Driving assistance device and driving assistance method

Abstract

To reduce a processing load for detecting an object around a vehicle.SOLUTION: A driving assistance device 30 includes: a storage section 31 for storing map information indicating a detection region to detect an object around a vehicle, which includes a lane region of a lane for the vehicle to travel; a specification section 322 for specifying a second region overlapping with the detection region specified from the map information in a first region within a predetermined range from a position of the vehicle; and a detection section 323 for detecting a position of the object included in the second region.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a driving assistance device and a driving assistance method. [Background technology]

[0002] The driving support device of Patent Document 1 detects obstacles by scanning a predetermined angle range with a radar installed in the vehicle, and judges whether it is dangerous for the vehicle to travel in the direction of travel based on the positions of obstacles around the vehicle. If the driving support device judges that it is dangerous for the vehicle to travel in the direction of travel and the driver's brake pedal pressure has changed by a predetermined amount to the slack side, it issues an alarm to prevent the vehicle from coming into contact with the obstacle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-293539 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the driving support device of Patent Document 1, all objects within a certain angle range from the vehicle position are detected, so objects that are not necessarily likely to come into contact with the vehicle and detection results in areas where such objects exist are processed as targets for judgment. As a result, there is a problem in that unnecessary processing load is generated.

[0005] The present invention has been made in consideration of these points, and has an object to reduce the processing load for detecting objects around a vehicle. [Means for solving the problem]

[0006] A driving assistance device according to a first aspect of the present invention includes a memory unit that stores map information indicating a detection area for detecting objects around a vehicle, including a lane area of ​​a lane on which the vehicle is traveling, an identification unit that identifies a second area within a first area within a predetermined range from the position of the vehicle, the second area overlapping with the detection area identified from the map information, and a detection unit that detects the position of an object included in the second area.

[0007] The detection area may further include an outer area located outside the lane area in a width direction of the lane and bordering both ends of the lane area.

[0008] The identification unit may identify, as the first region, a range that is less than a first distance in a length direction of the lane and less than a second distance in a width direction of the lane from a position of the vehicle.

[0009] The identification unit may identify, as the first area, a range along the lane from the position of the vehicle that is less than a third distance in a length direction of the lane and less than a fourth distance in a width direction of the lane.

[0010] The identification unit may, when there is a branching road ahead in the vehicle's direction of travel, identify the first area for each branching lane beyond the branching point of the branching road so that the sum of the distance from the position of the vehicle to the branching point and the distance beyond the branching point matches the third distance.

[0011] The identification unit may calculate, as the third distance, a stopping distance from a position of the vehicle to a position where the vehicle stops, based on a vehicle speed of the vehicle.

[0012] The identification unit may identify the first area as the second area when a distance between a position of the vehicle and a contour line of the detection area is less than a threshold.

[0013] The identification unit may identify the first area as the second area when the distance between the position of the vehicle and a position where the outer area intersects with an entry area where the vehicle can enter that is outside the outer area in the width direction of the lane is less than a threshold.

[0014] The detection unit may detect the position of the object every time a predetermined time has elapsed, and the identification unit may calculate a relative speed between the vehicle and the object based on the vehicle speed and the speed of the object, and the predetermined time may be made shorter as the relative speed increases.

[0015] A driving assistance method according to a second aspect of the present invention includes an identification step executed by a processor to identify, from map information including a lane area of ​​the lane on which the vehicle is traveling, a first area within a predetermined range from the position of the vehicle, the second area including the lane area of ​​the lane on which the vehicle is traveling and overlapping with a detection area for detecting objects around the vehicle, and a detection step to detect the position of an object included in the second area. Effect of the Invention

[0016] The present invention provides an advantage of reducing the processing load for detecting objects around a vehicle. [Brief description of the drawings]

[0017] [Figure 1] FIG. 2 is a diagram for explaining an overview of a vehicle S according to the present embodiment. [Diagram 2] 2 is a diagram for explaining map information stored in a storage unit 31. FIG. [Diagram 3] FIG. 11 is a diagram for explaining an operation of identifying a first region. [Figure 4] 13 is a diagram for explaining a second region identified by an identification unit 322. FIG. [Diagram 5] 13 is a diagram for explaining an operation of identifying a first area along lane A. FIG. [Figure 6] 13 is a diagram for explaining the operation when there is a branch point on lane A. FIG. [Figure 7]FIG. 13 is a diagram for explaining the operation when vehicle S arrives at the destination. [Figure 8] 4 is a diagram showing an example of a processing sequence in the driving assistance device 30. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] <Overview of Vehicle S> Fig. 1 is a diagram for explaining an overview of a vehicle S according to this embodiment. The vehicle S shown in Fig. 1 includes a measurement system 10, a vehicle speed sensor 11, a receiving device 12, a display device 20, a sound output device 21, and a driving support device 30. The vehicle S has a function of detecting the positions of objects around the vehicle S. The surrounding objects are, for example, people, animals, plants, walls, steps that make it difficult for the vehicle S to travel, and other vehicles different from the vehicle S.

[0019] The measurement system 10 is a system for measuring the distance between the vehicle S and an object around the vehicle S, and includes one or more measuring devices. The measuring device is, for example, any one of LiDAR (Light Detection And Ranging), RADER (Radio Detection And Ranging), and a stereo camera, but may be a measuring device other than these. The measurement system 10 may also include multiple types of measuring devices. The measurement system 10 generates contour line information indicating the position of the contour line of the object around the vehicle S based on point cloud data generated by one or more measuring devices measuring the distance between the object around the vehicle S and the vehicle S, and outputs the contour line information to the driving assistance device 30.

[0020] The vehicle speed sensor 11 is a sensor for detecting the vehicle speed of the vehicle S, and outputs the detected vehicle speed to the driving assistance device 30. The receiving device 12 is a device for receiving radio waves from an external positioning system such as a Global Navigation Satellite System (GNSS). The receiving device 12 outputs the latitude and longitude calculated based on information contained in the received radio waves to the driving assistance device 30 as position information of the vehicle S. In other words, the receiving device 12 can also be said to be a position identification device that identifies the position information of the vehicle S.

[0021] The display device 20 is a display provided on the instrument panel of the vehicle S, and displays information indicating the position of an object detected by the driving assistance device 30. The information indicating the position of an object may be displayed on the display device 20 as an image such as an icon, or as character data such as text, or as an image indicating characters. The sound output device 21 is a speaker provided around the instrument panel of the vehicle S, and outputs a warning sound when the driving assistance device 30 detects an object. The display device 20 and the sound output device 21 may be provided on an information terminal used by the driver.

[0022] The driving assistance device 30 is a device that executes a process of detecting the position of an object within a predetermined range from the vehicle S, based on information indicating the position of the object obtained from the measurement system 10 and position information of the vehicle S obtained from the receiving device 12. In this embodiment, the driving assistance device 30 executes a process of detecting the position of an object within a predetermined range from the vehicle S, based on outline information indicating the position of the outline of the object obtained from the measurement system 10, and position information of the vehicle S obtained from the receiving device 12. The driving assistance device 30 is a housing including electronic components or a printed circuit board on which electronic components are mounted.

[0023] When the range for detecting the position of an object is a certain range, the driving assistance device 30 may detect an object within the range that is not likely to come into contact with the vehicle S. As an example, an object that is not likely to come into contact with the vehicle S is another vehicle parked in a parking lot separated by a fence or wall from the road on which the vehicle S runs, or a person staying in a park separated by a fence or wall from the road on which the vehicle S runs. If the driving assistance device 30 detects an object that is not likely to come into contact and determines whether or not the object is likely to come into contact with the vehicle S, an unnecessary processing load will be generated in the driving assistance device 30.

[0024] Therefore, the driving support device 30 identifies an area in which the vehicle S may come into contact with an object among areas included within a predetermined range from the position of the vehicle S, and detects the position of the object present in the identified area. Specifically, the driving support device 30 identifies an area in which the measurement system 10 of the vehicle S can detect an object, which overlaps with a detection area defined in the map information, as an area in which the object is to be detected. The driving support device 30 processes information related to the presence or absence and position of an object in the identified area, and does not process information related to the presence or absence and position of an object outside the identified area even if the object is within the area in which the measurement system 10 can detect the object. By operating in this manner, the driving support device 30 can avoid detecting an object that is not likely to come into contact with the vehicle S, or judging whether or not the object is likely to come into contact with the vehicle S. As a result, the driving support device 30 can suppress the generation of unnecessary processing load.

[0025] The driving support device 30 may reduce the processing load of the process of detecting the presence or absence and position of an object in an area where the measurement system 10 can detect an object and which is different from the detection area defined in the map information, compared to the processing load of the process of detecting the presence or absence and position of an object in the detection area defined in the map information. For example, the driving support device 30 may perform the process in the detection area defined in the map information less frequently than the process in the area where the measurement system 10 can detect an object and which is different from the detection area defined in the map information. The driving support device 30 may also reduce the amount of data used in the process in the area where the measurement system 10 can detect an object and which is different from the detection area defined in the map information, compared to the amount of data used in the process in the detection area defined in the map information. The amount of data is, for example, the amount of data corresponding to the resolution of the image used in the process. The configuration and operation of the driving assistance device 30 will be described in detail below.

[0026] <Configuration of driving support device 30> The driving assistance device 30 includes a storage unit 31 and a control unit 32. The control unit 32 includes an acquisition unit 321, an identification unit 322, a detection unit 323, and a warning unit 324.

[0027] The storage unit 31 has a storage medium such as a read only memory (ROM), a random access memory (RAM), a hard disk drive (HDD), or a solid state drive (SSD). The storage unit 31 stores a program executed by the control unit 32 and various information for detecting the positions of objects around the vehicle S. As an example of the various information, the storage unit 31 stores map information for specifying an area in which the positions of objects around the vehicle S are to be detected.

[0028] Fig. 2 is a diagram for explaining map information stored in the storage unit 31. As shown in Fig. 2, the storage unit 31 stores map information M indicating a detection area R3 for detecting objects around the vehicle S. The detection area R3 includes a lane area R1 of a lane in which the vehicle S can travel, and an outer area R2 located outside the lane area R1 in the width direction of the lane and adjacent to both ends of the lane area R1. The map information M stored in the storage unit 31 includes information indicating the lane area R1, the outer area R2, and the detection area R3.

[0029] The lane region R1 is the region of the roadway if the roadway and sidewalk are provided, and is the entire region of the road if the roadway does not have a sidewalk. The width of the lane region R1 is the width of the roadway if the roadway and sidewalk are provided, and is the width of the road if the roadway does not have a sidewalk. The outer region R2 is, for example, a region ranging from both ends of the lane region R1 in the width direction of the lane. At this time, the width of the outer region R2 is 5 meters from both ends of the lane region R1 in the width direction of the lane. The outer region R2 is set according to structures around the lane region R1. For example, the outer region R2 is set shorter than 5 meters when there is a wall near the outside of the lane region R1, and is set longer than 5 meters when there is an entrance / exit or an intersecting road outside the lane region R1 in the width direction of the lane. In other words, the width of the outer region R2 may be set shorter than 5 meters at a position where there is a wall outside the lane region R1 in the width direction of the lane, and may be set longer than 5 meters at a position where there is an entrance / exit outside the lane region R1 in the width direction of the lane.

[0030] The control unit 32 is a processor such as a CPU (Central Processing Unit) or an ECU (Electronic Control Unit). The control unit 32 executes a program stored in the storage unit 31 to function as an acquisition unit 321, an identification unit 322, a detection unit 323, and a warning unit 324. The control unit 32 may be configured with one processor, or may be configured with multiple processors or a combination of one or more processors and an electronic circuit. The configuration of each unit realized by the control unit 32 will be described below.

[0031] The acquisition unit 321 acquires parameters including information indicating the positions of objects around the vehicle S, the vehicle speed of the vehicle S detected by the vehicle speed sensor 11, and position information of the vehicle S. The acquisition unit 321 acquires information indicating the positions of objects around the vehicle S, for example, from the measurement system 10 at predetermined time intervals. The acquisition unit 321 acquires contour line information indicating the positions of contour lines of objects around the vehicle S. The predetermined time is a period in which the driving assistance device 30 detects objects around the vehicle S, and is, for example, 0.1 seconds. The acquisition unit 321 acquires the vehicle speed of the vehicle S detected by the vehicle speed sensor 11 at predetermined time intervals. The acquisition unit 321 acquires position information of the vehicle S from the receiving device 12 at predetermined time intervals.

[0032] The identification unit 322 identifies a second area that overlaps with the detection area R3 from the first area within a predetermined range from the position of the vehicle S. The predetermined range is, for example, a range in which the vehicle S can stop by decelerating. The second area is an area for the detection unit 323 to detect objects around the vehicle S. First, the identification unit 322 identifies the first area. FIG. 3 is a diagram for explaining the operation of identifying the first area. As shown in FIG. 3, the identification unit 322 identifies, for example, a range from the center position of the front of the vehicle S, which is less than a first distance L1 in the length direction of the lane A and less than a second distance L2 in the width direction of the lane A, as the first area E0. The first distance L1 and the second distance L2 are, for example, 100 meters, but the first distance L1 and the second distance L2 may be different distances. Then, the identification unit 322 identifies a second area that overlaps with the detection area R3 from the identified first area E0. The identification unit 322 identifies the second area at predetermined time intervals.

[0033] FIG. 4 is a diagram for explaining the second area specified by the identification unit 322. FIG. 4(a) is a diagram showing an example of map information of the periphery of the vehicle S stored in the storage unit 31. FIG. 4(b) is a diagram showing the second area specified by the identification unit 322 in the map information shown in FIG. 4(a). FIG. 4(a) shows the lane area R1, the outer area R2, the detection area R3, the fence FA, the fence FB, and the first area E1. FIG. 4(b) shows the lane area R1, the outer area R2, the detection area R3, the fence FA, the fence FB, the first area E1, and the second area E2. As shown in FIG. 4(a), the width of the outer area R2 included in the map information stored in the storage unit 31 is set to be larger in the area not in contact with the fence FA and the fence FB than in the area in contact with the fence FA and the fence FB. This is because the area outside the fence FA and the fence FB in the width direction of the vehicle S is less likely to move while the vehicle S is traveling (i.e., the probability of contacting an object in the outer area is low). Then, as shown in FIG. 4(b), the identification unit 322 identifies a second area E2 (a shaded area shown in FIG. 4(b)) where the identified first area E1 and the detection area R3 overlap.

[0034] By the identification unit 322 operating in this manner, the detection unit 323 can detect an object in an area where the vehicle S may come into contact with an object (i.e., excluding an area where the vehicle S may not come into contact with an object). As a result, the driving assistance device 30 can suppress the generation of unnecessary processing load for detecting objects around the vehicle S, and can reduce the processing load.

[0035] However, when the lane A on which the vehicle S travels is curved, if the first area E0 is identified as shown in FIG. 3, the area in which the object should be detected may not be included in the first area. Therefore, the identification unit 322 may identify the first area based on the distance along the lane A. FIG. 5 is a diagram for explaining the operation of identifying the first area along the lane A. In FIG. 5, the contours of the lane A are lines P1 and P2, the contours of the outer area B are lines P1 and Q1, and the contours of the outer area C are lines P2 and Q2. Also, FIG. 5 shows a person H1, a person H2, and a person H3. The identification unit 322, for example, refers to map information stored in the storage unit 31 to identify map information (i.e., map information corresponding to the map shown in FIG. 5) around the latitude and longitude included in the position information of the vehicle S acquired by the acquisition unit 321.

[0036] Next, the identification unit 322, as shown in FIG. 5, identifies a range from the center position of the front of the vehicle S along the lane A, which is less than a third distance L3 in the length direction of the lane A and less than a fourth distance L4 in the width direction of the lane A, as a first area E1. The third distance L3 and the fourth distance L4 are, for example, 100 meters, but the third distance L3 and the fourth distance L4 may be different distances. Then, the identification unit 322 identifies a second area E2 (a shaded area in FIG. 5) that overlaps with the detection area (i.e., the lane A, the outer area B, and the outer area C) in the first area E1. By operating in this manner, the identification unit 322 can identify a first area that is suitable for the shape of the lane A.

[0037] When there is a branch point in the lane A on which the vehicle S is traveling, there are a plurality of routes along the lane A from the position of the vehicle S. Therefore, when there is a branch road ahead in the traveling direction of the vehicle S, the identification unit 322 may identify a range less than the third distance L3 for each branch lane branched from the branch point. FIG. 6 is a diagram for explaining the operation when there is a branch point in the lane A. In FIG. 6, branch lanes D, G, and H are shown ahead of the branch road K of the lane A. In FIG. 6, the contours of the lane A are lines P1 and P2, the contours of the outer area B are lines P1 and Q1, and the contours of the outer area C are lines P2 and Q2. In addition, the contours of the branch lane D are lines P3 and P4, the contours of the outer area E are lines P3 and Q3, and the contours of the outer area F are lines P4 and Q4. The detection area in FIG. 6 is an area extending from the lines Q1, Q2, Q3, and Q4 in the directions of the lane A, the branch lane D, the branch lane G, and the branch lane H.

[0038] The identification unit 322, for example, identifies map information (i.e., map information corresponding to the map shown in FIG. 6) around the position of the vehicle S, and identifies that there are branch lanes D, G, and H beyond the branch road K of the lane A. As shown in FIG. 6, the identification unit 322 identifies a first area E3 for each branch lane (branch lane D, branch lane G, branch lane H) beyond the branch point U of the branch road K such that the sum of a distance N1 from the center position of the front of the vehicle S to the branch point U and a distance N2 beyond the branch point U matches the third distance L3. Then, the identification unit 322 identifies a second area E4 (a shaded area in FIG. 6) that overlaps with the detection area in the first area E3. By operating in this manner, the identification unit 322 can identify an appropriate first area even when there is a branch road in the lane A.

[0039] Furthermore, the identification unit 322 may calculate a third distance L3 for identifying the first area E1 shown in Fig. 5 and the first area E3 shown in Fig. 6 based on the vehicle speed of the vehicle S. For example, the identification unit 322 calculates, as the third distance L3, a stopping distance from the center position of the front of the vehicle S until the vehicle S stops, based on the vehicle speed of the vehicle S and the deceleration stored in the storage unit 31. The deceleration is a value at which the vehicle can be decelerated by the driver stepping on the brake pedal (not shown), and is determined by experiment or simulation. By operating in this manner by the identification unit 322, the first area can be made larger as the vehicle speed of the vehicle S increases, thereby improving the safety of the vehicle S.

[0040] When the vehicle S arrives at the destination, it is conceivable that the vehicle S will move from the lane A in which the vehicle S is traveling to a parking lot or to private land owned by the driver of the vehicle S or a person related to the driver. In this case, the vehicle S will travel in an area not included in the detection area, and the identification unit 322 will not be able to identify the second area. Therefore, when the distance between the position of the vehicle S and the contour line of the detection area is less than a threshold, the identification unit 322 identifies a first area within a predetermined range from the position of the vehicle S as a second area in which the detection unit 323 detects the position of an object.

[0041] FIG. 7 is a diagram for explaining the operation when the vehicle S arrives at the destination. In FIG. 7, the contours of the lane A are lines P1 and P2, the contours of the outer area B are lines P1 and Q1, and the contours of the outer area C are lines P2 and Q2. An area E5 (area surrounded by a dashed line) shown in FIG. 7 is, for example, a parking lot or private land where the vehicle S can be parked. In FIG. 7, the identification unit 322 identifies the first area as the second area when, for example, a distance L5 between the center position of the front of the vehicle S and a position where an approach area E6 (area shown by hatching) that is outside the outer area B in the width direction of the lane A and where the outer area B where the vehicle S can enter meets is less than a threshold value. The threshold value is, for example, a fixed value less than 10 meters, and is determined by an experiment or a simulation.

[0042] By operating the identification unit 322 in this manner, the identification unit 322 can identify the second area even when the vehicle S is traveling outside the outer area in the width direction of the lane A. As a result, the detection unit 323 can detect objects around the vehicle S even when the vehicle S is traveling in an area different from the lane area or the outer area, such as a parking lot or private property.

[0043] The detection unit 323 detects the position of an object included in the second area specified by the identification unit 322 every time a predetermined time has elapsed. The detection unit 323 calculates a coordinate group corresponding to the outline of the object in a predetermined coordinate system from, for example, point cloud data included in the outline information acquired by the acquisition unit 321. The predetermined coordinate system is a coordinate system of coordinates included in the map information stored in the storage unit 31. The detection unit 323 detects the position of the object included in the second area by identifying a coordinate group included in the second area specified by the identification unit 322 from among the calculated coordinate groups. For example, in FIG. 5, the detection unit 323 detects a person H1 included in the second area E2, and does not detect a person H2 and a person H3 not included in the second area E2. By operating in this manner, the detection unit 323 can detect an object in an area excluding an area where there is no risk of contact with the vehicle S, and therefore the number of detected objects can be reduced. As a result, the detection unit 323 can reduce the processing load for detecting objects.

[0044] In the above description, the detection unit 323 does not detect the position of an object not included in the second region, but the present invention is not limited to this. The detection unit 323 may execute the process to detect an object in a region that is included in the first region and different from the second region so that the load of the process is smaller than the load of the process to detect an object in a region included in the second region. The detection unit 323 may lower the frequency of the process to detect an object in a region different from the second region than the frequency of the process to detect an object in a region included in the second region, or may reduce the amount of data used in the process to detect an object in a region different from the second region than the amount of data used in the process to detect an object in a region included in the second region. The amount of data is, for example, the amount of data corresponding to the resolution of the image used for the process. That is, when detecting an object in a region included in the second region, the detection unit 323 may use an image with a higher resolution than when detecting an object in a region included in the first region and not included in the second region.

[0045] The warning unit 324 issues a warning when the detection unit 323 detects the position of an object included in the second area. The warning unit 324 issues the warning, for example, by causing the display device 20 to display a map indicating the position of the vehicle S and the position of the object detected by the detection unit 323. The warning unit 324 issues the warning, for example, by causing the sound output device 21 to output a warning sound indicating that the detection unit 323 has detected the position of the object included in the second area.

[0046] <Processing sequence in the driving assistance device 30> Fig. 8 is a diagram showing an example of a processing sequence in the driving support device 30. The processing sequence shown in Fig. 8 shows, as an example, an operation in which the identification unit 322 identifies the first area and the second area, and then the detection unit 323 detects an object included in the second area. The driving support device 30 repeats the processing sequence shown in Fig. 8 every time a predetermined time has elapsed.

[0047] The acquisition unit 321 acquires the position of the vehicle S from the receiving device 12 (S10). The identification unit 322 identifies map information M2 of the surroundings of the position of the vehicle S acquired by the acquisition unit 321 by referring to the map information M stored in the storage unit 31 (S11). The identification unit 322 identifies a range that is less than a third distance backward from the position of the vehicle S in the traveling direction, from the range corresponding to the map information M2 of the surroundings of the position of the vehicle S (S12).

[0048] When the identification unit 322 identifies that there is a branch point ahead in the traveling direction from the position of the vehicle S based on the map information M2 of the surroundings of the position of the vehicle S (YES in S13), it identifies a distance T from the position of the vehicle S to the branch point (S14). The identification unit 322 calculates the difference between the third distance and the distance T (S15), and identifies a range from the branch point that is less than the difference between the third distance and the distance T, for each branch lane ahead of the branch point. That is, the identification unit 322 identifies a range in which the sum of the distance from the position of the vehicle S to the branch point and the distance ahead of the branch point matches the third distance, for each branch lane ahead of the branch point, thereby identifying a range less than the third distance ahead in the traveling direction (S16).

[0049] When the identification unit 322 identifies that there is no branch point ahead in the traveling direction from the position of the vehicle S based on the map information M2 of the surroundings of the position of the vehicle S (NO in S13), the identification unit 322 identifies a range less than a third distance ahead in the traveling direction (S16). The identification unit 322 identifies a first area including the range identified in S12 and the range identified in S16 (S17). The identification unit 322 identifies a second area from the identified first area that overlaps with the detection area (S18). The detection unit 323 detects an object included in the second area identified by the identification unit 322 (S19).

[0050] <First Modification> In the above description, an example of the operation in which the predetermined time, which is a period in which the driving assistance device 30 detects an object around the vehicle S, is a fixed value, has been described, but the present invention is not limited to this. The identification unit 322 may determine the predetermined time based on the vehicle speed of the vehicle S acquired by the acquisition unit 321 and the speed of the object based on the position of the object included in the contour line information acquired by the acquisition unit 321 at multiple times. For example, the identification unit 322 calculates the relative speed between the vehicle S and the object based on the vehicle speed of the vehicle S and the speed of the object, and shortens the predetermined time as the relative speed increases. By the identification unit 322 determining the predetermined time in this manner, when the vehicle S travels at a low speed on a general road, the predetermined time can be set to a large value in order to reduce the processing load, and when the vehicle S travels at a high speed on a highway, the processing time can be set to a small value in consideration of safety rather than the processing load.

[0051] <Second Modification> In the above description, a case has been exemplified in which the first distance or the third distance in the length direction of the lane used by the identification unit 322 to identify the first area is the same both forward and backward in the traveling direction (see FIG. 3), but this is not limited thereto. The identification unit 322 may use a distance different from the first distance or the third distance used to identify the first area forward in the traveling direction of the vehicle S to identify the first area backward in the traveling direction of the vehicle S.

[0052] <Third Modification> In the above description, a case has been exemplified in which the second distance or the fourth distance in the width direction of the lane used by the identification unit 322 to identify the first area is the same on the left and right sides of the vehicle S (see FIG. 3), but this is not limited thereto. The identification unit 322 may use a distance different from the second distance or the fourth distance used to identify the first area on the left side of the vehicle S with respect to the traveling direction of the vehicle S, to identify the first area on the right side of the vehicle S with respect to the traveling direction of the vehicle S.

[0053] <Fourth Modification> In the above description, the identification unit 322 has been described as identifying the first area based on the distance from the center position of the front of the vehicle S (see FIG. 3), but the present invention is not limited to this. The identification unit 322 may identify the first area based on the distance from the center position of the vehicle S or the position of a measuring device provided on the vehicle S, for example.

[0054] <Effects of the driving support device 30> As described above, the driving assistance device 30 has a memory unit 31 that stores map information indicating a detection area for detecting objects around the vehicle S, including the lane area of ​​the lane on which the vehicle S is traveling and an outer area that is located outside the lane area in the width direction of the lane and is adjacent to both ends of the lane area, an identification unit 322 that identifies a second area that overlaps with the detection area within a first area within a predetermined range from the position of the vehicle S, and a detection unit 323 that detects the position of an object included in the second area.

[0055] The driving assistance device 30 configured in this manner can detect objects around the vehicle S in a second area excluding an area where the vehicle S is unlikely to come into contact with the object. As a result, the driving assistance device 30 can suppress the generation of unnecessary processing load, and therefore the processing load for detecting objects around the vehicle S can be reduced.

[0056] 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, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination combines the effect of the original embodiment. [Explanation of symbols]

[0057] 10 Measurement System 11 Vehicle speed sensor 12 Receiving device 20 Display device 21 Sound output device 30 Driving support device 31 Storage section 32 Control section 321 Acquisition Department 322 Specific part 323 Detection Unit 324 Warning section

Claims

1. A storage unit that stores map information indicating a detection area for detecting objects around the vehicle, the detection area including a lane area of ​​a lane on which the vehicle is traveling; an identification unit that identifies a second area, from a first area within a predetermined range from a position of the vehicle, the second area overlapping with the detection area identified from the map information; A detection unit that detects a position of an object included in the second area; A driving assistance device having the above configuration.

2. The detection area is located outside the lane area in a width direction of the lane and further includes an outer area that contacts both ends of the lane area. The driving assistance device according to claim 1 .

3. The identification unit identifies, as the first region, a range that is less than a first distance in a length direction of the lane and less than a second distance in a width direction of the lane from a position of the vehicle. The driving assistance device according to claim 1 .

4. The identification unit identifies, as the first region, a range that is less than a third distance in a length direction of the lane and less than a fourth distance in a width direction of the lane from the position of the vehicle along the lane. The driving assistance device according to claim 1 .

5. When a branch road is present ahead in a traveling direction of the vehicle, the identification unit identifies the first area for each branch lane ahead of a branch point of the branch road such that a sum of a distance from a position of the vehicle to the branch point and a distance ahead of the branch point matches the third distance. The driving assistance device according to claim 4.

6. The identification unit calculates, as the third distance, a stopping distance from a position of the vehicle to a position where the vehicle is stopped, based on a vehicle speed of the vehicle. A driving assistance device according to claim 4 or 5.

7. the identification unit identifies the first area as the second area when a distance between a position of the vehicle and a contour line of the detection area is less than a threshold. The driving assistance device according to claim 1 .

8. the identification unit identifies the first area as the second area when a distance between a position of the vehicle and a position where an entry area, which is outside the outer area in a width direction of the lane and into which the vehicle can enter, and the outer area contacts is less than a threshold value. The driving assistance device according to claim 2 .

9. The detection unit detects a position of the object every time a predetermined time has elapsed, The identification unit calculates a relative speed between the vehicle and the object based on a vehicle speed of the vehicle and a speed of the object, and sets the predetermined time to be shorter as the relative speed is higher. The driving assistance device according to claim 1 .

10. The processor executes a step of identifying a second area, which is within a first area of ​​a predetermined range from a vehicle position based on map information including a lane area of ​​a lane on which the vehicle is traveling, and which overlaps with a detection area for detecting objects around the vehicle, the second area including the lane area of ​​the lane on which the vehicle is traveling; a detection step of detecting a position of an object included in the second region; A driving assistance method comprising the steps of:

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