Driving support device, driving support processing method, and program

Abstract

To improve accuracy in predicting presence / absence of a mobile body having the risk of jumping out from a dead angle when passing a merging point to be the dead angle.SOLUTION: When detecting a merging point where a first road on which a vehicle is traveling merges with a second road and which is not visually recognized since a deep side of the second road becomes a dead angle when viewed from the vehicle, a driving support device acquires information of an object detection result of the second road detected by another vehicle passing the merging spot, determines presence / absence of a factor to prevent the passing of a mobile body moving on the second road based on the acquired information of the object detection result. When the presence of the factor to prevent the passing of the mobile body is determined, the driving support device determines a possibility of an undetected mobile body not detected by the other vehicle to enter the merging spot from the second road based on a position and an existence range of the factor.SELECTED DRAWING: Figure 16

Description

[Technical field]

[0001] The present disclosure relates to a driving assistance device, a driving assistance processing method, and a program. [Background technology]

[0002] During driving of a vehicle, there is a risk that another vehicle, a pedestrian, or the like may jump out from a blind spot that cannot be seen from the vehicle. In response to this, Patent Document 1 discloses a driving support device including: a blind spot recognition unit that recognizes a blind spot from the driver in the traveling direction of the vehicle; a moving body information setting unit that sets moving body information including at least an assumed speed of the moving body as information about a moving body that may jump out from the blind spot; a speed region calculation unit that calculates a speed region of the vehicle where the vehicle may come into contact with the moving body if the vehicle advances in the traveling direction based on the moving body information set by the moving body information setting unit; a target speed calculation unit that calculates a target speed of the vehicle based on the speed region; and a target speed profile creation unit that creates a target speed profile for decelerating the vehicle from the current speed to the blind spot entry target speed based on a blind spot entry target speed that is a target speed of the vehicle when entering a place that constitutes a blind spot, the current speed of the vehicle, and a target acceleration for deceleration.

[0003] Also, Patent Document 2 proposes a vehicle communication device that can recognize pedestrians, vehicles, etc. that are in a blind spot that cannot be seen by the driver while driving the vehicle in advance, and prevents traffic accidents caused by pedestrians, vehicles, etc. rushing out from the blind spot. Specifically, Patent Document 2 discloses a vehicle communication device that includes a side imaging means for imaging the side direction of the vehicle to obtain a side image, a transmitting means for transmitting the side image to another vehicle located behind the vehicle, a receiving means for receiving the side image transmitted from a vehicle located in front, and a notifying means for notifying the driver of the situation in the front side direction based on the received side image. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2014-504575 A [Patent Document 2] JP 2007-60054 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the driving support device disclosed in Patent Document 1 assumes a moving object that may jump out of the blind spot even when there is no moving object in the blind spot, and sets the speed and running position of the vehicle. Therefore, the speed and running position of the vehicle are controlled in all situations where there is a blind spot, which may be annoying to the driver. In addition, the driving support device disclosed in Patent Document 1 has a configuration in which the assumed speed of the moving object that may jump out of the blind spot is set to the legal speed of the road on which the moving object runs, the average approaching vehicle speed based on past statistics, and the speed of the vehicle itself. Therefore, if there is a factor that obstructs the passage of the moving object, such as a temporarily existing parked vehicle or a construction site, on the road on which the moving object runs, the assumed speed of the moving object may be significantly different from the actual speed of the moving object.

[0006] In addition, the vehicle communication device disclosed in Patent Document 2 has a configuration in which a vehicle positioned behind receives a side image acquired by a vehicle positioned ahead and notifies the driver of the situation in the forward lateral direction based on the received side image. However, even in the vehicle communication device disclosed in Patent Document 2, if there is a factor that obstructs the passage of a moving object, such as a temporarily existing parked vehicle or a construction site, in the blind spot road, and the vehicle positioned ahead cannot detect the moving object due to the factor, the vehicle positioned behind may not be able to predict the possibility of the moving object jumping out.

[0007] The present disclosure has been made in consideration of the above problems, and an object of the present disclosure is to provide a driving assistance device, a driving assistance processing method, and a program that can improve the accuracy of predicting the presence or absence of a moving object that may jump out from a blind spot when passing through a merging point that is a blind spot. [Means for solving the problem]

[0008] In order to solve the above problem, according to one aspect of the present disclosure, a driving assistance device that assists a driver in driving a vehicle is provided, the driving assistance device comprising one or more processors and one or more memories communicatively connected to the one or more processors, wherein the one or more processors perform a blind spot information acquisition process to acquire information on an object detection result on the second road detected by another vehicle that has passed through the junction when the one or more processors detect a junction point where a first road on which the vehicle is traveling merges with a second road and where the back of the second road is a blind spot and cannot be seen from the vehicle, and an undetected moving object prediction process to determine whether or not there is a factor that impedes the passage of a moving object moving on the second road based on the acquired information on the object detection result, and if it is determined that there is a factor that impedes the passage of the moving object, to determine the possibility that an undetected moving object not detected by the other vehicle will enter the junction from the second road based on the position and presence range of the factor.

[0009] In addition, according to another aspect of the present disclosure to solve the above problem, there is provided a driving assistance processing method for assisting a driver in driving a vehicle, the driving assistance processing method comprising: when a computer detects a junction point where a second road merges into a first road on which the vehicle is traveling, where the back of the second road is a blind spot and cannot be seen from the vehicle, acquiring information on an object detection result for the second road detected by another vehicle that has passed the junction point; determining whether or not there is a factor that impedes the passage of a moving body moving on the second road based on the acquired information on the object detection result; and if it is determined that there is a factor that impedes the passage of the moving body, determining the possibility that an undetected moving body not detected by the other vehicle will enter the junction point from the second road based on the position and presence range of the factor.

[0010] In addition, according to another aspect of the present disclosure, in order to solve the above problem, a program is provided that causes a computer to, when it detects a junction point where a first road on which a vehicle is traveling merges with a second road and where the back of the second road is in a blind spot and cannot be seen from the vehicle, acquire information on object detection results for the second road detected by another vehicle that has passed the junction point, and based on the acquired information on the object detection results, determine whether or not there is a factor that will hinder the passage of a moving body moving on the second road, and if it is determined that there is a factor that will hinder the passage of the moving body, determine the possibility that an undetected moving body not detected by the other vehicle will enter the junction point from the second road based on the position and presence range of the factor. Effect of the Invention

[0011] As described above, according to the present disclosure, it is possible to improve the accuracy of predicting the presence or absence of a moving object that may jump out from a blind spot when passing through a junction that is in a blind spot. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic diagram illustrating a configuration example of a vehicle equipped with a driving assistance device according to an embodiment of the present disclosure. [Diagram 2] 2 is a block diagram showing a configuration example of a driving assistance device according to the embodiment; FIG. [Diagram 3] FIG. 2 is a block diagram showing an example of a configuration of an external server. [Figure 4] 3 is an explanatory diagram showing an example of a situation in which the driving assistance process by the driving assistance device according to the embodiment can be applied; FIG. [Diagram 5] 4 is a flowchart showing a routine of a driving assistance process performed by the driving assistance device according to the embodiment. [Figure 6] 4 is a flowchart showing a routine of a driving assistance process performed by the driving assistance device according to the embodiment. [Figure 7] 5 is a flowchart showing a routine of blind spot information acquisition processing performed by the driving assistance device according to the embodiment. [Figure 8] 1 is an explanatory diagram showing an example of another vehicle from which blind spot information can be acquired through vehicle-to-vehicle communication; [Figure 9] 5 is a flowchart showing a routine of a detected moving object collision determination process performed by the driving assistance device according to the embodiment. [Figure 10] 5 is a flowchart showing a routine of a detected moving object collision determination process performed by the driving assistance device according to the embodiment. [Figure 11] 1 is an explanatory diagram showing an example of a scene in which an obstruction factor exists to which driving assistance processing by the driving assistance device according to the embodiment can be applied; [Figure 12] 5 is a flowchart showing a routine of an undetected moving object prediction process performed by the driving assistance device according to the embodiment. [Figure 13] 5 is a flowchart showing a routine of an undetected moving object prediction process performed by the driving assistance device according to the embodiment. [Figure 14] 5 is a flowchart showing a routine of an undetected moving object prediction process performed by the driving assistance device according to the embodiment. [Figure 15] 11 is an explanatory diagram showing an example in which the driving assistance device according to the embodiment assumes that an undetected moving object is present at a position beyond a depth distance L3 of a detection range of a blind spot caused by another vehicle. FIG. [Figure 16] 10 is an explanatory diagram showing an example in which the driving assistance device according to the embodiment assumes that an undetected moving object is present in the shadow of an obstruction factor; FIG. [Figure 17] 11 is an explanatory diagram showing another application example of the driving assistance process by the driving assistance device according to the embodiment. FIG. [Figure 18] 13 is a flowchart of a processing operation capable of implementing another application example of the driving assistance process by the driving assistance device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and redundant description will be omitted.

[0014] <1. Overall vehicle configuration> First, an example of the overall configuration of a vehicle equipped with a driving assistance device according to an embodiment of the present disclosure will be described.

[0015] FIG. 1 is a schematic diagram showing an example configuration of a vehicle 1. The vehicle 1 is configured as a two-wheel drive four-wheel vehicle in which driving torque output from a driving force source 9 that generates driving torque is transmitted to a left front wheel and a right front wheel. The driving force source 9 may be an internal combustion engine such as a gasoline engine or a diesel engine, a driving motor, or may include both an internal combustion engine and a driving motor.

[0016] The vehicle 1 may be a four-wheel drive vehicle that transmits drive torque to the front and rear wheels. The vehicle 1 may also be an electric vehicle equipped with two drive motors, for example, a motor for driving the front wheels and a motor for driving the rear wheels, or an electric vehicle equipped with drive motors corresponding to the respective wheels. If the vehicle 1 is an electric vehicle or a hybrid electric vehicle, the vehicle 1 is equipped with a secondary battery that stores power supplied to the drive motor, and a generator such as a motor or fuel cell that generates power to be charged into the battery.

[0017] The vehicle 1 is equipped with a driving force source 9, an electric steering device 15, and brake devices 17LF, 17RF, 17LR, 17RR (hereinafter collectively referred to as "brake devices 17" unless a distinction is required) as devices used to control the operation of the vehicle 1. The driving force source 9 outputs a driving torque that is transmitted to the front wheel drive shaft 5F via a transmission and a differential mechanism 7 (not shown). The operation of the driving force source 9 and the transmission is controlled by a vehicle control device 41 that includes one or more electronic control devices (ECU: Electronic Control Unit).

[0018] The front-wheel drive shaft 5F is provided with an electric steering device 15. The electric steering device 15 includes an electric motor and a gear mechanism (not shown), and adjusts the steering angle of the front wheels by being controlled by a vehicle control device 41. During manual driving, the vehicle control device 41 controls the electric steering device 15 based on the steering angle of the steering wheel 13 by the driver. During automatic driving, the vehicle control device 41 controls the electric steering device 15 based on the set steering angle or steering angular speed.

[0019] Brake devices 17LF, 17RF, 17LR, and 17RR apply braking force to each wheel. Brake devices 17 are configured as hydraulic brake devices, for example. Vehicle control device 41 adjusts the hydraulic pressure supplied to each brake device 17 by controlling the driving of hydraulic control unit 16. When vehicle 1 is an electric vehicle or a hybrid electric vehicle, brake devices 17 are used in combination with regenerative braking by a drive motor.

[0020] The vehicle control device 41 includes one or more electronic control devices that control the driving of the driving force source 9, the electric steering device 15, and the hydraulic control unit 16. In the case where the vehicle 1 is equipped with a transmission that changes the speed of the output output from the driving force source 9 and transmits it to the wheels 3, the vehicle control device 41 has a function of controlling the driving of the transmission.

[0021] In addition, the vehicle 1 is equipped with forward measurement devices 31L, 31R, side measurement devices 33L, 33R, a vehicle condition sensor 35, a position detection sensor 37, a vehicle-to-vehicle communication device 39, an external communication device 45, a notification device 43, and a driving assistance device 50 as elements that assist the driving of the vehicle 1 by the driving assistance device 50.

[0022] The forward measuring device 31 (31L, 31R) detects information on the surrounding environment ahead in the traveling direction of the vehicle 1. The side measuring device 33 (33L, 33R) detects information on the surrounding environment on the left and right sides of the vehicle 1. The forward measuring device 31L, 31R and the side measuring device 33L, 33R may be any one or a combination of a stereo camera, a monocular camera, a LiDAR (Light Detection And Ranging), a radar, and an ultrasonic sensor. The forward measuring device 31L, 31R and the side measuring device 33L, 33R each transmit information on the detection result to the driving assistance device 50.

[0023] In addition, the measuring instruments that detect the surrounding environment of the vehicle 1 may include, in addition to the front measuring instruments 31L, 31R and the side measuring instruments 33L, 33R, for example, a camera that photographs the rear of the vehicle 1, or a camera mounted on the side mirror that photographs the left rear or right rear.

[0024] The vehicle state sensor 35 is composed of at least one sensor that detects the operation state and behavior of the vehicle 1. The vehicle state sensor 35 includes at least one of a steering angle sensor, an accelerator position sensor, a brake stroke sensor, a brake pressure sensor, and an engine speed sensor, for example. The vehicle state sensor 35 also includes at least one of a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor, for example. The vehicle state sensor 35 transmits a sensor signal indicating the detected information to the driving assistance device 50.

[0025] The position detection sensor 37 receives satellite signals from positioning satellites of a Global Navigation Satellite System (GNSS) such as a Global Positioning System (GPS). The position detection sensor 37 transmits position information of the vehicle 1 contained in the received satellite signals to the driving assistance device 50. Note that the position detection sensor 37 may be an antenna that receives satellite signals from other satellite systems that identify the position of the vehicle 1, other than a GPS sensor.

[0026] The vehicle-to-vehicle communication device 39 transmits and receives predetermined information to and from other vehicles that are present within a predetermined distance. For example, when a switch permitting transmission and reception of information to and from other vehicles is on and communication is established with a vehicle-to-vehicle communication device mounted in the other vehicle, the vehicle-to-vehicle communication device 39 starts communication with the other vehicle.

[0027] The external communication device 45 is an interface for communicating with an external server device via wireless communication means such as mobile communication.

[0028] The notification device 43 is driven by the driving assistance device 50 and notifies the driver of various information by means of image display, audio output, etc. The notification device 43 includes, for example, a display device provided in the instrument panel and a speaker provided in the vehicle 1. The display device may be a display device that displays a navigation system. The notification device 43 may also include a HUD (head-up display) that displays information on the front window by superimposing it on the scenery around the vehicle 1.

[0029] The driving support device 50 executes a process of supporting the driving of the vehicle 1 based on information on the detection results of various measuring devices and sensors mounted on the vehicle 1 and information acquired via the vehicle-to-vehicle communication device 39. In this embodiment, when the vehicle 1 detects a merging point with a second road that merges with the first road on which the vehicle 1 is traveling and the back of the second road is a blind spot and cannot be seen from the vehicle 1, the driving support device 50 acquires information on the object detection result of the second road detected by another vehicle that has passed the merging point. In addition, based on the acquired information on the object detection result, the driving support device 50 determines whether or not there is a factor that impedes the passage of a moving object moving on the second road, and when it is determined that there is a factor that impedes the passage of the moving object, it determines the possibility that an undetected moving object that has not been detected by another vehicle will enter the merging point from the second road based on the position and existence range of the factor. Then, based on the determination result, the driving support device 50 sets the driving conditions of the vehicle 1 so that the risk of the vehicle 1 colliding with the undetected moving object is reduced.

[0030] <2. Driving support devices> Next, the driving support device 50 according to this embodiment will be described in detail.

[0031] The driving assistance device 50 functions as a device that assists in driving a vehicle by executing a computer program by a processor such as one or more CPUs (Central Processing Units). The computer program is a computer program for causing the processor to execute operations to be performed by the driving assistance device 50, which will be described later. The computer program executed by the processor may be recorded on a recording medium that functions as a storage unit (memory) 53 provided in the driving assistance device 50, or may be recorded on a recording medium built into the driving assistance device 50 or any recording medium that can be externally attached to the driving assistance device 50.

[0032] Examples of recording media for recording computer programs include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs (Compact Disc Read Only Memory), DVDs (Digital Versatile Discs), and Blu-ray (registered trademark); magneto-optical media such as floptical disks; memory elements such as RAMs and ROMs; and flash memories such as USB (Universal Serial Bus) memories and SSDs (Solid State Drives), as well as other media capable of storing programs.

[0033] FIG. 2 is a block diagram showing an example of the configuration of the driving support device 50 according to this embodiment. The driving support device 50 is connected to a forward measurement device 31, a side measurement device 33, a vehicle state sensor 35, and a position detection sensor 37 via a dedicated line or communication means such as a controller area network (CAN) or a local inter net (LIN). In addition, the driving support device 50 is connected to an inter-vehicle communication device 39, an external communication device 45, and a notification device 43.

[0034] The driving assistance device 50 is not limited to an electronic control device mounted on the vehicle 1, and may be a terminal device such as a smartphone or a wearable device.

[0035] The driving support device 50 includes a processing unit 51, a storage unit 53, and a map data storage unit 55. The processing unit 51 includes one or more processors such as a CPU and various peripheral components. A part or all of the processing unit 51 may be configured with updatable firmware or the like, or may be a program module or the like executed by a command from the CPU or the like.

[0036] (Storage part) The storage unit 53 is configured with one or more storage elements such as RAM or ROM communicably connected to the processing unit 51. However, the type and number of the storage units 53 are not particularly limited. The storage unit 53 stores information such as computer programs executed by the processing unit 51, various parameters used in arithmetic processing, detection data, and arithmetic results. A part of the storage unit 53 is used as a work area for the processing unit 51.

[0037] (Map data storage unit) The map data storage unit 55 is configured with a storage element such as a RAM or a ROM communicably connected to the processing unit 51, or a storage medium such as an HDD, a CD, a DVD, an SSD, a USB flash, a storage device, etc. The map data storage unit 55 stores map data including at least road information such as road structure, road shape, road width, and traffic light positions, as well as data on the planar shape or three-dimensional shape of buildings.

[0038] (2-2. Functional configuration of the processing unit) Next, the functional configuration of the processing unit 51 of the driving support device 50 will be described. The processing unit 51 includes a surrounding environment detection unit 61, a junction detection unit 63, a blind spot information acquisition unit 65, an obstruction factor determination unit 67, a detected moving object collision determination unit 69, an undetected moving object prediction unit 71, a driving condition setting unit 73, a warning processing unit 75, and a blind spot information recording unit 77. Each of these units is a function realized by execution of a computer program by one or more processors such as a CPU. However, a part of the surrounding environment detection unit 61, the junction detection unit 63, the blind spot information acquisition unit 65, the obstruction factor determination unit 67, the detected moving object collision determination unit 69, the undetected moving object prediction unit 71, the driving condition setting unit 73, the warning processing unit 75, and the blind spot information recording unit 77 may be configured by hardware such as an analog circuit.

[0039] Below, the function of each part of the processing unit 51 will be briefly described, and then the specific processing content of each part will be described.

[0040] (Ambient environment detection section) The surrounding environment detection unit 61 detects the surrounding environment such as other vehicles and obstacles around the vehicle 1, road boundaries, etc., based on the information of the detection results transmitted from the forward measurement device 31 and the side measurement device 33. In this embodiment, the surrounding environment detection unit 61 recognizes the environment in front of the vehicle 1 based on the information of the detection results of the forward measurement device 31. In addition, the surrounding environment detection unit 61 recognizes the environments on the left and right sides of the vehicle 1 based on the information of the detection results of the side measurement device 33. The surrounding environment detection unit 61 calculates the type, position, speed, size, etc. of the detected objects, etc., and stores them together with time information.

[0041] (Meeting point detection unit) The junction detection unit 63 detects a junction that exists ahead of the vehicle 1 in the traveling direction and that is a junction with a second road that merges with the first road on which the vehicle 1 is traveling, where the back of the second road is a blind spot and cannot be seen from the vehicle. For example, based on the position information of the vehicle 1 output from the position detection sensor 37 and the information of the surrounding environment detected by the surrounding environment detection unit 61, the junction detection unit 63 detects a scene where the vehicle 1 goes straight through a T-junction or crossroads, where a structure exists at the corner of the T-junction or crossroads, and the back of the second road beyond the turn cannot be seen from the vehicle 1.

[0042] (Blind spot information acquisition unit) When the merging point detection unit 63 detects a predetermined merging point ahead in the traveling direction of the vehicle 1, the blind spot information acquisition unit 65 acquires information on the object detection result on the second road detected by another vehicle that has passed the merging point (hereinafter, also referred to as "blind spot information"). In this embodiment, when there is another vehicle that has passed the merging point and is capable of vehicle-to-vehicle communication, the blind spot information acquisition unit 65 acquires blind spot information from the other vehicle. When there is no other vehicle that has passed the merging point and is capable of vehicle-to-vehicle communication, the blind spot information acquisition unit 65 acquires blind spot information recorded in an external server via the external communication device 45. The blind spot information is acquired together with information on the time when the other vehicle passed the merging point.

[0043] (Disturbance factor determination unit) The obstruction factor determination unit 67 determines whether or not there is a factor (hereinafter also referred to as an "obstruction factor") that obstructs the passage of a moving body moving on the second road, based on the information of the object detection result acquired by the blind spot information acquisition unit 65. An obstruction factor is an object or situation that obstructs the passage of a moving body such as an automobile, a motorcycle, a bicycle, or a pedestrian, and indicates an object or situation that does not exist in the map data, such as a parked vehicle or a construction site.

[0044] (Detected moving object collision determination unit) The detected moving object collision determination unit 69 determines whether or not a moving object (detected moving object) traveling on the second road toward the junction has been detected, based on the information of the object detection result acquired by the blind spot information acquisition unit 65. The detected moving object collision determination unit 69 also determines whether or not there is a possibility that the detected moving object and the vehicle 1 will collide at the junction. At that time, if the obstruction factor determination unit 67 determines that there is an obstruction factor, the detected moving object collision determination unit 69 determines whether or not there is a possibility that the detected moving object and the vehicle 1 will collide at the junction, taking into account the position and range of the obstruction factor.

[0045] (Undetected moving object prediction unit) The undetected moving object prediction unit 71 determines the possibility that an undetected moving object not detected by another vehicle will enter the junction from the second road, based on the information of the object detection result acquired by the blind spot information acquisition unit 65. At that time, if the obstruction factor determination unit 67 determines that there is an obstruction factor, the undetected moving object prediction unit 71 determines the possibility that the undetected moving object will enter the junction from the second road, based on the position and existence range of the obstruction factor.

[0046] (Operation condition setting section) When the detected moving object collision determination unit 69 determines that there is a possibility of a collision between the detected moving object and the vehicle 1, or when the undetected moving object prediction unit 71 determines that there is a possibility of an undetected moving object entering a junction, the driving condition setting unit 73 sets driving conditions for avoiding a collision between the vehicle 1 and the detected moving object or the undetected moving object. The driving condition setting unit 73 outputs information on the set driving conditions to the vehicle control device 41.

[0047] (Warning processing section) The warning processing unit 75 notifies the driver of vehicle 1 of a warning when the detected moving object collision determination unit 69 determines that there is a possibility of a collision between the detected moving object and vehicle 1, or when the undetected moving object prediction unit 71 determines that there is a possibility of an undetected moving object entering the merging point.

[0048] (Blind spot information recording section) When the vehicle 1 passes through a junction with a blind spot, the blind spot information recording unit 77 transmits information on the object detection result in the second passage that was a blind spot and was detected by the lateral measurement device 33 while passing through the junction (blind spot information) to an external server together with position information that identifies the junction and information on the time of passing. The external server that receives the object detection result information stores the received blind spot information together with the position information that identifies the junction and information on the time of passing.

[0049] <3. External Server> Before describing the specific processing operations of the driving support device 50, an external server capable of communicating with the driving support device 50 will be briefly described.

[0050] The external server stores the blind spot information transmitted from the driving assistance device 50. Furthermore, when the external server receives a request from the driving assistance device 50 to transmit blind spot information of a specific point, the external server transmits the stored blind spot information to the driving assistance device 50.

[0051] FIG. 3 is a block diagram showing an example of the configuration of the external server 80. As shown in FIG. The external server 80 includes a processing unit 81, a storage unit 83, and a blind spot information database 85. An external communication device 87 is connected to the external server 80. The external communication device 87 is an interface for communicating with the driving assistance device 50.

[0052] The processing unit 81 is configured to include one or more processors such as a CPU and various peripheral components. A part or all of the processing unit 81 may be configured with updatable components such as firmware, or may be a program module executed by a command from the CPU or the like.

[0053] The storage unit 83 is composed of one or more storage elements such as RAM or ROM communicably connected to the processing unit 81. However, the type and number of the storage units 83 are not particularly limited. The storage unit 83 stores information such as computer programs executed by the processing unit 81, various parameters used in arithmetic processing, detection data, and arithmetic results. A part of the storage unit 83 is used as a work area for the processing unit 81.

[0054] The blind spot information database 85 is configured by a storage element such as a RAM or a ROM communicably connected to the processing unit 81, or a storage medium such as an HDD, CD, DVD, SSD, USB flash, or storage device.

[0055] When the processing unit 81 receives blind spot information from the driving support device 50 via the external communication device 87, the processing unit 81 stores the blind spot information in the blind spot information database 85 together with position information on the map data and information on the time when the driving support device 50 acquired the blind spot information. The processing unit 81 always overwrites blind spot information at a certain position with the most recent information and stores it.

[0056] Furthermore, when the processing unit 81 receives a request to transmit blind spot information of a specific point from the driving assistance device 50 via the external communication device 87, it transmits the blind spot information of that point to the driving assistance device 50 together with time information.

[0057] <4. Operation of driving support device> Next, an example of the processing operation by the processing unit 51 of the driving support device 50 according to this embodiment will be specifically described with reference to a flowchart. In order to facilitate understanding of the description, the following description will be given by taking as an example a scene in which the vehicle 1 passes through a junction 100 with a second road 102 that merges with a first road 101 on which the vehicle 1 is traveling, as shown in Fig. 4. At the junction 100, houses 111 are lined up on the corner just before the junction 100, so that the back of the second road 102 is a blind spot as viewed from the vehicle 1.

[0058] In the example shown in Figure 4, the intersection of the widthwise centerline of the lane in which vehicle 1 is traveling and the widthwise centerline of the second road 102 is defined as the merging point 100, but the reference point of the merging point 100 may be set arbitrarily.

[0059] 5 and 6 are flowcharts showing a main routine of the driving support process by the processing unit 51. FIG. First, the processing unit 51 activates (turns on) the driving assistance function (step S1). The processing unit 51 may activate the driving assistance function in response to an input operation by the driver, or may activate the driving assistance function together with the activation of the system of the vehicle 1.

[0060] Next, the surrounding environment detection unit 61 of the processing unit 51 detects the surrounding environment of the vehicle 1 based on the information of the detection results output from the forward measurement device 31 and the side measurement device 33 (step S3). Specifically, the surrounding environment detection unit 61 extracts feature points from the sensor signals or image data output from the forward measurement device 31 and the side measurement device 33, and recognizes the object by matching the pattern of the feature points with reference data prepared in advance. The surrounding environment detection unit 61 recognizes various objects such as moving objects such as people, bicycles, motorcycles, and four-wheeled automobiles, as well as buildings, man-made or natural stationary objects, and lines drawn on roads such as white lines and pedestrian crossings.

[0061] The surrounding environment detection unit 61 also calculates the type, position, speed, size, and distance to the recognized object. The surrounding environment detection unit 61 may recognize the surrounding environment using a known technique.

[0062] Next, the junction detection unit 63 of the processing unit 51 determines whether or not a junction 100 with a second road 102 merging into a first road 101 on which the vehicle 1 is traveling has been detected ahead in the traveling direction of the vehicle 1, where the back of the second road 102 is a blind spot and cannot be seen from the vehicle 1 (step S5), based on the information on the detected surrounding environment. Specifically, the junction detection unit 63 obtains the position and traveling direction of the vehicle 1 on the map data stored in the map data storage unit 55, based on the position information of the vehicle 1 output from the position detection sensor 37, and determines whether or not a crossroad or a T-junction exists ahead in the traveling direction.

[0063] Furthermore, when there is a crossroad or a T-junction ahead in the traveling direction, the junction detection unit 63 determines whether or not there is a structure or the like that has a blind spot beyond the second road 102 at a corner just before a junction 100 with a second road 102 that merges with the first road 101 on which the vehicle 1 is traveling. The junction detection unit 63 may determine whether or not there is a structure or the like based on map data, or may determine based on information on the detection result by the surrounding environment detection unit 61.

[0064] When the merging point detection unit 63 does not determine that a merging point has been detected (S5 / No), the process returns to step S3. On the other hand, when the merging point detection unit 63 determines that the merging point 100 has been detected (S5 / Yes), the blind spot information acquisition unit 65 performs a process of acquiring information on the object detection result (blind spot information) on the second road 102 detected by another vehicle that has passed the merging point 100 (step S7).

[0065] FIG. 7 is a flowchart showing the blind spot information acquisition process. First, the blind spot information acquisition unit 65 determines whether or not there is another vehicle capable of vehicle-to-vehicle communication that has passed the junction 100 (step S27). For example, the blind spot information acquisition unit 65 may transmit a message requesting transmission of blind spot information to one or more other vehicles in the vicinity together with the position information of the junction 100 identified from the map data, and determine whether or not there is a reply from any of the other vehicles. Also, as shown in Fig. 8, the blind spot information acquisition unit 65 may determine the presence of a preceding vehicle 113a capable of vehicle-to-vehicle communication traveling ahead of the vehicle 1, or an oncoming vehicle 113b capable of vehicle-to-vehicle communication that has passed the junction 100, based on information on the detection result by the surrounding environment detection unit 61.

[0066] When the blind spot information acquisition unit 65 determines that there is another vehicle capable of vehicle-to-vehicle communication that has passed the junction 100 (S27 / Yes), it acquires blind spot information from the other vehicle (step S28). On the other hand, when the blind spot information acquisition unit 65 does not determine that there is another vehicle capable of vehicle-to-vehicle communication that has passed the junction 100 (S27 / No), it acquires blind spot information from the external server 80 (step S29). Specifically, the blind spot information acquisition unit 65 transmits a transmission request for blind spot information of the junction 100 to the external server 80 together with position information of the junction 100 identified from the map data. The external server 80 reads out blind spot information detected and stored by another vehicle that has passed the junction 100, and transmits it to the driving assistance device 50. The blind spot information acquisition unit 65 acquires the transmitted blind spot information. The blind spot information acquired by the blind spot information acquisition unit 65 is acquired together with information on the time when the other vehicle detected the blind spot information.

[0067] Returning to Fig. 5, after the blind spot information acquisition unit 65 acquires the blind spot information, the detected moving object collision determination unit 69 determines whether or not the acquired blind spot information includes a moving object (detected moving object) moving on the second road 102 toward the junction 100 (step S9). For example, the detected moving object collision determination unit 69 determines whether or not a detected moving object exists based on the type, position, speed, and distance to the detected object included in the blind spot information. When the detected moving object collision determination unit 69 determines that a detected moving object exists (S9 / Yes), it performs a detected moving object collision determination process (step S11).

[0068] 9 and 10 show a flowchart of the detected moving object collision determination process. First, the detected moving object collision determination unit 69 determines whether or not an obstruction factor exists in the blind spot based on the acquired blind spot information (step S31). For example, the detected moving object collision determination unit 69 determines whether or not a parked vehicle or a construction site that obstructs the passage of a moving object moving toward the junction 100 has been detected on the second road 102. For example, the detected moving object collision determination unit 69 determines whether or not an obstruction factor exists based on the type, position, speed, and distance to the detected object included in the blind spot information.

[0069] When the detected moving object collision determination unit 69 does not determine that an obstruction factor exists in the blind spot (S31 / No), it obtains a first required time by dividing the distance L1 from the detected moving object to the junction 100 by the speed of the detected moving object, and estimates a first arrival time at which the detected moving object will arrive at the junction 100 (step S51). Specifically, the detected moving object collision determination unit 69 estimates the first arrival time at which the detected moving object will arrive at the junction 100 by adding the obtained first required time to the time at which the blind spot information was detected by another vehicle. The speed of the detected moving object may be set in consideration of the deceleration of the detected moving object near the junction 100, and the first arrival time may be estimated.

[0070] Next, the detected moving object collision determination unit 69 calculates a second arrival time at which the vehicle 1 arrives at the junction 100 (step S53). Specifically, the detected moving object collision determination unit 69 obtains a second required time by dividing a distance L2 from the current position of the vehicle 1 to the junction 100 by the speed of the vehicle 1, and estimates the second arrival time at which the vehicle 1 arrives at the junction 100 by adding the second required time to the current time.

[0071] Next, the detected moving object collision determination unit 69 determines whether or not the absolute value of the difference between the second arrival time and the first arrival time is less than a preset determination threshold (step S55). That is, the detected moving object collision determination unit 69 determines whether or not there is a possibility that the detected moving object and the vehicle 1 will collide or approach each other at the junction 100 at the same time. When the detected moving object collision determination unit 69 determines that the absolute value of the difference between the second arrival time and the first arrival time is less than the determination threshold (S55 / Yes), it determines and records that there is a possibility of a collision between the vehicle 1 and the detected moving object (step S57). On the other hand, when the detected moving object collision determination unit 69 does not determine that the absolute value of the difference between the second arrival time and the first arrival time is less than the determination threshold (S55 / No), it determines and records that there is no possibility of a collision between the vehicle 1 and the detected moving object (step S59).

[0072] Any known technique may be used to determine the possibility of a collision between the vehicle 1 and a detected moving object when no obstruction factor exists.

[0073] Returning to Fig. 8, when the detected moving object collision determination unit 69 determines that an obstruction factor exists in the blind spot (S31 / Yes), it determines whether or not the detected moving object exists behind the obstruction factor (step S33). That is, the detected moving object collision determination unit 69 determines whether or not the passage of the detected moving object toward the junction 100 is obstructed by the obstruction factor. When the detected moving object collision determination unit 69 does not determine that the detected moving object exists behind the obstruction factor (S33 / No), that is, when the detected moving object exists on the junction 100 side of the obstruction factor, it determines the possibility of a collision between the vehicle 1 and the detected moving object by the processes of steps S51 to S59, similarly to the case where an obstruction factor does not exist.

[0074] On the other hand, when the detected moving object collision determination unit 69 determines that the detected moving object is located further back than the obstruction factor (S33 / Yes), it calculates a first required time based on the distance L1 from the detected moving object to the junction 100, the speed of the detected moving object, and information on the position and presence range of the obstruction factor, and estimates a first arrival time at which the detected moving object will reach the junction 100 (step S35). Specifically, the detected moving object collision determination unit 69 sets the speed at which the detected moving object will reach the junction 100, taking into consideration that the undetected moving object will decelerate due to the obstruction factor, or that the undetected moving object will take action to avoid the obstruction factor, and calculates the first required time.

[0075] For example, as shown in FIG. 11, if there is an obstruction factor (construction site) 103 between a detected moving body 115 on the second road 102 and the junction 100, the detected moving body collision judgment unit 69 may assume that the detected moving body 115 will travel at half the speed limit of the second road 102, or may assume that it will travel at half the current vehicle speed.

[0076] Alternatively, the detected moving object collision determination unit 69 may set the speed of the detected moving object based on information on the width W of the passable space of the second road 102 restricted by the obstruction factor 103 at the position of the obstruction factor 103 and information on the distance D from the position of the obstruction factor 103 to the junction 100. For example, the detected moving object collision determination unit 69 assumes that the detected moving object 115 decelerates from a position 10 m before the obstruction factor 103 and travels at a speed determined according to the width W of the passable space. In addition, the detected moving object collision determination unit 69 assumes that after the detected moving object 115 passes the position of the obstruction factor 103, it accelerates at an appropriate acceleration until the distance to the junction 100 becomes a predetermined distance.

[0077] In this way, the detected moving object collision determination unit 69 sets the change in speed of the detected moving object 115 based on information on the width W of the passable space on the second road 102 restricted by the obstruction factor 103 and information on the distance D from the position of the obstruction factor 103 to the junction 100, and determines the first required time. Note that conditions such as the deceleration start timing, acceleration start timing, deceleration, and acceleration to avoid the obstruction factor 103 may be set arbitrarily.

[0078] The detected moving object collision determination unit 69 estimates the first arrival time at which the detected moving object will arrive at the junction 100 by adding the obtained first required time to the time at which the other vehicle detected the blind spot information.

[0079] Next, the detected moving object collision determination unit 69 calculates the second arrival time when the vehicle 1 arrives at the junction, similar to step S53 (step S37). After that, in the same procedure as steps S55 to S59 described above, it determines whether or not there is a possibility of a collision between the vehicle 1 and the detected moving object, and records the determination result (steps S39 to S43).

[0080] 5, after performing the detected moving object collision determination process, the detected moving object collision determination unit 69 determines whether or not it is determined that there is a possibility of collision between the vehicle 1 and the detected moving object (step S13). If it is determined that there is a possibility of collision between the vehicle 1 and the detected moving object (S13 / Yes), the process proceeds to step S19.

[0081] On the other hand, if in the above step S9, the detected moving object collision judgment unit 69 does not determine that a detected moving object exists (S9 / No), or if in the above step S13, it is not determined that there is a possibility of a collision between the vehicle 1 and the detected moving object (S13 / No), the undetected moving object prediction unit 71 performs undetected moving object prediction processing (step S15).

[0082] 12 to 14 show flowcharts of the undetected moving object prediction process. First, the undetected moving object prediction unit 71 determines whether or not an obstruction factor exists in the blind spot based on the acquired blind spot information, similar to step S31 (step S61). If it has already been determined whether or not an obstruction factor exists in the detected moving object collision determination process, the undetected moving object prediction unit 71 obtains information on the determination result.

[0083] When the undetected moving object prediction unit 71 does not determine that an obstruction factor exists in the blind spot (S61 / No), it obtains a first hypothetical required time by dividing the depth distance L3 of the detection range of the blind spot by another vehicle by the hypothetical speed of the undetected moving object, and estimates a first hypothetical arrival time at which the detected moving object reaches the junction 100 (step S81). That is, as shown in FIG. 15, the undetected moving object prediction unit 71 assumes that an undetected moving object 117 that has not been detected by another vehicle 113 exists at a position beyond the depth distance L3 of the detection range of the blind spot by another vehicle 113, and calculates a first hypothetical required time for the undetected moving object 117 to move toward the junction 100.

[0084] The depth distance L3 of the detection range of the blind spot by the other vehicle 113 may be the maximum measured distance acquired together with the blind spot information detected by the other vehicle 113, or may be a value obtained by adding or subtracting the deviation between the installation position of the side measurement device 33 of the other vehicle 113 and the merging point 100 to or from the maximum measured distance. In addition, the virtual speed of the undetected moving object 117 may be the speed limit of the second road 102, or may be the average value of the speeds of unspecified moving objects (vehicles) traveling under the same road conditions as the second road 102.

[0085] The undetected moving object prediction unit 71 estimates a first virtual arrival time at which the undetected moving object 117 will arrive at the junction 100 by adding the calculated first virtual required time to the time at which the other vehicle 113 detected the blind spot information. The speed of the undetected moving object 117 may be set in consideration of the fact that the undetected moving object 117 will decelerate near the junction 100, and the first virtual arrival time may be estimated.

[0086] Next, the undetected moving object prediction unit 71 calculates the second arrival time when the vehicle 1 arrives at the junction point, similar to step S53 (step S83). Next, the undetected moving object prediction unit 71 determines whether or not the absolute value of the difference between the second arrival time and the first virtual arrival time is less than a preset determination threshold value (step S85). In other words, the undetected moving object prediction unit 71 determines whether or not there is a possibility that the undetected moving object 117 will enter the junction point 100 at the time the vehicle 1 passes through the junction point 100.

[0087] When the undetected moving object prediction unit 71 determines that the absolute value of the difference between the second arrival time and the first virtual arrival time is less than the judgment threshold (S85 / Yes), it determines and records that there is a possibility that the undetected moving object 117 will enter the junction 100 at the time the vehicle 1 passes through the junction 100 (step S87). On the other hand, when the undetected moving object prediction unit 71 does not determine that the absolute value of the difference between the second arrival time and the first arrival time is less than the judgment threshold (S85 / No), it determines and records that there is no possibility that the undetected moving object 117 will enter the junction 100 at the time the vehicle 1 passes through the junction 100 (step S89).

[0088] Any known technique may be used to determine the possibility of a collision between the vehicle 1 and a detected moving object when no obstruction factor exists.

[0089] Returning to Fig. 12, when the undetected moving object prediction unit 71 determines that an obstruction factor exists in a blind spot (S61 / Yes), it sets an end time when the obstruction factor exists (step S63). That is, the undetected moving object prediction unit 71 assumes how long the detected obstruction factor will exist. For example, the undetected moving object prediction unit 71 sets an end time of the obstruction factor by adding a duration time preset according to the type of obstruction factor to the time when the blind spot information is detected by another vehicle.

[0090] If the disruptive factor is a parked taxi, the duration is set to, for example, 3 minutes. If the disruptive factor is a parked car, the duration is set to, for example, 5 minutes. If the disruptive factor is a parked delivery truck, the duration is set to, for example, 10 minutes. If the disruptive factor is a construction site, the duration is set to, for example, 10 hours. If the disruptive factor is a factor with a predictable time period, the predicted end time may be set as the end time.

[0091] Next, the undetected moving object prediction unit 71 calculates the second arrival time when the vehicle 1 arrives at the junction point, similarly to step S53 (step S65). Next, the undetected moving object prediction unit 71 judges whether the end time of the obstruction factor is greater than (later in time) than the second arrival time (step S67). That is, the undetected moving object prediction unit 71 judges whether the passage of the undetected moving object toward the junction point 100 is obstructed by the obstruction factor. When the undetected moving object prediction unit 71 does not judge that the end time of the obstruction factor is greater than the second arrival time (S67 / No), that is, when it is considered that the passage of the undetected moving object is not obstructed by the obstruction factor, the undetected moving object prediction unit 71 judges the possibility that the undetected moving object 117 will enter the junction point 100 at the time when the vehicle 1 passes the junction point 100 by the processing of steps S81 to S89, similarly to when the obstruction factor does not exist.

[0092] On the other hand, when the undetected moving object prediction unit 71 determines that the end time of the obstruction factor is later than the second arrival time (S67 / Yes), that is, when it is considered that the passage of the undetected moving object is obstructed by the obstruction factor, the undetected moving object prediction unit 71 determines whether or not the area behind the obstruction factor is recognized in the blind spot information detected by the other vehicle (step S69). In other words, the undetected moving object prediction unit 71 determines whether the other vehicle has recognized the area behind the obstruction factor but has not detected the moving object, or has not recognized the area behind the obstruction factor.

[0093] When the undetected moving object prediction unit 71 does not determine that the area behind the obstruction factor is recognized in the blind spot information detected by other vehicles (S69 / No), it calculates a first hypothetical required time based on the hypothetical speed of the undetected moving object and the information on the position and presence range of the obstruction factor, and estimates a first hypothetical arrival time at which the undetected moving object will arrive at the junction 100 (step S91). For example, as shown in FIG. 16, when a parked delivery truck exists as the obstruction factor 105 existing on the second road 102, the undetected moving object prediction unit 71 assumes that an undetected moving object 117 exists behind the delivery truck, and calculates a first hypothetical required time for the undetected moving object 117 to move toward the junction 100.

[0094] At this time, the undetected moving object prediction unit 71 assumes that the undetected moving object 117 is present at a position of distance L4, which is the sum of distance D from the position of the obstruction factor (delivery truck) 105 to the junction point 100 and an arbitrarily set distance. In addition, the undetected moving object prediction unit 71 sets the speed at which the undetected moving object 117 will reach the junction point 100, taking into consideration that the undetected moving object 117 will decelerate due to the obstruction factor, or that the undetected moving object 117 will take action to avoid the obstruction factor, and calculates the first hypothetical required time. For example, the undetected moving object prediction unit 71 may assume that the undetected moving object 117 will travel at half the speed limit of the second road 102.

[0095] Alternatively, the undetected moving object prediction unit 71 may set the speed of the undetected moving object 117 based on information on the width W of the passable space of the second road 102 restricted by the obstruction factor 105 at the position of the obstruction factor 105 and information on the distance D from the position of the obstruction factor 105 to the junction 100. For example, the undetected moving object prediction unit 71 assumes that the undetected moving object 117 travels at a speed determined according to the width W of the passable space. In addition, the undetected moving object prediction unit 71 assumes that after the undetected moving object 117 passes the position of the obstruction factor 105, it accelerates at an appropriate acceleration until the distance to the junction 100 becomes a predetermined distance.

[0096] In this way, the undetected moving object prediction unit 71 sets the change in speed of the undetected moving object 117 based on information on the width W of the passable space on the second road 102 restricted by the obstruction factor 105 and information on the distance D from the position of the obstruction factor 105 to the junction 100, and calculates the first hypothetical required time. Note that the conditions such as the acceleration start time after passing the obstruction factor 105 and the acceleration may be set arbitrarily.

[0097] The undetected moving object prediction unit 71 estimates a first virtual arrival time at which the undetected moving object 117 will arrive at the junction 100 by adding the calculated first virtual required time to the time at which the other vehicle 113 detected the blind spot information. The speed of the undetected moving object 117 may be set in consideration of the fact that the undetected moving object 117 will decelerate near the junction 100, and the first virtual arrival time may be estimated.

[0098] Next, the undetected moving object prediction unit 71 calculates a second arrival time when the vehicle 1 arrives at the junction 100, similar to step S53 (step S93). After that, in the same procedure as steps S85 to S89 described above, it determines whether or not there is a possibility that the undetected moving object 117 will enter the junction 100 at the time the vehicle 1 passes through the junction 100, and records the determination result (steps S95 to S99).

[0099] 6, after performing the undetected moving object prediction process, the undetected moving object prediction unit 71 determines whether or not it has been determined that the undetected moving object 117 is likely to enter the junction 100 at the time the vehicle 1 passes through the junction 100 (step S17). If it has not been determined that the undetected moving object 117 is likely to enter the junction 100 at the time the vehicle 1 passes through the junction 100 (S17 / No), there is no possibility that the vehicle 1 will collide with a detected moving object and there is also no possibility that an undetected moving object will enter the junction, so the processing unit 51 proceeds to step S21.

[0100] On the other hand, if it is determined that the undetected moving object 117 may enter the junction 100 at the time when the vehicle 1 passes the junction 100 (S17 / Yes), the driving condition setting unit 73 sets the driving conditions of the vehicle 1 to avoid the vehicle 1 colliding with the detected moving object or the undetected moving object (step S19). For example, the driving condition setting unit 73 sets a deceleration to decelerate the vehicle 1 so that the difference between the first arrival time or the first virtual arrival time and the second arrival time is equal to or greater than the determination threshold. In addition to setting the deceleration, the driving condition setting unit 73 may set a steering angle to change the driving route of the vehicle 1 in a direction away from the second road 102. A known collision avoidance method may be used as a method for setting the driving conditions to avoid the vehicle 1 colliding with the detected moving object or the undetected moving object.

[0101] The driving condition setting unit 73 transmits information on the set driving conditions to the vehicle control device 41. The vehicle control device 41 sets target values ​​for the acceleration and steering angular velocity of the vehicle 1 based on the received driving condition information, and controls the driving of the vehicle 1. This makes it possible to avoid a collision between the vehicle 1 and a detected or undetected moving object. In addition, the warning processing unit 75 may execute a process of notifying the driver to decelerate the vehicle 1 or change the route in order to avoid a collision between the vehicle 1 and a detected or undetected moving object.

[0102] Next, the blind spot information recording unit 77 determines whether or not the vehicle 1 has passed through the junction (step S21). The blind spot information recording unit 77 may determine whether or not the vehicle 1 has passed through the junction based on information of the detection result by the surrounding environment detection unit 61, or may determine whether or not the vehicle 1 has passed through the junction based on position information of the vehicle 1 on the map data transmitted from the position detection sensor 37.

[0103] When the blind spot information recording unit 77 does not determine that the vehicle 1 has passed the junction (S21 / No), it repeats the determination of step S21. On the other hand, when the blind spot information recording unit 77 determines that the vehicle 1 has passed the junction (S21 / Yes), it transmits information on the detection result of the second road detected when passing the junction together with position information and time information to an external server (step S23). The external server that has acquired the information on the detection result of the second road stores the information on the detection result together with the position information and time information in a blind spot information database.

[0104] Next, the processing unit 51 determines whether or not the driving support function has been turned off (step S25). If the processing unit 51 does not determine that the driving support function has been turned off (S25 / No), the processing unit 51 returns to step S3 and repeats the processing of each step described above. On the other hand, if the processing unit 51 determines that the driving support function has been turned off (S25 / Yes), the processing unit 51 ends the series of processes.

[0105] As described above, when the vehicle 1 detects a junction 100 where the vehicle 1 is traveling at a junction 100 where the second road 102 merges with the first road 101 while traveling and the back of the second road 102 is a blind spot and cannot be seen from the vehicle 1, the driving assistance device 50 executes a blind spot information acquisition process to acquire information on the object detection results on the second road 102 detected by another vehicle 113 that has passed the junction 100, and an undetected moving object prediction process to determine whether or not there is an obstruction factor that impedes the passage of a moving object moving on the second road 102 based on the acquired object detection result information, and if it is determined that there is an obstruction factor, to determine the possibility that an undetected moving object not detected by the other vehicle 113 will enter the junction 100 from the second road 102 based on the position and range of the obstruction factor.

[0106] Therefore, when the vehicle 1 passes through a merging point in a blind spot, it is possible to improve the accuracy of prediction of the presence or absence of an undetected moving object that may jump out from the blind spot and that has not been detected by other vehicles. This reduces the need to change the speed or driving route of the vehicle 1 when there is no risk of the undetected moving object jumping out from the blind spot, thereby reducing the risk of the driver feeling annoyed. In addition, since the driving assistance device predicts the risk of the undetected moving object jumping out by taking into account the position and range of existence of obstruction factors, it is possible to improve the accuracy of prediction of the timing when the undetected moving object will enter the merging point and perform appropriate driving assistance.

[0107] In addition, the driving support device 50 according to this embodiment determines that the undetected moving object may enter the junction from the second road when there is an obstruction factor and the difference between the first virtual arrival time at which the undetected moving object is estimated to arrive at the junction when the undetected moving object travels at the virtual speed of the virtual undetected moving object traveling on the second road for the maximum detection distance (L3) in the depth direction of the detection range of the second road by other vehicles and the second arrival time at which the vehicle is estimated to arrive at the junction is less than a predetermined determination threshold. Therefore, when the undetected moving object is located at a position outside the detection range of the other vehicle, it is possible to increase the certainty of avoiding a collision between the undetected moving object and the vehicle 1.

[0108] In addition, the driving support device 50 according to the present embodiment sets a virtual speed of the undetected moving object based on the position and the range of the obstruction factor, and judges the possibility that the undetected moving object will enter the junction from the second road. This improves the prediction accuracy of the timing when the undetected moving object will enter the junction, assuming that the undetected moving object exists.

[0109] Furthermore, the driving support device 50 according to this embodiment sets a virtual speed of the undetected moving object based on information on the width of the passable space on the second road limited by the obstruction factor at the position of the obstruction factor and information on the distance from the position of the factor to the junction, and determines the possibility that the undetected moving object will enter the junction from the second road. As a result, when it is assumed that an undetected moving object exists, the virtual speed is set taking into consideration the influence of the obstruction factor on the undetected moving object, and the prediction accuracy of the timing when the undetected moving object will enter the junction can be improved.

[0110] Furthermore, the driving support device 50 according to the present embodiment sets an end time when the obstruction factor exists, and if the end time is a time before the second arrival time, it determines the possibility that the undetected moving object will enter the junction from the second road, assuming that the obstruction factor does not exist. This makes it possible to prevent a decrease in the prediction accuracy of the timing when the undetected moving object will enter the junction, when the passage of the undetected moving object is likely not to be obstructed, even if the blind spot information detected by another vehicle includes obstruction information.

[0111] <5. Other application examples> In the above embodiment, an example has been described in which it is assumed that an undetected moving object is present at a position at depth distance L3 of the detection range of another vehicle when the depth of an obstruction factor is recognized in blind spot information detected by another vehicle passing the junction 100, and that an undetected moving object is present at a position obtained by adding a predetermined distance to distance D from the position of the obstruction factor to the junction 100 when the depth of the obstruction factor is not recognized. Other application examples will be described below.

[0112] FIG. 17 is an explanatory diagram showing another application example. This application example is an example in which the obstruction factor 103 is a construction site, another vehicle 113 recognizes the rear of the obstruction factor 103 but does not recognize a detected moving object, and assuming that an undetected moving object 119 is present on a side road 109 connected to the rear of the obstruction factor 103, the undetected moving object 119 may reach the junction 100 by the second arrival time at which the vehicle 1 reaches the junction 100. In this case, assuming that the undetected moving object 119 is present at the entrance to the side road 109, it is determined whether or not there is a possibility that the undetected moving object 119 will enter the junction 100 at the time the vehicle 1 passes through the junction 100.

[0113] FIG. 18 is a flowchart showing a processing operation capable of implementing another application example, which is executed following step S69 of the flowchart shown in FIG. 12. Specifically, when step S69 is judged as positive, the undetected moving object prediction unit 71 judges whether or not the entrance / exit of the moving object is within a distance obtained by multiplying the virtual speed of the undetected moving object 119 by the second required time for the vehicle 1 to reach the junction 100 (step S70). In the example shown in FIG. 17, since the undetected moving object 119 is a vehicle, the undetected moving object prediction unit 71 judges whether or not the side road 109 exists within a distance obtained by multiplying the speed limit of the second road 102 by the second required time. The undetected moving object prediction unit 71 may judge the existence of the side road 109 based on map data, or may judge based on blind spot information acquired from another vehicle 113.

[0114] When the undetected mobile object prediction unit 71 does not determine that the entrance / exit of the mobile object is within the predetermined distance (S70 / No), the undetected mobile object prediction unit 71 returns to step S71 of the flowchart shown in FIG. 12 and executes the processing of each subsequent step. On the other hand, when the undetected mobile object prediction unit 71 determines that the entrance / exit of the mobile object is within the predetermined distance (S70 / Yes), the undetected mobile object prediction unit 71 calculates a first virtual arrival time based on the distance L5 from the entrance / exit to the junction point, the virtual speed of the undetected mobile object 119, and the information on the position and the presence range of the obstruction factor 103 (step S72). In the example shown in FIG. 17, the undetected mobile object prediction unit 71 assumes that the undetected mobile object 119 is present at the entrance / exit of the side road 109, and calculates a first virtual required time when the undetected mobile object 119 moves toward the junction point 100.

[0115] At this time, the undetected moving object prediction unit 71 sets the speed at which the undetected moving object 119 will reach the junction 100, taking into consideration that the undetected moving object 119 will decelerate due to the obstruction factor 103, or that the undetected moving object 119 will take action to avoid the obstruction factor, and calculates the first hypothetical required time. For example, the undetected moving object prediction unit 71 may assume that the undetected moving object 119 will travel at half the speed limit of the second road 102.

[0116] Alternatively, the undetected moving object prediction unit 71 may set the speed of the undetected moving object 119 based on information on the width W of the passable space of the second road 102 restricted by the obstruction factor 103 at the position of the obstruction factor 103 and information on the distance D from the position of the obstruction factor 103 to the junction 100. For example, the undetected moving object prediction unit 71 assumes that the undetected moving object 119 travels at a speed determined according to the width W of the passable space. In addition, the undetected moving object prediction unit 71 assumes that after the undetected moving object 119 passes the position of the obstruction factor 103, it accelerates at an appropriate acceleration until the distance to the junction 100 becomes a predetermined distance.

[0117] In this way, the undetected moving object prediction unit 71 sets the change in speed of the undetected moving object 119 based on information on the width W of the passable space on the second road 102 restricted by the obstruction factor 103 and information on the distance D from the position of the obstruction factor 103 to the junction 100, and calculates the first hypothetical required time. Note that the conditions such as the acceleration start time after passing the obstruction factor 103 and the acceleration may be set arbitrarily.

[0118] The undetected moving object prediction unit 71 estimates a first virtual arrival time at which the undetected moving object 119 will arrive at the junction 100 by adding the calculated first virtual required time to the time at which the other vehicle 113 detected the blind spot information. The speed of the undetected moving object 119 may be set in consideration of the fact that the undetected moving object 119 will decelerate near the junction 100, and the first virtual arrival time may be estimated.

[0119] After estimating the first virtual arrival time, proceed to step S73 of the flowchart shown in Figure 12, determine whether there is a possibility that an undetected moving body 119 will enter the junction 100 at the time the vehicle 1 passes the junction 100, and record the determination result.

[0120] As described above, if there is an entrance / exit for a moving body at a position where the undetected moving body 119 can reach the junction 100 by the second arrival time when the vehicle 1 reaches the junction 100, it is assumed that the undetected moving body 119 is present at the entrance / exit, and it is determined whether or not there is a possibility that the undetected moving body 119 will enter the junction 100 at the time when the vehicle 1 passes through the junction 100. This makes it possible to predict the possibility that a moving body will appear from a position closer than the depth distance L3 of the detection range of another vehicle and enter the junction 100 when the area behind the obstruction factor is recognized and a detected moving body is not present. Even in this case, the virtual speed of the undetected moving body is set taking into account the presence of the obstruction factor, and the prediction accuracy of the timing when the undetected moving body will enter the junction can be improved.

[0121] Although the preferred embodiment of the present disclosure has been described in detail above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person having ordinary knowledge in the technical field to which the present disclosure belongs can conceive of various modified or amended examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure.

[0122] For example, in the above embodiment, the detected moving object and the undetected moving object are vehicles, but the moving object is not limited to a vehicle. The moving object may be a motorcycle, a bicycle, or a pedestrian. In this case, the set speed or virtual speed may be set arbitrarily depending on the type of the moving object. In addition, when the moving object is a bicycle or a pedestrian, the entrance / exit in the above other application examples also includes the entrance / exit of a building or a site.

[0123] In the above embodiment, the process of assisting driving of the vehicle is executed by the driving assistance device mounted on the vehicle 1, but a part or all of the function may be included in an external management server.

[0124] In addition, the technology disclosed herein can also be realized as a vehicle equipped with the driving assistance device described in the above embodiment, a driving assistance processing method using the driving assistance device, a program that causes a computer to function as the above driving assistance system, and a non-transitory tangible recording medium on which the program is recorded. [Explanation of symbols]

[0125] 1: Vehicle 31・31L・31R: Front measuring device 33・33L・33R: Lateral measuring machine 39: Vehicle-to-vehicle communication device 41: Vehicle control device 45: External communication device 50: Driving support device 51: Processing section 55: Map data storage unit 61: Surrounding environment detection unit 63: Junction detection unit 65: Blind spot information acquisition unit 67: Disturbance factor determination unit 69: Detected moving object collision determination unit 71: Undetected moving object prediction unit 73: Operation condition setting section 75: Warning processing section 77: Blind spot information recording unit 100:Meeting point 101: First Road 102: Second Road 103: Disturbance factors 105: Disturbances 109: Side Street 115: Detected moving object 117: Undetected moving object 119: Undetected moving object

Claims

1. A driving assistance device that assists a driver in driving a vehicle, one or more processors; and one or more memories communicatively coupled to the one or more processors; the one or more processors: a blind spot information acquisition process for acquiring information on an object detection result on the second road detected by another vehicle that has passed through a merging point on a first road on which the vehicle is traveling, the merging point being a merging point with a second road where the rear of the second road is a blind spot and cannot be seen from the vehicle; an undetected moving object prediction process for determining whether or not there is a factor that will impede the passage of a moving object moving on the second road based on the acquired information of the object detection result, and when it is determined that there is a factor that will impede the passage of the moving object, determining the possibility that an undetected moving object that has not been detected by the other vehicle will enter the junction from the second road based on the position and existence range of the factor; A driving assistance device that performs the following:

2. the one or more processors: In the undetected moving object prediction process, When there is a factor that impedes the passage of the moving body, and when the difference between a first virtual arrival time at which the undetected moving body is estimated to reach the junction when traveling a maximum detection distance (L3) in the depth direction of the detection range of the second road by the other vehicle at a virtual speed of the virtual undetected moving body traveling on the second road, and a second arrival time at which the vehicle is estimated to reach the junction, is less than a predetermined judgment threshold, it is determined that the undetected moving body may enter the junction from the second road. The driving assistance device according to claim 1 .

3. the one or more processors: In the undetected moving object prediction process, setting the virtual speed of the undetected moving object based on the location and the range of existence of the factor, and determining the possibility that the undetected moving object will enter the junction from the second road; The driving assistance device according to claim 2 .

4. A driving assistance processing method for assisting a driver in driving a vehicle, comprising: The computer When detecting a merging point with a second road where the vehicle is traveling and the second road merges into the first road, and the merging point is not visible from the vehicle because the back of the second road is a blind spot, acquiring information on an object detection result on the second road detected by another vehicle that has passed the merging point; determining whether or not there is a factor that will impede the passage of a moving body moving on the second road based on the acquired information of the object detection result, and if it is determined that there is a factor that will impede the passage of the moving body, determining the possibility that an undetected moving body that has not been detected by the other vehicle will enter the junction from the second road based on the location and existence range of the factor; A driving assistance processing method for performing the above.

5. On the computer, When detecting a merging point where a second road merges with a first road on which a vehicle is traveling, and the merging point is such that the back of the second road is a blind spot and cannot be seen from the vehicle, acquiring information on an object detection result on the second road detected by another vehicle that has passed the merging point; determining whether or not there is a factor that will impede the passage of a moving body moving on the second road based on the acquired information of the object detection result, and if it is determined that there is a factor that will impede the passage of the moving body, determining the possibility that an undetected moving body that has not been detected by the other vehicle will enter the junction from the second road based on the location and existence range of the factor; A program to execute.

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