fixed reference point. The assistance control unit 240 may perform driving assistance after the vehicle 20 passes a fixed reference point until the distance from the fixed reference point to the current position of the vehicle 20 reaches a predetermined distance. The “predetermined distance” may be determined based on the positioning error of the GNSS receiver 25.

[0038] The predetermined conditions include a condition related to at least one of the speed and acceleration of the leading vehicle 21. The predetermined conditions may include a condition that the magnitude of the acceleration of the leading vehicle 21 is equal to or less than a predetermined acceleration value.

[0039] The predetermined condition may include a condition that the speed of the preceding vehicle 21 is equal to or less than a predetermined first speed value. The setting unit 220 may determine that the preceding vehicle 21 is dangerous for the traveling of the vehicle 20 when the speed of the preceding vehicle 21 falls below a second speed value that is lower than the first speed value.

[0040] The predetermined condition may include a condition that the speed of the preceding vehicle 21 is not constant. In this way, when the speed of the preceding vehicle 21 becomes substantially constant after the preceding vehicle 21 suddenly decelerates, the assistance control unit 240 can perform driving control by fixing the point where the speed of the preceding vehicle 21 becomes substantially constant as the reference point.

[0041] The transmission unit 252 transmits the driving information to the outside of the vehicle 20. For example, the transmission unit 252 periodically transmits the driving information including the vehicle identification information, the current position, the current acceleration / deceleration, and the current speed to the outside of the vehicle 20.

[0042] Fig. 5 shows an example of a period during which the setting unit 220 updates the reference point. When the speed of the preceding vehicle 21 included in the travel information reaches a speed value V2 that is lower than the speed value V0 before the preceding vehicle 21 suddenly decelerates by a predetermined value, the setting unit 220 sets the point of the preceding vehicle 21 when the speed of the preceding vehicle 21 becomes equal to or lower than the speed value V2 as the reference point. In the example of Fig. 5, the setting unit 220 sets the point Q1 as the reference point.

[0043] Thereafter, until the speed value V1 of the preceding vehicle 21 is reached, the setting unit 220 updates the reference point with the current position of the preceding vehicle 21, and the assistance control unit 240 performs driving assistance based on the updated reference point. V1 may be set to a value faster than V2.

[0044] In other words, in the example shown in Figure 5, the setting unit 220 continues updating the reference point even when the preceding vehicle 21 decelerates and then starts accelerating, and the speed of the preceding vehicle 21 reaches V2, and stops updating the reference point and fixes the reference point to point Q3 when the speed of the preceding vehicle 21 reaches V1, which is faster than V2.

[0045] As a result, when the speed of the preceding vehicle 21 becomes definitely faster than the speed V2 of the preceding vehicle 21 when the reference point was initially set, it is determined that substantial acceleration has started in the preceding vehicle 21, and the updating of the reference point can be stopped. Therefore, when a situation occurs in which the risk of the vehicle 20 approaching the preceding vehicle 21 suddenly becomes low, the updating of the reference point can be stopped and the reference point can be fixed at the point Q3. When the vehicle 20 reaches the reference point Q3, it is expected that the preceding vehicle 21 has reached a sufficient speed. Therefore, even if the assistance control unit 240 ends the driving assistance when the vehicle 20 reaches the reference point Q3, it can be said that the risk of the vehicle 20 approaching the preceding vehicle 21 suddenly is substantially low. Therefore, the reference point of the driving assistance can be appropriately updated in accordance with the driving of the preceding vehicle 21 while preventing the period of driving assistance from becoming unnecessarily long.

[0046] Fig. 6 shows another example of a period during which the setting unit 220 updates the reference point. As in the example of Fig. 5, the setting unit 220 sets the point Q1 of the preceding vehicle 21 when the speed of the preceding vehicle 21 becomes equal to or less than V2 as the first reference point.

[0047] Thereafter, the speed of the preceding vehicle 21 becomes a minimum value at point Q5, and the preceding vehicle 21 starts accelerating from point Q5. When the travel distance during the period during which the preceding vehicle 21 continues accelerating reaches a predetermined distance, the setting unit 220 ends the update of the reference point and fixes the reference point to point Q6, which is a predetermined distance from point Q5. That is, while the preceding vehicle 21 is traveling in the section from point Q1 to point Q6, the setting unit 220 updates the reference point with the current position of the preceding vehicle 21, and the assistance control unit 240 performs driving assistance based on the updated reference point. The "predetermined distance" for ending the update of the reference point may be set, for example, based on the speed at which the preceding vehicle 21 starts accelerating. In this way, the setting unit 220 updates the reference point when at least the condition that the magnitude of the acceleration of the preceding vehicle 21 is equal to or less than a predetermined acceleration value is satisfied, and stops the update of the reference point and fixes the reference point when the period during which the magnitude of the acceleration of the preceding vehicle 21 exceeds the predetermined acceleration value exceeds a predetermined length.

[0048] As a result, when the acceleration of the preceding vehicle 21 continues for a predetermined period of time, the update of the reference point can be stopped. When the acceleration of the preceding vehicle 21 continues for a predetermined period of time, it can be determined that the preceding vehicle 21 is intentionally accelerated. Therefore, when the vehicle 20 reaches the reference point Q6, it can be expected that the preceding vehicle 21 has accelerated to a sufficient speed. Therefore, even if the assistance control unit 240 ends the driving assistance when the vehicle 20 reaches the reference point Q6, it can be said that the risk of the vehicle 20 suddenly approaching the preceding vehicle 21 is substantially low. Therefore, it is possible to appropriately update the reference point of the driving assistance in accordance with the driving of the preceding vehicle 21 while preventing the period during which the driving assistance is performed from becoming unnecessarily long.

[0049] Fig. 7 shows another example of a period during which the setting unit 220 updates the reference point. As in the example of Fig. 5, the setting unit 220 sets the point Q10 of the preceding vehicle 21 when the speed of the preceding vehicle 21 becomes equal to or less than V2 as the first reference point.

[0050] Thereafter, the speed of the preceding vehicle 21 is decelerated to V10 at point Q11, and the speed of the preceding vehicle 21 becomes substantially constant from point Q11. When the travel distance of the preceding vehicle 21 after the speed of the preceding vehicle 21 becomes substantially constant reaches a predetermined distance, the setting unit 220 ends the update of the reference point and fixes the reference point to point Q12, which is a predetermined distance from point Q11. That is, while the preceding vehicle 21 is traveling in the section from point Q10 to point Q12, the setting unit 220 updates the reference point with the current position of the preceding vehicle 21, and the assistance control unit 240 performs driving assistance based on the updated reference point. The "predetermined distance" for ending the update of the reference point may be set, for example, based on the substantially constant speed of the preceding vehicle 21. In this way, the setting unit 220 updates the reference point when at least the condition that the speed of the preceding vehicle 21 is not substantially constant is satisfied, and stops the update of the reference point and fixes the reference point when the magnitude of the acceleration of the preceding vehicle 21 becomes substantially constant.

[0051] As a result, when the speed of the preceding vehicle 21 becomes constant for a predetermined period of time, the update of the reference point can be stopped. When the speed of the preceding vehicle 21 becomes constant for a predetermined period of time, it can be determined that the traveling of the preceding vehicle 21 is being continued intentionally. Therefore, it can be expected that the preceding vehicle 21 will continue traveling even when the vehicle 20 reaches the reference point Q12. Therefore, even if the assistance control unit 240 ends the traveling assistance when the vehicle 20 reaches the reference point Q12, it can be expected that there is a low risk that the vehicle 20 will suddenly approach the preceding vehicle 21. Therefore, it is possible to appropriately update the reference point of the traveling assistance in accordance with the traveling of the preceding vehicle 21 while preventing the period during which the traveling assistance is performed from becoming unnecessarily long.

[0052] 8 shows an example of a flowchart relating to the assistance method executed by the assistance device 40. The process of this flowchart is started when the assistance device 40 determines, based on the driving information transmitted from the assistance device 41, that the preceding vehicle 21 has suddenly decelerated.

[0053] In S802, the detection unit 230 sets the detection range 100 according to the speed of the vehicle 20. The 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.

[0054] In S804, the detection unit 230 determines whether the position of the preceding vehicle 21 indicated by the position information included in the sudden deceleration information has been detected within the detection range 100. For example, the detection unit 230 determines whether the position of the preceding vehicle 21 when the speed of the preceding vehicle 21 falls below a predetermined second speed value has been detected within the detection range 100. The detection unit 230 determines whether the position of the preceding vehicle 21 indicated by the position information included in the sudden deceleration information has been detected within the detection range 100 based on the distance and direction to the reference point calculated by the calculation unit 210 and the detection range 100.

[0055] In S804, if the position of the preceding vehicle 21 is not detected within the detection range 100, the process of this flowchart ends. In the case where the position of the preceding vehicle 21 is detected within the detection range 100, in S806, the setting unit 220 sets the position of the preceding vehicle 21 to a reference point. In S808, the assistance control unit 240 performs driving assistance based on the reference point.

[0056] In S810, the setting unit 220 determines whether or not the preceding vehicle 21 satisfies a predetermined condition for determining that the preceding vehicle 21 is dangerous. As described above, the predetermined condition may include that the speed of the preceding vehicle 21 is equal to or less than a predetermined speed value V1, that the magnitude of the acceleration of the preceding vehicle 21 is equal to or less than a predetermined acceleration value, that the speed of the preceding vehicle 21 is not constant, etc. The speed value V1 may be the current speed of the vehicle 20.

[0057] When it is determined in S810 that the predetermined condition for determining that the preceding vehicle 21 is dangerous is satisfied, the setting unit 220 updates the reference point with the current position of the preceding vehicle 21 in S812, performs driving support based on the reference point in S814, and transitions to the process of S810. The setting unit 220 repeats the process of S810 every time new sudden deceleration information is received from the preceding vehicle 21.

[0058] If it is determined in S810 that the preceding vehicle 21 does not satisfy the predetermined condition for determining that it is dangerous, the setting unit 220 stops updating the reference point based on the current position of the preceding vehicle 21 in S822 and fixes the reference point. Then, the assistance control unit 240 performs driving assistance based on the fixed reference point in S824. The assistance control unit 240 continues the driving assistance based on the fixed reference point until the current position of the vehicle 20 reaches the fixed reference point, and ends the processing of this flowchart when the current position of the vehicle 20 reaches the fixed reference point.

[0059] According to the assistance device 40 described above, when the preceding vehicle 21 is judged to be dangerous for the traveling of the vehicle 20 based on the traveling state of the preceding vehicle 21 after the preceding vehicle 21 suddenly decelerates, the reference point can be updated and traveling control can be performed based on the updated reference point. Furthermore, when the preceding vehicle 21 is no longer judged to be dangerous for the traveling of the vehicle 20, the updating of the reference point can be stopped. This makes it possible to appropriately update the reference point for traveling assistance in accordance with the traveling of the preceding vehicle 21 while preventing the period for which traveling assistance is performed from becoming unnecessarily long.

[0060] In the present embodiment, the sudden deceleration information is transmitted and received by vehicle-to-vehicle communication. However, a configuration may be adopted in which a server that holds the sudden deceleration information is further provided. For example, when the server receives the sudden deceleration information transmitted from each vehicle, the server may hold the sudden deceleration information for a predetermined period of time. The server may transmit the held sudden deceleration information to a vehicle traveling toward a point indicated by the sudden deceleration information. A vehicle that has a communication obstacle between it and the preceding vehicle that transmitted the sudden deceleration information, or a vehicle that is traveling at a position away from the preceding vehicle, may not be able to receive the sudden deceleration information by vehicle-to-vehicle communication, but by providing a server that holds the sudden deceleration information, the sudden deceleration information can be provided to the vehicle more reliably.

[0061] 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.

[0062] 9 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.

[0063] 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.

[0064] The CPU 2012 operates according to the programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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]

[0078] 20 Vehicles 21 Vehicles 29 Sensors 25 GNSS receivers 26 Vehicle speed sensor 40 Support equipment 41 Support equipment 100 Detection Range 200 Processing section 210 Calculation Unit 220 Setting Department 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 position of a leading vehicle traveling ahead of the vehicle in a traveling direction; a setting unit that sets a reference point that is a reference for performing driving support for the vehicle based on a position of the preceding vehicle when the preceding vehicle is determined to be dangerous in driving of the vehicle; an assistance control unit that performs driving assistance based on the reference point; Equipped with The setting unit updates the reference point while a predetermined condition for determining that the preceding vehicle is dangerous is satisfied after the preceding vehicle is determined to be dangerous. Support equipment.

2. The setting unit updates the reference point while the predetermined condition is satisfied after the preceding vehicle is determined to be dangerous in the traveling of the vehicle, and stops updating the reference point when the predetermined condition is no longer satisfied. The support device according to claim 1 .

3. The setting unit updates the reference point while the predetermined condition is satisfied after the preceding vehicle is determined to be dangerous in the traveling of the vehicle, and stops updating the reference point and fixes the reference point when the predetermined condition is no longer satisfied.

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

4. the setting unit updates the reference point while the predetermined condition is satisfied after the preceding vehicle is determined to be dangerous in the traveling of the vehicle, and stops updating the reference point and fixes the reference point when the predetermined condition is no longer satisfied; The assistance control unit performs driving assistance based on the fixed reference point at least until the vehicle passes the fixed reference point. The support device according to claim 3.

5. The predetermined condition includes a condition related to at least one of a speed and an acceleration of the preceding vehicle.

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

6. The predetermined condition includes a condition that the magnitude of the acceleration of the preceding vehicle is equal to or less than a predetermined acceleration value.

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

7. The predetermined condition includes a condition that the speed of the preceding vehicle is equal to or less than a predetermined first speed value.

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

8. The setting unit determines that the preceding vehicle is dangerous for the traveling of the vehicle when the speed of the preceding vehicle falls below a second speed value that is lower than the first speed value.

8. The support device according to claim 7.

9. The predetermined condition includes a condition that the speed of the preceding vehicle is not constant.

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

10. a calculation unit that calculates a distance and a direction from the vehicle to the reference point based on the reference point and a current position of the vehicle; a detection unit that detects the reference point within a detection range that is set within a predetermined range from the current position of the vehicle; Equipped with The assistance control unit performs driving assistance when the reference point is detected within the detection range.

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

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

12. receiving information indicating a position of a leading vehicle traveling ahead of the vehicle in a traveling direction; setting a reference point that serves as a reference for performing driving support for the vehicle based on a position of the leading vehicle when the leading vehicle is determined to be dangerous in driving of the vehicle; providing driving assistance based on the reference points; Equipped with The step of setting the reference point includes updating the reference point while a predetermined condition for determining that the leading vehicle is dangerous is satisfied after the leading vehicle is determined to be dangerous. How to help.

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

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