Driving support device, method and program

Abstract

To provide a technique which is advantageous in further improving preventive safety technology that can be used for driving support.SOLUTION: A driving support device to be mounted on a vehicle which is capable of communicating with another vehicle comprises: calculation means for calculating a travel route of the other vehicle on the basis of a communication result with the other vehicle; and computation means which determines whether the own vehicle interferes with the other vehicle which travels on the calculated travel route and if it is determined that the own vehicle interferes with the other vehicle, generates a notification signal for providing notification to that effect. If a preceding vehicle that is traveling in the same direction as the own vehicle is present between the own vehicle and the other vehicle, the computation means is deactivated.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates primarily to an in-vehicle driving assistance device. [Background technology]

[0002] Recently, there have been many efforts to provide access to sustainable transportation systems that take into consideration vulnerable transport participants. To achieve this, research and development into preventive safety technologies is being widely conducted to further improve transport safety and convenience. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-61482 A Summary of the Invention [Problem to be solved by the invention]

[0004] Some vehicles provide driving assistance by performing vehicle-to-vehicle communication with other vehicles (see Patent Document 1), and there is a general demand for further improvements in preventive safety technology that can be used for driving assistance.

[0005] An exemplary object of the present invention is to provide a technology that is advantageous for further improving preventive safety technology that can be utilized for driving assistance. [Means for solving the problem]

[0006] One aspect of the present invention relates to a driving assistance device, A driving assistance device mounted on a vehicle capable of communicating with other vehicles, A calculation means for calculating a travel route of the other vehicle based on a result of communication with the other vehicle; a calculation means for determining whether or not the host vehicle will interfere with the other vehicle traveling along the calculated travel route, and generating a notification signal for notifying the other vehicle when it is determined that the host vehicle will interfere with the other vehicle; Equipped with When a preceding vehicle traveling in the same direction as the host vehicle is present between the host vehicle and the other vehicle, the calculation means is deactivated. It is characterized by: Effect of the Invention

[0007] According to the present invention, preventive safety technology that can be utilized for driving assistance is improved. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating an example of a system configuration of a vehicle according to an embodiment. [Figure 2A] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 2B] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 3A] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 3B] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 4A] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 4B] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 5A] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 5B] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 6A] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 6B] FIG. 2 is a diagram for explaining one aspect of driving assistance. [Figure 7] 4 is a flowchart showing the control content of the driving support device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more features among the multiple features described in the embodiments may be arbitrarily combined. In addition, the same reference numbers are used for the same or similar configurations, and duplicated descriptions are omitted.

[0010] (Example of vehicle system configuration) 1 shows a vehicle 1 according to an embodiment. The vehicle 1 is a four-wheeled vehicle having two front wheels and two rear wheels as wheels 11, but the number of wheels 11 is not limited to this example and may be, for example, a two-wheeled vehicle or a three-wheeled vehicle. In addition, the vehicle 1 is a ride-on type vehicle in this embodiment, but may be a saddle-ride type vehicle in other embodiments.

[0011] In this embodiment, the vehicle 1 further includes a driving operation device 12, a position detection device 13, a communication device 14, a notification device 15, and a driving assistance device 16.

[0012] The driving operation device 12 includes an acceleration operation 12a, a braking operation 12b, a steering operation 12c, and a gear shift operation 12d, each of which is disposed near the driver's seat so as to be accessible to the driver. The acceleration operation 12a is configured to be able to receive an operation input from the driver for accelerating or maintaining the vehicle 1, and a typical example of which may be an accelerator pedal. The braking operation 12b is configured to be able to receive an operation input from the driver for decelerating or stopping the vehicle 1, and a typical example of which may be a brake pedal. The steering operation 12c is configured to be able to receive an operation input from the driver for turning the vehicle 1 or changing the traveling direction, and a typical example of which may be a steering wheel. The gear shift operation 12d is configured to be able to receive an operation input from the driver for changing the gear ratio of a transmission in a power transmission mechanism that transmits the power of a power source to the wheels 11, and a typical example of which may be a shift lever. The operators 12a to 12d may be other known configurations such as button switches.

[0013] The position detection device 13 is a sensor capable of detecting or identifying the position information of the vehicle 1, and typically a GPS (Global Positioning System) sensor can be used. Note that the position detection device 13 detects the position of the vehicle 1 in absolute coordinates, but may also detect the relative position of the vehicle 1 with respect to a reference position.

[0014] The communication device 14 is configured to realize transmission and reception of signals between the vehicle 1 and other vehicles by so-called vehicle-to-vehicle communication (in the following description, the vehicle 1 may be referred to as the vehicle itself 1 to distinguish it from other vehicles). Details of the communication content will be described later.

[0015] The notification device 15 includes a sound source device 15a and a display device 15b. The sound source device 15a is configured to generate a predetermined notification sound for the driver, and may be a known device such as a speaker that allows the driver to recognize the notification audibly. The display device 15b is configured to display image information for the driver, and may be a known device such as a liquid crystal display that allows the driver to recognize the notification visually. Details of the notification content will be described later.

[0016] The driving assistance device 16 includes a CPU (Central Processing Unit) 16a and a memory 16b. The CPU 16a executes a predetermined program while expanding it on the memory 16b, thereby enabling the driving assistance function described below to be realized. The driving assistance device 16 may be configured with an ASIC (Application Specific Integrated Circuit). That is, the driving assistance function may be realized by either hardware or software, may be incorporated into a semiconductor device by a circuit, or may be executed based on instructions from a computer by a processor with a memory.

[0017] (Example of driving assistance function) The driving assistance provided by the driving assistance device 16 refers to directly / indirectly assisting the driver in driving. In this embodiment, the driving assistance device 16, for example, predicts interference with other vehicles based on the communication results of the communication device 14, creates map information as necessary, and issues a predetermined notification by the notification device 15, thereby providing driving assistance.

[0018] - Interference prediction based on communication with oncoming vehicles FIG. 2A shows an oncoming vehicle 9 as an example of another vehicle. OB1 The lane in which the host vehicle 1 is traveling is defined as the host vehicle lane 40, and the lane in which the host vehicle 1 is traveling is defined as the host vehicle lane 40. OB1 is traveling in oncoming lane 41, which is permitted to travel in the opposite direction to lane 40. Also, in the figure, lanes 42 and 43 are assumed to intersect with lanes 40 and 41, and the intersection is shown as intersection 44.

[0019] In this example, lane 41 is located to the left of lane 40, but depending on the country or region, the positional relationship may be reversed (the same applies to lanes 42 and 43).

[0020] Vehicle 1 is facing oncoming vehicle 9 OB1 The communication device 14 acquires driving information from the vehicle, and the driving support device 16 performs a predetermined calculation process based on the driving information. OB1 Calculate the route of the oncoming vehicle. OB1 An example of the driving information is an oncoming vehicle OB1 The information typically includes information indicating the position, vehicle speed, and steering angle of an oncoming vehicle 9, but may further include information indicating the accelerator opening, whether or not a turn signal has been input, etc. OB1 9 Oncoming vehicles that can be identified by OB1 A part or all of the information indicating the travel route itself may be acquired by the communication device 14.

[0021] The driving assistance device 16 further receives position information of the vehicle 1 from the position detection device 13, and receives information indicating the content of the operation input by the driver to the driving operation device 12 from the driving operation device 12, and calculates the driving route of the vehicle 1 based on that.

[0022] The oncoming vehicle 9 obtained in this way OB1 Based on the travel route of the vehicle 1 and the travel route of the vehicle 1, the driving assistance device 16 detects the oncoming vehicle 9 OB1 This prediction is based on the fact that the host vehicle 1 is in a collision with an oncoming vehicle 9. OB1 By calculating the timing at which the vehicles will interfere with each other, the prediction can be made based on whether or not the timing is within a predetermined time from the current timing, for example, based on whether or not a Time To Collision (TTC), which is the time until the vehicles come into contact if both vehicles maintain their vehicle speeds, is less than a reference value. As another example, this prediction may be made based on another known calculation model.

[0023] In this embodiment, the host vehicle 1 and the oncoming vehicle 9 OB1 When the TTC of vehicle 1 is less than the reference value, vehicle 9 is oncoming OB1 It is assumed that the vehicle 1 is judged to interfere with the oncoming vehicle 9. OB1 When it is determined that the vehicle is interfering with the vehicle, the driving assistance device 16 generates a signal indicating the possibility of the interference and outputs it as a notification signal to the notification device 15. The notification signal here includes a sound source signal Sig15a for notifying the driver by the sound source device 15a and an image signal Sig15b for notifying the driver by the display device 15b. The sound source device 15a generates a predetermined sound based on the sound source signal Sig15a, and the display device 15b outputs a predetermined image based on the image signal Sig15b, thereby making it possible to make the driver aware of the possibility of the interference.

[0024] The above-mentioned interference prediction is mainly performed by the calculation processing of the CPU 16a in the driving support device 16, and is judged, specified, or calculated regardless of the possibility of the interference. Therefore, the above-mentioned prediction may be rephrased as judgement, specification, or calculation (the same applies to other predictions described later).

[0025] -Generating map information based on communication with oncoming vehicles If the vehicle 1 does not have map data (for example, if the map data is not stored in the memory 16b of the driving support device 16, or if the map data is not stored in another storage device), the oncoming vehicle 9 OB1 In relation to the interference prediction with the map data, other information may be generated and registered in place of the map data. The other information that may be generated is referred to as generated map information in the following description.

[0026] The generated map information is generated to mainly indicate the location of the intersection 44. OB1 The intersection of the other vehicle travel path, which is the path traveled by the other vehicle, and the host vehicle travel path, which is the path traveled by the host vehicle 1 thereafter, is associated with each other.

[0027] FIG. 2B shows an example of an oncoming vehicle 9 OB1 1 shows a state in which the host vehicle 1 starts moving and turns left after a vehicle has passed beside the host vehicle 1. When the host vehicle 1 is in a state in which the traveling is restricted (for example, when the host vehicle 1 is substantially stopped, or when the host vehicle 1 can be stopped quickly (for example, when the speed is 20 [km / h] or less)), the driving support device 16 sets a set region R1 on the front side of the host vehicle 1. The set region R1 is set to a predetermined relative position based on the position information of the host vehicle 1 acquired by the position detection device 13, and may be set to a position at a predetermined angle and a predetermined distance from the body of the host vehicle 1, for example. When the restriction on the traveling of the host vehicle 1 is released, the set region R1 is also released, and when the traveling of the host vehicle 1 is again restricted, the set region R1 can be set again to a corresponding position at that time.

[0028] Oncoming vehicle 9 OB1 When an oncoming vehicle 9 passes through the set area R1, the set area R1 is fixed. OB1 After the oncoming vehicle 9 passes through the fixed set area R1, the fixed set area R1 is maintained even if the restriction on the traveling of the vehicle 1 is released. OB1An intersection RtX is indicated between the other vehicle travel trajectory Rt1, which is the trajectory of the vehicle 1, and the host vehicle travel trajectory Rt0, which is the trajectory of the host vehicle 1. Position information of the intersection RtX can be stored and registered in the memory 16b as generated map information indicating the position of the intersection 44.

[0029] The fixed set area R1 can be released in response to the registration of generated map information and / or in response to the host vehicle 1 moving away from the set area R1 by a reference distance or more.

[0030] The driving assistance device 16 can arbitrarily refer to the generated map information thus obtained, and thereby can identify the position of the intersection 44 even if the vehicle 1 does not have map data, and can generate the above-mentioned notification signal to call the driver's attention as necessary. The generated map information may be expressed as intersection position information. Furthermore, if the restriction on the travel of the vehicle 1 is released even during such calculation processing, as described with reference to FIG. 2A, OB1 Interference prediction with the UE is appropriately performed.

[0031] - Interference prediction based on communication with vehicles crossing ahead FIG. 3A shows a vehicle 9 crossing ahead as another example of another vehicle. OB2 The following shows how interference with a vehicle crossing ahead is predicted. OB2 Assume that the vehicle 9 is traveling in the lane 42. In this example, the interference prediction can be performed in the same manner as in the example of FIG. 2A. That is, the driving support device 16 uses the information on the vehicle 9 crossing ahead acquired by the communication device 14 to OB2 Based on the driving information, 9 vehicles crossing ahead OB2 The driving route of the vehicle 1 is calculated based on the information acquired from the position detection device 13 and the driving operation device 12.

[0032] The number of vehicles crossing ahead obtained in this way9 OB2 Based on the travel route of the vehicle 1 and the travel route of the vehicle 1, the driving support device 16 detects the vehicle 9 crossing ahead. OB2 The collision between the vehicle 1 and the vehicle 9 crossing ahead is predicted. OB2 If the TTC of vehicle 1 is less than the reference value, vehicle 1 will not be able to detect vehicle 9 crossing ahead. OB2and the driving support device 16 outputs the above-mentioned notification signal to the notification device 15. This makes it possible to make the driver aware of the possibility of the above-mentioned interference.

[0033] -Generating map information based on communication with vehicles crossing ahead FIG. 3B shows an example of a vehicle crossing ahead 9 OB2 1 shows a state in which the host vehicle 1 starts moving and travels straight after a vehicle has passed in front of the host vehicle 1. When the traveling of the host vehicle 1 is restricted, the driving assistance device 16 sets a set area R2 in front of the host vehicle 1. The set area R2 is set independently of the set area R1, and similarly to the set area R1, when the restriction on the traveling of the host vehicle 1 is lifted, the set area R2 is also lifted, and when the traveling of the host vehicle 1 is again restricted, the set area R2 can be set again to a corresponding position at that time.

[0034] Vehicles crossing ahead 9 OB2 When the vehicle 9 passes through the set area R2, the set area R2 is fixed. OB2 After the vehicle 1 passes through the fixed set area R2, the fixed set area R2 is maintained even if the restriction on the travel of the vehicle 1 is released. After that, when the vehicle 1 passes through the fixed set area R2 by traveling straight, the vehicle 1 is notified of the vehicle 9 passing through the fixed set area R2. OB2 An intersection RtX is indicated between the other vehicle travel trajectory Rt2, which is the trajectory of the vehicle 1, and the host vehicle travel trajectory Rt0, which is the trajectory of the host vehicle 1. Position information of the intersection RtX can be stored and registered in the memory 16b as generated map information indicating the position of the intersection 44.

[0035] The fixed set area R2 can be released in response to the registration of generated map information and / or in response to the host vehicle 1 moving away from the set area R2 by a reference distance or more.

[0036] Based on the generated map information thus obtained, the driving support device 16 can generate the above-mentioned notification signal to call the driver's attention. In addition, when the restriction on the traveling of the vehicle 1 is released during such calculation processing, as described with reference to FIG. 3A, OB2Interference prediction with the UE is appropriately performed.

[0037] Some of the driving assistance described above can be performed regardless of whether or not there are traffic lights at the intersection 44, but can be particularly advantageous in improving convenience when there are no traffic lights.

[0038] (Suppression of unnecessary driving assistance) In some cases, some or all of the driving assistance described above may be unnecessary. In such cases, the driving assistance may be a nuisance to the driver, so it may be necessary to suppress some or all of the driving assistance. OB1 / 9 OB2 It can also be said that the suppression of the driving assistance should be limited to a partial level so as to realize an appropriate road traffic environment, including avoiding confusion for drivers.

[0039] Below, we will discuss control that can appropriately realize driving assistance, while considering several scenarios.

[0040] - First example FIG. 4A shows a first example of an oncoming vehicle 9 OB1 In the case where the vehicle 1 is traveling in the lane 41, a preceding vehicle 9 traveling in the same direction as the vehicle 1 is ahead of the vehicle 1 in the lane 40. OB3 The state where the preceding vehicle 9 is present is shown in the same manner as in FIG. 2A. OB3 is assumed to be within a predetermined distance from the host vehicle 1, and since it is generally required to maintain a greater inter-vehicle distance as the vehicle speed increases, the predetermined distance may be set based on the vehicle speed of the host vehicle 1.

[0041] In this example, the vehicle 1 and the oncoming vehicle 9 OB1 Between the two vehicles, there are 9 OB3 Therefore, the vehicle 1 and the oncoming vehicle 9 OB1 Direct interference with the preceding vehicle is unlikely to occur, and the driver should pay attention to the preceding vehicle. OB3 It can also be said that.

[0042] In such a case, the notification described with reference to the example of FIG. 2A may unnecessarily attract the driver's attention, so the generation of the notification signal is suppressed. The suppression of the generation of the notification signal may be partial, that is, of the sound source signal Sig15a and the image signal Sig15b, the generation of the sound source signal Sig15a may be suppressed, and the generation of the image signal Sig15b may be executed. As another example, in such a case, the execution of the interference prediction itself may be suppressed, in which case the generation of both the sound source signal Sig15a and the image signal Sig15b is suppressed.

[0043] - Second Example FIG. 4B shows a second example of a vehicle approaching an oncoming vehicle 9 OB1 In the case where the vehicle is traveling in lane 41 and a preceding vehicle 9 is ahead of the vehicle 1, OB3 The embodiment when is present is shown similarly to FIG. 2B.

[0044] In this example, the preceding vehicle 9 OB3 Like vehicle 1, oncoming vehicle 9 OB1 The vehicle is to start moving and turn left after the oncoming vehicle 9 passes through the intersection, and until then, the vehicle is restricted from moving. OB1 Direct interference with the preceding vehicle is unlikely to occur, and the driver should pay attention to the preceding vehicle. OB3 It can also be said that.

[0045] In such a case, since the notification described with reference to the example of FIG. 2B may unnecessarily attract the driver's attention, the generation of the notification signal or the execution of the interference prediction itself may be suppressed.

[0046] - Third Example FIG. 5A shows a third example of a vehicle crossing ahead 9 OB2 In the case where the vehicle 1 is traveling in lane 42, a preceding vehicle 9 is ahead of the vehicle 1. OB3 The embodiment when is present is shown similarly to FIG. 3A.

[0047] In this example, the vehicle 1 and the vehicle 9 crossing ahead OB2 Between the two vehicles, there are 9 OB3 Therefore, the vehicle 1 and the vehicle crossing ahead 9OB2 Direct interference with the preceding vehicle is unlikely to occur, and the driver should pay attention to the preceding vehicle. OB3 It can also be said that.

[0048] In such a case, since the notification described with reference to the example of FIG. 3A may unnecessarily attract the driver's attention, the generation of the notification signal or the execution of the interference prediction itself may be suppressed.

[0049] - Fourth Example FIG. 5B shows a fourth example of a vehicle crossing ahead 9 OB2 In the case where the vehicle 1 is traveling in lane 42, a preceding vehicle 9 is ahead of the vehicle 1. OB3 The embodiment when is present is shown similarly to FIG. 3B.

[0050] In this example, the preceding vehicle 9 OB3 Like vehicle 1, vehicle 9 is crossing ahead. OB2 The vehicle 1 is in a state where it is restricted from moving until it can start moving straight after the vehicle 9 passes through the intersection. OB2 Direct interference with the preceding vehicle is unlikely to occur, and the driver should pay attention to the preceding vehicle. OB3 It can also be said that.

[0051] In such a case, since the notification described with reference to the example of FIG. 3B may unnecessarily attract the driver's attention, the generation of the notification signal or the execution of the interference prediction itself may be suppressed.

[0052] (Regarding detection or judgment of preceding vehicles) In the first to fourth examples described above, the host vehicle 1 and the preceding vehicle 9 OB3 In such a case, the driver may still be required to distinguish between the vehicle 1 and the other vehicle (the oncoming vehicle 9). OB1 and / or vehicle crossing ahead 9 OB2 ) requires careful attention, so it is advisable to generate the notification signal described above.

[0053] Leading car 9 OB3 The driving route of the preceding vehicle 9 OB3Alternatively, the above-mentioned driving information may be obtained by the communication device 14. OB3 9 Preceding vehicles that can be identified by OB3 A part or all of the information indicating the travel route itself may be acquired by the communication device 14.

[0054] In the following example, the driving route of the host vehicle 1 and the preceding vehicle 9 are OB3 Based on the relative positions of the vehicle 1 and the preceding vehicle 9 OB3 It is assumed that it is determined whether the travel routes are different from each other.

[0055] FIG. 6A shows a vehicle ahead 9 with respect to a travel route Rt of the vehicle 1 at a certain time. OB3 In this example, the vehicle body reference line L9 overlaps or intersects with the vehicle body reference line L1. For ease of understanding, the travel route Rt is assumed to be a straight line.

[0056] In such a case, the travel route Rt of the vehicle 1 and the preceding vehicle 9 OB3 Based on whether the angle θ between the vehicle 1 and the vehicle body reference line L9 satisfies the criteria, OB3 For example, it is possible to determine whether the travel routes are different from each other when the angle θ is a reference angle θ REF If θ>θ REF In this case, the vehicle 1 and the preceding vehicle 9 OB3 It can be determined that the travel paths are different from each other. REF If θ<θ REF In the case of (a), the travel paths can be determined to be the same. REF If θ=θ REF In the case of (a), either judgment result may be used.

[0057] In addition, the leading vehicle 9 OB3 The vehicle body reference line L9 of the preceding vehicle is typically OB3 The communication device 14 detects the center line of the preceding vehicle 9 OB3 It shall be available from.

[0058] FIG. 6B shows the driving route Rt of the host vehicle 1 and the preceding vehicle 9 OB3 This shows a state in which the vehicle body reference line L9 does not overlap with the vehicle body reference line L10.

[0059] In such a case, the travel route Rt of the vehicle 1 and the preceding vehicle 9 OB3 Based on whether the shortest distance L between the vehicle 1 and the vehicle body reference line L9 satisfies the criteria, OB3 For example, it is possible to determine whether the travel routes are different from each other. REF If greater than (L>L REF In this case, the vehicle 1 and the preceding vehicle 9 OB3 It can be determined that the travel routes are different from each other. REF If less than (L <L REF If the distance L is less than the reference length L, the travel paths can be determined to be the same. REF If L=L REF In the case of (a), either judgment result may be used.

[0060] In addition, the standard length L REF may be a fixed value such as 1 meter, or may be a variable value based on the lane width (for example, a value determined within a range of 0.1 to 1 times the lane width), in which case the lane width may be detected by a detection device (such as an on-board camera) described later. In this case, the magnification may be changed according to the width of the shoulder.

[0061] As another example, the above-mentioned determination may be performed based on the determination criteria (reference angle θ REF and reference length L REF ) may be adopted and the results of the judgments compared and considered.

[0062] In reality, the travel route Rt is not a straight line, but may be curved depending on the steering angle of the host vehicle 1. In such a case, the travel route Rt may be curved by the preceding vehicle 9. OB3 A part of the vehicle 1 and the preceding vehicle 9 that corresponds to the vehicle body reference line L9 can be approximated to a straight line by averaging or other calculation processing. OB3The determination as to whether the travel routes are different from each other may be made using the approximate straight line generated in this manner.

[0063] (Regarding driving assistance control content) 7 is a flowchart showing the control contents of the driving assistance device 16 when performing driving assistance according to this embodiment. This flowchart is started, for example, when the host vehicle 1 is started and becomes capable of traveling, and the contents of each step can be realized mainly by the CPU 16a executing a program.

[0064] In step S7010 (hereinafter, simply referred to as "S7010"; the same applies to other steps described later), OB1 and / or 9 OB2 This determination can be made based on the communication result of the communication device 14. OB1 and / or 9 OB2 If the presence of is confirmed (if the determination is Yes), the process proceeds to S7020, and if not (if the determination is No), the process returns to S7010.

[0065] In S7020, the leading vehicle 9 OB3 This determination can be made based on the communication result of the communication device 14. OB3 If the presence of is confirmed (if the determination is Yes), the process proceeds to S7030, and if not (if the determination is No), the process proceeds to S7040.

[0066] In S7030, the vehicle 1 and the preceding vehicle 9 OB3 It is determined whether the travel routes of the host vehicle 1 and the preceding vehicle 9 are different from each other (see FIGS. 6A and 6B). OB3 If the travel routes are different from each other (if the answer is Yes), the process proceeds to S7040, and if the travel routes are the same (if the answer is No), the process proceeds to S7050.

[0067] In S7040 and S7050, different calculation processes may be performed.

[0068] In the calculation process of S7040, the contents described with reference to FIGS. 2A to 3B are carried out, and the contents mainly include: (a) Other vehicles 9 OB1 and / or 9 OB2 Calculating the driving path of the vehicle; (b) calculating a travel path of the host vehicle 1; (c) Other vehicles 9 OB1 and / or 9 OB2 determining whether the host vehicle 1 will interfere with the (d) Vehicle 1 is in contact with vehicle 9 OB1 and / or 9 OB2 generating a sound source signal Sig15a and an image signal Sig15b as notification signals when it is determined that the sound source signal Sig15a and the image signal Sig15b interfere with each other; It is.

[0069] In the calculation process of S7050, the contents described with reference to Figs. 4A to 5B are performed, and the contents of the calculation process of S7040 are at least partially omitted or limited. OB3 If there is a preceding vehicle 9 OB3 is not present, the

[0070] As an example, in the calculation process of S7050, in the above (d), the host vehicle 1 is in contact with the other vehicle 9. OB1 and / or 9 OB2 When the host vehicle 1 is determined to interfere with the other vehicle 9, the image signal Sig15b is generated as a notification signal, and the generation of the sound source signal Sig15a is suppressed. OB1 and / or 9 OB2 If it is determined that the signal Sig15a interferes with the image signal Sig15b, the generation of both the sound source signal Sig15a and the image signal Sig15b may be suppressed. The deactivation may be such that unnecessary notification by the notification signal is suppressed. As another example, the above (c) may be omitted, and the above (a) and / or (b) may be further omitted.

[0071] As described above, according to the present embodiment, the driving assistance device 16 detects other vehicles (oncoming vehicles 9OB1 and / or vehicle crossing ahead 9 OB2 ) based on the results of communication with the vehicle ahead, the vehicle ahead vehicle 1 calculates the travel route of the other vehicle and judges whether the vehicle ahead vehicle 1 will interfere with the other vehicle. If it is judged that the vehicle ahead vehicle 1 will interfere with the other vehicle, a predetermined notification signal is generated and output to the notification device 15. On the other hand, OB3 When the vehicle 1 is in front of the vehicle 1, the above-mentioned determination and the calculation process including the generation of the notification signal are deactivated. This prevents the driver from receiving unnecessary notifications, and makes it possible to provide the driver with more comfortable driving assistance. Therefore, this embodiment is advantageous in improving preventive safety technology that can be used for driving assistance.

[0072] Leading car 9 OB3 The detection is performed when the vehicle 1 detects the preceding vehicle 9 by the communication device 14. OB3 Alternatively / accompanyingly, the above-mentioned detection may be realized by providing the vehicle 1 with a detection device capable of detecting objects around the vehicle 1. As the detection device, a camera configured with a CCD / CMOS image sensor or the like may be used, but a distance measuring device such as a millimeter wave radar or LiDAR (Light Detection And Ranging) may also be used.

[0073] The above detection device detects other vehicles 9 OB1 and 9 OB2 Therefore, when the vehicle 1 further includes the above-mentioned detection device, the driving assistance device 16 can perform further driving assistance in combination with the communication device 14. For example, the vehicle 1 can communicate with other vehicles outside the detection range of the above-mentioned detection device (or in a blind spot of the detection range) by the communication device 14. Therefore, according to the embodiment, it is advantageous to realize appropriate driving assistance early, diversify the content of driving assistance, and ultimately provide more advanced driving assistance.

[0074] In the above description, for ease of understanding, each element is indicated by a name related to its function, but each element is not limited to having the content described in the embodiment as its main function, and may have it as an auxiliary function. Therefore, each element is not strictly limited to the expression, and the expression can be replaced with a similar expression. In the same spirit, the expression "apparatus" may be replaced with "unit," "component, piece," "member," "structure," "assembly," etc., or may be omitted or added.

[0075] In addition, two or more elements exemplified as selectable in the embodiments are not strictly limited to the examples, and may be arbitrarily combined, for example, each of the two or more exemplified elements may be additionally or alternatively selected. As an example, when two elements A and B are arbitrarily combined, it may be expressed as "A and / or B" or "at least one of A and B" to indicate that it is either A only, B only, or both A and B.

[0076] (Summary of the embodiment) Some features exemplified in the above embodiments are as follows: First, the driving assistance device (e.g., 16) Other vehicles (e.g. 9 OB1 , 9 OB2 A driving assistance device mounted on a vehicle (e.g., 1) capable of communicating with a vehicle A calculation means (e.g., 16a, (a) of S7040) for calculating a travel route of the other vehicle based on a communication result with the other vehicle; A calculation means (e.g., 16a, (c) and (d) of S7040) that determines whether the host vehicle will interfere with the other vehicle traveling on the calculated travel route, and generates a notification signal (e.g., Sig15a, Sig15b) to notify the other vehicle when it is determined that the host vehicle will interfere with the other vehicle; Equipped with A preceding vehicle (e.g., 9 OB3 ) is within a predetermined distance from the vehicle, the calculation means is deactivated (e.g., 16a, S7050). This prevents unnecessary notifications from being sent to the driver, making it possible to provide more comfortable driving assistance for the driver, and is advantageous for improving preventive safety technology that can be used for driving assistance.

[0077] Secondly, When the preceding vehicle is present between the host vehicle and the other vehicle, the calculation means suppresses generation of the notification signal. This makes it possible to suppress unnecessary notifications to the driver.

[0078] Third, The notification signal is A sound source signal (e.g., Sig15a) for notifying the position information of the other vehicle by a sound source device; an image signal (e.g., Sig15b) for notifying the position information of the other vehicle by a display device; Including, When the preceding vehicle is present between the host vehicle and the other vehicle, the calculation means suppresses generation of the sound source signal and generates the image signal. This makes it possible to keep notifications to the driver to a minimum.

[0079] Fourth, The calculation means further calculates a travel route (e.g., Rt) of the host vehicle based on information indicating a position, a vehicle speed, and a steering angle of the host vehicle; When the preceding vehicle is located at a distance equal to or greater than a reference distance from the travel path of the host vehicle, the calculation means performs the determination and generates the notification signal based on the result of the determination. This allows the driver to be appropriately notified when an unexpected vehicle ahead is detected.

[0080] Fifth, The calculation means further calculates a driving route of the preceding vehicle based on a result of communication with the preceding vehicle, and further calculates a driving route (e.g., Rt) of the host vehicle based on information indicating a position, a vehicle speed, and a steering angle of the host vehicle; When the traveling route of the preceding vehicle is different from the traveling route of the host vehicle, the calculation means performs the determination and generates the notification signal based on the result of the determination. This allows the driver to be appropriately notified when an unexpected vehicle ahead is detected.

[0081] Sixth, the method is A method for driving assistance for a vehicle capable of communicating with another vehicle, comprising: calculating a travel route of the other vehicle based on a result of communication with the other vehicle; determining whether the host vehicle will interfere with the other vehicle traveling along the calculated travel route, and generating a notification signal for notifying the other vehicle when it is determined that the host vehicle will interfere with the other vehicle; Including, When a preceding vehicle traveling in the same direction as the host vehicle is present between the host vehicle and the other vehicle within a predetermined distance from the host vehicle, the step of making the determination and generating the notification signal is deactivated. This provides the same effect as the first effect.

[0082] Seventh, the program: A program for causing a computer to execute driving assistance for a vehicle capable of communicating with another vehicle, Calculating a travel route of the other vehicle based on a result of communication with the other vehicle; determining whether or not the host vehicle will interfere with the other vehicle traveling along the calculated travel route, and generating a notification signal for notifying the other vehicle when it is determined that the host vehicle will interfere with the other vehicle; Run the command, When a preceding vehicle traveling in the same direction as the host vehicle is present between the host vehicle and the other vehicle within a predetermined distance from the host vehicle, the determination is made and the generation of the notification signal is deactivated. This provides the same effect as the first aspect. The program can be stored in a computer-readable storage medium.

[0083] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0084] 1: vehicle, 12: driving operation device, 13: position detection device, 14: communication device, 15: notification device, 16: driving assistance device.

Claims

1. A driving assistance device mounted on a vehicle capable of communicating with other vehicles, a calculation means for calculating a travel route of the other vehicle based on a result of communication with the other vehicle; a calculation means for determining whether the host vehicle will interfere with the other vehicle traveling on the calculated travel route, and for generating a notification signal for notifying the other vehicle when it is determined that the host vehicle will interfere with the other vehicle; Equipped with When a preceding vehicle traveling in the same direction as the host vehicle is within a predetermined distance from the host vehicle, the calculation means is deactivated. A driving assistance device characterized by:

2. When the preceding vehicle is present between the host vehicle and the other vehicle, the calculation means suppresses generation of the notification signal.

2. The driving assistance device according to claim 1.

3. The notification signal is a sound source signal for notifying the location information of the other vehicle by a sound source device; an image signal for notifying the position information of the other vehicle by a display device; Including, When the preceding vehicle is present between the host vehicle and the other vehicle, the calculation means suppresses generation of the sound source signal and generates the image signal.

3. The driving assistance device according to claim 2.

4. the calculation means further calculates a travel route of the host vehicle based on information indicating a position, a vehicle speed, and a steering angle of the host vehicle; When the preceding vehicle is located at a distance equal to or greater than a reference distance from the travel route of the subject vehicle, the calculation means makes the determination and generates the notification signal based on the result of the determination.

2. The driving assistance device according to claim 1.

5. the calculation means further calculates a travel route of the preceding vehicle based on a result of communication with the preceding vehicle, and further calculates a travel route of the host vehicle based on information indicating a position, a vehicle speed, and a steering angle of the host vehicle; When the traveling route of the preceding vehicle differs from the traveling route of the subject vehicle, the calculation means makes the determination and generates the notification signal based on the result of the determination.

2. The driving assistance device according to claim 1.

6. A driving assistance method for a vehicle capable of communicating with another vehicle, comprising: calculating a travel route of the other vehicle based on a result of communication with the other vehicle; determining whether the host vehicle will interfere with the other vehicle traveling on the calculated travel route, and generating a notification signal to notify the other vehicle when it is determined that the host vehicle will interfere with the other vehicle; Including, When a preceding vehicle traveling in the same direction as the host vehicle is present between the host vehicle and the other vehicle within a predetermined distance from the host vehicle, the step of making the determination and generating the notification signal is deactivated. A method characterized by:

7. A program for causing a computer to execute driving assistance for a vehicle capable of communicating with other vehicles, calculating a travel route of the other vehicle based on a result of communication with the other vehicle; determining whether the host vehicle will interfere with the other vehicle traveling on the calculated travel route, and generating a notification signal to notify the other vehicle when it is determined that the host vehicle will interfere with the other vehicle; Execute When a preceding vehicle traveling in the same direction as the host vehicle is present between the host vehicle and the other vehicle within a predetermined distance from the host vehicle, performing the determination and generating the notification signal is deactivated. program.

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