Support system, support program, and support method

Abstract

To provide a support system that helps ensure traffic safety among road users.SOLUTION: A processor of a support system for assisting avoidance of traffic obstacles between other road users by controlling a host vehicle is configured to execute processes of: monitoring the entry of a human among other road users into a blind spot area Ab, which is formed behind the host vehicle as seen from a target vehicle among other road users; and outputting a warning to a selected user selected for at least one of the target vehicle and the human being in the blind spot area Ab on condition that the human being enters the blind spot area Ab.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a technology for assisting in avoiding traffic obstacles among road users.

Background Art

[0002] Patent Document 1 discloses a technology for assisting steering control and deceleration control to avoid an object detected ahead in a vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the technology disclosed in Patent Document 1 assumes that an object ahead is detected in a vehicle. Therefore, when a person such as a pedestrian jumps out from a blind spot formed by being hidden by an object ahead in the forward field of view seen from the vehicle, it is difficult to perform steering control and deceleration control to avoid the person jumping out while the person is moving within the blind spot immediately before that. In such a correlation scene between a non-vulnerable road user, the vehicle, and a vulnerable road user, a person within the blind spot, via an object forming the blind spot, avoiding traffic obstacles between these road users is an important issue in traffic safety.

[0005] Therefore, an object of the present disclosure is to provide an assistance system that contributes to ensuring traffic safety among road users. Another object of the present disclosure is to provide an assistance program that contributes to ensuring traffic safety among road users. Still another object of the present disclosure is to provide an assistance method that contributes to ensuring traffic safety among road users.

Means for Solving the Problems

[0006] Hereinafter, the technical means of the present disclosure for solving the problems will be described. Note that the reference numerals in parentheses described in the claims and this column indicate the correspondence with the specific means described in the embodiments to be described in detail later, and do not limit the technical scope of the present disclosure.

[0007] The first aspect of the present disclosure is a support system having a processor (12) and assisting in avoiding traffic obstacles among other road users (3) under the control of a host vehicle (2), wherein the processor monitors the entry of a human (3b) among other road users into a blind spot area (Ab) formed by being hidden by the host vehicle from the perspective of a target vehicle (3a) among other road users, and is configured to execute outputting a warning to a selected user (30) selected from at least one of the target vehicle and the human in the blind spot area on the condition of the entry.

[0008] The second aspect of the present disclosure is a support program stored in a storage medium (10) and including instructions to be executed by a processor (12) for assisting in avoiding traffic obstacles among other road users (3) under the control of a host vehicle (2), wherein the instructions include monitoring the entry of a human (3b) among other road users into a blind spot area (Ab) formed by being hidden by the host vehicle from the perspective of a target vehicle (3a) among other road users, and outputting a warning to a selected user (30) selected from at least one of the target vehicle and the human in the blind spot area on the condition of the entry.

[0009] The third aspect of the present disclosure is a support method executed by a processor (12) for assisting in avoiding traffic obstacles among other road users (3) under the control of a host vehicle (2), wherein the method includes monitoring the entry of a human (3b) among other road users into a blind spot area (Ab) formed by being hidden by the host vehicle from the perspective of a target vehicle (3a) among other road users, Outputting a warning to a selected user (30) selected from at least one of the target vehicle and a person in the blind spot area, on the condition of entry.

[0010] According to these first to third aspects, the entry of a person among other road users is monitored with respect to a blind spot area formed by being hidden from the target vehicle by the host vehicle among other road users. Therefore, in the first to third aspects, on the condition that a person enters the blind spot area, a warning is output to a selected user selected from at least one of the target vehicle and the person in the blind spot area.

[0011] According to such first to third aspects, between the target vehicle which is a non-vulnerable road user and the person who is a vulnerable road user in the blind spot area, avoidance behavior of traffic obstacles by the selected user who has received a warning from the host vehicle as at least one of them can be expected. Therefore, in the correlation scene between the target vehicle and the person via the host vehicle that forms the blind spot area, it becomes possible to contribute to ensuring traffic safety among those road users.

Brief Description of the Drawings

[0012]

Figure 1

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Modes for Carrying Out the Invention

[0013] Hereinafter, a plurality of embodiments of the present disclosure will be described with reference to the drawings. In each embodiment, the same reference numerals may be given to corresponding components, and redundant descriptions may be omitted. Further, when only a part of the configuration is described in each embodiment, the configuration of other embodiments described previously can be applied to other parts of the configuration. Furthermore, not only the combinations of configurations explicitly shown in the description of each embodiment, but also the configurations of a plurality of embodiments can be partially combined with each other without particular hindrance to the combination.

[0014] The support system 1 of the first embodiment shown in FIG. 1 supports the avoidance of traffic obstacles among other road users 3 shown in FIG. 2 under the control of the host vehicle 2. At least a part of the support system 1 is mounted on the host vehicle 2. The host vehicle 2 is a road user such as, for example, an automobile, a truck, or a bus, and may be referred to as an ego-vehicle from the perspective centered on the host vehicle 2.

[0015] On the road Rm on which the host vehicle 2 moves as shown in FIG. 2, a traffic scene in which other road users 3 other than the host vehicle 2 also move is assumed. The other road users 3 include non-vulnerable road users and vulnerable road users according to their vulnerability. The non-vulnerable road users include, for example, at least one type in which passengers are carried among automobiles, trucks, buses, motorcycles, etc., and the target vehicle 3a is included. The vulnerable road users include, for example, at least one type of human 3b such as a pedestrian or a runner. The vulnerable road users may include a human 3b who rides, for example, a bicycle, micromobility, or a wheelchair. The human 3b who is a vulnerable road user may be defined as a vulnerable road user (VRU) such as an elderly person, a child, a disabled person, or a pedestrian.

[0016] As shown in FIG. 1, the host vehicle 2 is equipped with an actuator system 4, a sensor system 5, a communication system 6, a map database (DB) 7, and an information output system 8, together with at least a part of the support system 1. However, FIG. 1 typically shows an example in which all of the support system 1 implemented in the form of a processing circuit (for example, a processing ECU, etc.) or a semiconductor device (for example, a semiconductor chip, etc.) is mounted on the host vehicle 2.

[0017] The actuator system 4 is configured to be able to control the driving behavior of the host vehicle 2 based on a control command given from the support system 1. The actuator system 4 may include at least one type of power train actuator such as, for example, an internal combustion engine and a motor generator motor. The actuator system 4 may include at least one type of braking actuator such as, for example, a brake unit. The actuator system 4 may include at least one type of steering actuator such as, for example, a power steering unit.

[0018] The sensor system 5 acquires sensing information available in the assistance system 1 by sensing the external environment and the internal environment of the host vehicle 2. For this purpose, the sensor system 5 includes an external sensor 50 and an internal sensor 52.

[0019] The external sensor 50 senses an object existing in the external environment of the host vehicle 2. The external sensor 50 of the object sensing type is at least one of, for example, an in-vehicle camera, LiDAR (light detection and ranging / laser imaging detection and ranging), a laser sensor, a millimeter-wave sensor, and a sonar sensor. A plurality of types of the external sensor 50 of the object sensing type may be combined and mounted so as to be able to sense each direction of the front, side, and rear of the host vehicle 2.

[0020] The internal sensor 52 senses a specific motion physical quantity related to vehicle motion in the internal environment of the host vehicle 2. The internal sensor 52 of the motion sensing type is at least one of, for example, a speed sensor, an acceleration sensor, and a gyro sensor. The internal sensor 52 may sense the operation or state of an occupant including the driver as an occupant boarding the host vehicle 2. The internal sensor 52 of the occupant sensing type is at least one of, for example, an accelerator pedal sensor, a steering angle sensor, a steering torque sensor, a brake pedal sensor, a shift sensor, an occupant camera, an occupant seat switch, a gesture sensor, a biological sensor, and a seating sensor.

[0021] The communication system 6 acquires communication information available in the support system 1 by wireless communication. The communication system 6 may receive a positioning signal from an artificial satellite of a GNSS (Global Navigation Satellite System) existing outside the host vehicle 2. The communication system 6 of the positioning type is, for example, a GNSS receiver or the like. The communication system 6 may transmit and receive communication signals to and from a V2X system existing outside the host vehicle 2. The communication system 6 of the V2X communication type is at least one of, for example, a DSRC (Dedicated Short Range Communications) communication device and a cellular V2X (C-V2X) communication device. The communication system 6 may transmit and receive communication signals to and from a mobile terminal existing inside the host vehicle 2. The communication system 6 of the terminal communication type is at least one of, for example, a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, and an infrared communication device.

[0022] The map DB 7 stores map information available in the support system 1. The map DB 7 is configured to include at least one type of non-transitory tangible storage medium such as, for example, a semiconductor memory, a magnetic medium, and an optical medium. The map DB 7 may be a DB of a locator that estimates the self-position of the host vehicle 2. The map DB may be a DB of a navigation unit that navigates the traveling route of the host vehicle 2. The map DB 7 may be constructed by a combination of multiple types of DBs.

[0023] The map DB7 updates the map information by downloading, as needed, a digitally mapped map that is publicly deployed, for example, through V2X communication with an external center via the communication system 6. The map information is digitized in two or three dimensions as information representing the external environment in which the host vehicle 2 travels. As the three-dimensional map information, digital data of a high-precision map may be adopted. The map information includes road information representing at least one of, for example, the position, shape, and road surface condition of the road Rm. The map information may include structure information representing at least one of, for example, the position and shape of a building and a traffic signal facing the road Rm. The map information may include sign information representing at least one of, for example, the position and shape of a sign and a lane line attached to the road Rm.

[0024] The information output system 8 outputs notification information such as a warning, for example, toward the external environment and the internal environment of the host vehicle 2. For this purpose, the information output system 8 includes an internal information unit 80 and an external information unit 82.

[0025] The internal information unit 80 presents notification information to the passengers including the driver inside the host vehicle 2. The internal information unit 80 may present the notification information by stimulating the vision of the passengers inside the host vehicle 2. The information output system 8 of the visual information presentation type is at least one of, for example, an in-vehicle monitor, a HUD (head-up display), a combination meter, a navigation unit, and an illumination unit. The internal information unit 80 may present the notification information by stimulating the hearing of the passengers inside the host vehicle 2. The internal information unit 80 of the auditory information presentation type is at least one of, for example, a speaker, a buzzer, and a vibration unit. The internal information unit 80 may present the notification information by stimulating the sense of skin of the passengers inside the host vehicle 2. The internal information unit 80 of the skin sensation information presentation type is at least one of, for example, a vibration unit, a reaction force unit, and an air conditioning unit.

[0026] The external information unit 82 presents notification information to other road users 3 outside the host vehicle 2. The external information unit 82 may present the notification information by stimulating at least one of the visual senses of the passengers on board other vehicles such as the target vehicle 3a which is the other road user 3, and the human 3b which is the other road user 3 itself, outside the host vehicle 2. The external information unit 82 of the visual information presentation type is at least one of, for example, a hazard lamp, a direction indicator, a lighting lamp, an external display monitor, an electronic bulletin board, a stop sign display, and a projector. The external information unit 82 may present the notification information by stimulating at least one of the auditory senses of the passengers on board other vehicles such as the target vehicle 3a which is the other road user 3, and the human 3b which is the other road user 3 itself, outside the host vehicle 2. The external information unit 82 of the auditory information presentation type is at least one of, for example, a speaker, a buzzer, a horn, and an air injector.

[0027] The support system 1 is connected to the actuator system 4, the sensor system 5, the communication system 6, the map DB 7, and the information output system 8 via at least one of, for example, a LAN (local area network), a wire harness, an internal bus, and a wireless communication line. The support system 1 is configured to include at least one dedicated computer.

[0028] The dedicated computer constituting the support system 1 may be an integrated ECU (electronic control unit) that integrates the driving control of the host vehicle 2. The dedicated computer constituting the support system 1 may be a sensing ECU that processes sensing information in the driving control of the host vehicle 2. The dedicated computer constituting the support system 1 may be a recognition ECU that recognizes the external world in the driving control of the host vehicle 2. The dedicated computer constituting the support system 1 may be a locator ECU that estimates the self-position of the host vehicle 2.

[0029] The dedicated computer that constitutes the support system 1 may be a planning ECU that plans the driving control of the host vehicle 2. The dedicated computer that constitutes the support system 1 may be a navigation ECU that navigates the driving route in the driving control of the host vehicle 2. The dedicated computer that constitutes the support system 1 may be an actuator ECU that controls the actuator system 4 as the driving control of the host vehicle 2.

[0030] The dedicated computer that constitutes the support system 1 may be an information management ECU that controls the information output system 8 as the driving control of the host vehicle 2. The dedicated computer that constitutes the support system 1 may be at least one external computer that constructs an external center or a mobile terminal that can communicate via, for example, the communication system 6.

[0031] The dedicated computer that constitutes the support system 1 has at least one memory 10 and at least one processor 12. The memory 10 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, and an optical medium, that non-temporarily stores programs and data that can be read by a computer. The processor 12 includes at least one type, such as a central processing unit (CPU), a graphics processing unit (GPU), and a reduced instruction set computer (RISC)-CPU, as a core.

[0032] The processor 12 executes a plurality of instructions included in the support program stored in the memory 10 as software. As a result, the support system 1 constructs a plurality of functional blocks for supporting the avoidance of traffic obstacles among other road users 3 by controlling the host vehicle 2. The plurality of functional blocks constructed by the support system 1 in this way include a recognition block 100 and a control block 120 as shown in FIG. 3.

[0033] The recognition block 100 acquires sensing information from the sensor system 5. The recognition block 100 acquires communication information from the communication system 6. The recognition block 100 acquires map information from the map DB 7. The recognition block 100 acquires information on control commands sent to the host vehicle 2 by the past control block 120 from the memory 10. The recognition block 100 individually processes these acquired pieces of information and then fuses them to generate recognition data for recognizing the external environment and the internal environment of the host vehicle 2. Therefore, the recognition data generated by the recognition block 100 represents the states of the external environment and the internal environment recognized for each traffic scene in which the host vehicle 2 travels.

[0034] Specifically, the recognition block 100 generates recognition data through localization for recognizing the self-state of the host vehicle 2. The recognition data regarding the self-state may represent at least one of, for example, the self-position, the attitude angle, the steering angle, the speed, the acceleration, the jerk, and the yaw rate, which emerged in the host vehicle 2 according to the control commands in the control block 120.

[0035] The recognition block 100 generates recognition data by recognizing objects including other road users 3, obstacles, and structures existing in the external environment of the host vehicle 2. The recognition data regarding the objects may represent at least one kind of kinematic physical quantity such as, for example, the separation distance, the movement direction, the relative speed, the relative acceleration, and the time to collision (TTC). The recognition data regarding the objects may represent the classification of the objects clustered based on such kinematic physical quantities.

[0036] The recognition block 100 generates recognition data by recognizing the road Rm on which the host vehicle 2 and other road users 3 move. The recognition data regarding the road Rm may represent at least one type of road condition, such as, for example, the position and size of the road Rm, the bending points where the road Rm bends, the curvature or radius of curvature of the curved road Rm, and the position of the pedestrian passageway. The recognition block 100 generates recognition data by recognizing the markings associated with the road Rm on which the host vehicle 2 travels. The recognition data regarding the markings may represent at least one type of marking condition, such as, for example, signs, lane lines, and traffic lights. The recognition data regarding the markings may further represent at least one type, such as, for example, the traffic direction, the speed limit, and the stop position, as the traffic rules on the road Rm recognized from such marking conditions.

[0037] The recognition block 100 generates recognition data by recognizing the operations of the driver as an operator on the host vehicle 2. Among the driver operations, in particular, the recognition data regarding the manual driving operations of the host vehicle 2 may represent at least one type, such as, for example, the steering angle, the steering torque, the brake pedal operation amount, the accelerator pedal operation amount, the shift position, and the operation state of the occupant seat switch including the door opening and closing switch.

[0038] The control block 120 acquires the recognition data from the recognition block 100. The control block 120 acquires the data of the control commands to the host vehicle 2 in the past by reading from the memory 10. Based on these acquired data, the control block 120 generates a control command for controlling the driving operation of the host vehicle 2. At this time, a control command is generated to be commanded to the actuator system 4 so as to control the driving task adjusted according to the traffic scene among the automatic driving task and the manual driving support task in the host vehicle 2. Further, the control block 120 also generates a control command for controlling the support operation of the host vehicle 2 to assist in avoiding traffic obstacles among other road users 3 based on the acquired data as described above. The control command thus generated is stored in the memory 10.

[0039] (Support Flow) In the first embodiment, the support flow for realizing a support method for assisting in avoiding traffic obstacles among other road users 3 under the control of the host vehicle 2 is repeatedly executed according to FIG. 4 by the cooperation of a plurality of blocks 100 and 120. The following description takes as a representative example the correlation scenes shown in FIGS. 2, 5, and 6 between a human 3b as a passenger who moves to a crosswalk after getting off the host vehicle 2 as a bus that has once stopped on one lane, and a target vehicle 3a that overtakes the host vehicle 2 by moving on at least one of the same lane and the adjacent lane from behind. Of course, this support flow is applicable to correlation scenes other than those shown in FIGS. 2, 5, and 6 as long as they are correlation scenes between the host vehicle 2 and other road users 3, a human 3b who is a vulnerable road user, and a target vehicle 3a who is a non-vulnerable road user. Incidentally, in the following, each "S" of this support flow means a plurality of steps executed by a plurality of instructions included in the support program, respectively.

[0040] In S100, the recognition block 100 monitors the entry of the human 3b among other road users 3 into a blind spot area Ab formed by being hidden by the host vehicle 2 as viewed from the target vehicle 3a among other road users 3. That is, the recognition block 100 in S100 determines whether or not the human 3b has entered the blind spot area Ab that inevitably occurs on the back side of the host vehicle 2 in the field of view or vision from the target vehicle 3a as shown in FIGS. 5 and 6. Here, particularly in S100 of the correlation scene as shown in FIGS. 5 and 6, it can be said that the presence or absence of the entry of the human 3b in response to getting off the host vehicle 2 is determined within the blind spot area Ab for the target vehicle 3a while overtaking the host vehicle 2 from behind.

[0041] The blind spot area Ab, which is the entry destination of the human 3b determined in S100, is further recognized based on at least the recognition data recognized regarding the self-state and the target. Specifically, first, from the relative positional relationship between the host vehicle 2 and the target vehicle 3a based on the recognition data, the actual viewing point of the target vehicle 3a as viewed from the host vehicle 2 is converted into a virtual viewing point for virtually viewing the host vehicle 2 from the target vehicle 3a.

[0042] At this time, the actual viewing point in the host vehicle 2 is, for example, the sensor center point by the external sensor 50, or the recognition reference point by the above-mentioned fusion. The virtual viewing point in the target vehicle 3a may be, for example, the sensor center point of the target vehicle 3a, or a similar recognition reference point, or the viewing point of the occupant's eyeball in the target vehicle 3a. In any of these cases, the virtual viewing point is preferably grasped based on the recognition data using at least one of the sensing information by the external sensor 50 and the communication information from the target vehicle 3a through the communication system 6.

[0043] Assuming a virtual situation where the host vehicle 2 is viewed starting from such a virtual viewing point, by spreading on the opposite side of the virtual viewing point across the host vehicle 2 as shown in FIGS. 5 and 6, the blind spot area Ab that is substantially invisible to the sensors or occupants of the target vehicle 3a from the virtual viewing point is grasped in S100. At this time, the blind spot area Ab is preferably recognized for its position and size by being assumed to be on the back side of the host vehicle 2 among the three-dimensional spaces that spread through the contour of the host vehicle 2 from the virtual viewing point.

[0044] The entry of the human 3b into the blind spot area Ab whose position and size have been recognized in this way is further recognized based on those position and size, and in S100, it is also based on at least the recognition data recognized regarding the self-state and the target. Specifically, when at least one of the targets recognized as being located within the size of the blind spot area Ab is identified as the human 3b based on the recognition data, it is determined that the human 3b has entered the blind spot area Ab. Here, particularly in the correlation scenes such as FIGS. 5 and 6, when the human 3b is identified as at least one of the targets that have moved to the crosswalk within the blind spot area Ab in response to getting off the host vehicle 2, it is grasped that the human 3b has entered the blind spot area Ab.

[0045] In addition, when at least one of the targets recognized as being located within the size of the blind spot area Ab is identified as a moving object other than the human 3b based on the recognition data, it is determined that the human 3b has not entered the blind spot area Ab. Also, when the target recognized as being located within the size of the blind spot area Ab is identified as a target other than a moving object based on the recognition data, it is determined that the human 3b has not entered the blind spot area Ab. Further, even when no target is recognized based on the recognition data within the size of the blind spot area Ab, it is determined that the human 3b has not entered the blind spot area Ab.

[0046] As shown in FIG. 4, when a negative determination of no entry is made by the above S100, the execution of the current support flow ends. On the other hand, when an affirmative determination of entry is made by S100, the support flow shifts to S110, and the execution of the current support flow ends upon completion of S110.

[0047] Specifically, the control block 120 in S110 is to be executed on the condition of the entry of the human 3b into the blind spot area Ab, and outputs a warning for the selected user 30 selected for at least one of the target vehicle 3a and the human 3b in the blind spot area Ab (refer to the cases of FIGS. 5, 6, and 8 which are examples of both being selected). In particular, in S110, a warning may be output to the selected user 30 in response to an increase in the risk of a traffic obstacle occurring within the warning range between the human 3b who has entered the blind spot area Ab and the target vehicle 3a.

[0048] In S110, the risk of a traffic obstacle occurring is preferably indexed based on at least one type of warning condition for the human 3b in the blind spot area Ab, such as the moving speed, moving direction, relative position within the blind spot area Ab, the gripping condition of the mobile terminal, and the wearing condition of headphones or earphones. Therefore, in S100, it is preferable that an increase in the index value within the warning range where a warning to the selected user 30 is predicted is monitored as the moving intention of the human 3b grasped from the warning conditions applied within the blind spot area Ab is reflected in the index value of the risk. At this time, particularly in S100 of a correlation scene such as FIGS. 5 and 6, the crossing intention of the human 3b on the crosswalk among those on the road Rm is reflected in the index value of the risk according to the applied warning conditions.

[0049] In S110 of FIG. 4, the control block 120 realizes the output of a warning by giving a control command to at least one of the external information unit 82 and the communication system 6. Specifically, the warning by S110 uses the visual stimulus type external information unit 82 in the host vehicle 2 shown in FIGS. 5 and 6 as the visual unit 82a. For example, a hazard lamp, a direction indicator, or a lighting lamp lights up, blinks (passing / flash), or changes the emission color, and thus may be displayed and output to the selected user 30. The warning by S110 uses the visual unit 82a at a position corresponding to FIGS. 5 and 6. According to the swinging drive of, for example, a stop sign display when the host vehicle 2 stops, at least one of the characters and figures drawn on the sign plate protruding from the wall surface of the host vehicle 2 as shown in FIG. 7 may be used to display and output to the selected user 30.

[0050] The warning by S110 may be displayed and output to the selected user 30 by at least one of the images of characters and figures formed on, for example, an external display monitor provided on the wall surface of the host vehicle 2 as the visual unit 82a shown in FIGS. 5, 6, and 8. The warning by S110 may be displayed and output to the selected user 30 by at least one of the light-emitting characters and light-emitting figures formed by, for example, an electric bulletin board provided on the wall surface of the host vehicle 2 as the visual unit 82a shown in FIGS. 5 and 6.

[0051] In any of these display output methods, when the target vehicle 3a and its passengers are selected by the selected user 30, warning display output by the visual unit 82a may be performed from the side wall surface on the traveling side where the target vehicle 3a travels in the host vehicle 2 as shown in FIGS. 5 and 6. However, a warning may be displayed and output from the visual unit 82a at a displaced location displaced rearward on the side opposite to the side of the human 3b moving within the blind spot area Ab as shown in FIG. 5, among the side wall surfaces on the traveling side of the target vehicle 3a in the host vehicle 2. As shown in FIG. 6, the warning may be displayed and output from the visual unit 82a at a displaced location displaced forward on the side of the human 3b within the blind spot area Ab, among the side wall surfaces on the traveling side of the target vehicle 3a in the host vehicle 2.

[0052] Such a warning by display output on the traveling side of the target vehicle 3a may be performed from the visual unit 82a in the host vehicle 2 in which the wheels 20 are steered and controlled to the traveling side as shown in FIGS. 5 and 6, in any of the above-described display output methods. In this case, steering control of the target vehicle 3a to the traveling side may be realized by a control command to the steering actuator among the actuator systems 4. In the image display output among the above-described display output methods, a captured image of the human 3b moving within the blind spot area Ab captured by the external sensor 50 of the host vehicle 2 may be displayed and output as a warning image from the visual unit 82a on the traveling side where the target vehicle 3a travels.

[0053] On the other hand, when the human 3b is selected by the selected user 30, on the side of the human 3b moving into the blind spot area Ab toward the traveling side of the target vehicle 3a as shown in FIGS. 5 and 6, it is preferable that a warning be displayed and output by the visual unit 82a from the front wall surface of the host vehicle 2. However, as shown in FIG. 5, on the front wall surface of the host vehicle 2 on the side of the human 3b, at a displaced position displaced toward the entry side of the human 3b into the blind spot area Ab, which is the side opposite to the traveling side of the target vehicle 3a, a warning may be displayed and output from the visual unit 82a. As shown in FIG. 6, the warning may be displayed and output from the visual unit 82a at a displaced position displaced toward the moving side of the human 3b within the blind spot area Ab, which is the traveling side of the target vehicle 3a, on the front wall surface of the host vehicle 2 on the side of the human 3b.

[0054] Here, among the above-described display output methods, in the case of image display output, a captured image of the target vehicle 3a captured by the external sensor 50 of the host vehicle 2 may be displayed and output from the visual unit 82a on the side of the human 3b as a warning image Iw as shown in FIG. 8. Among the above-described display output methods, for example, in the case of image display output or the like, the warning may be displayed and output on the side of the human 3b in a state where the display direction on the side of the human 3b is matched with the face direction of the human 3b within the blind spot area Ab by adjusting the posture of the display surface in the visual unit 82a. Among the above-described display output methods, for example, in the case of image display output or the like, the warning may be displayed and output on the side of the human 3b in a fixed posture in which the display surface in the visual unit 82a faces the side opposite to the traveling side of the target vehicle 3a and is inclined with respect to the front wall surface of the host vehicle 2.

[0055] So far in the description, the display output in FIG. 5 or the display output at a position corresponding to FIG. 5 for the target vehicle 3a and its occupants may be combined with the display output in FIG. 6 or the display output at a position corresponding to FIG. 6 for the target vehicle 3a and its occupants. The display output in FIG. 5 or the display output at a position corresponding to FIG. 5 for the target vehicle 3a and its occupants may be combined with the display output in FIG. 6 or the display output at a position corresponding to FIG. 6 for the human 3b. The display output in FIG. 6 or the display output at a position corresponding to FIG. 6 for the target vehicle 3a and its occupants may be combined with the display output in FIG. 5 or the display output at a position corresponding to FIG. 5 for the human 3b. The display output in FIG. 5 or the display output at a position corresponding to FIG. 5 for the human 3b may be combined with the display output in FIG. 6 or the display output at a position corresponding to FIG. 6 for the human 3b.

[0056] Now, the warning by S110 in FIG. 4 may be performed for the selected user 30 as a projection output from a visual unit 82a different from any of the above in the host vehicle 2 to the road Rm on which the selected user 30 moves, for example, by light projection from a lighting light or image projection from a projector. Here, particularly in the case of image projection, for one or both of the target vehicle 3a and the human 3b in the blind spot area Ab who are the selected user 30, for example, a pictogram imitating the other party, a stop mark, or a red signal mark may be projection - output as a warning image.

[0057] The warning by S110 may be performed for the selected user 30 by using an audio output or an acoustic output from an auditory - stimulus - type external information unit 82 in the host vehicle 2, such as a speaker, a buzzer, a horn, or an air injector. Here, particularly, the acoustic output may be a bass output that sounds to at least one of the body of the occupant of the target vehicle 3a and the human 3b in the blind spot area Ab selected by the selected user 30.

[0058] The warning by S110 may be delivered to the selected user 30 through wireless communication via the communication system 6 between the selected user 30 and the host vehicle 2. Here, for the target vehicle 3a when the selected user 30 is selected, warning data as communication information may be delivered from the communication system 6 mounted on the host vehicle 2 to the communication module of the target vehicle 3a. In this case, in the target vehicle 3a, the warning data may be used for driving control such as at least one of acceleration / deceleration control and steering control, or warning processing based on the warning data may be carried out for the passengers from the target vehicle 3a. On the other hand, for the human 3b who enters the blind spot area Ab and is selected as the selected user 30, the warning data may be delivered to the mobile terminal they possess. In this case, warning processing based on the warning data may be carried out from the mobile terminal possessed by the human 3b who possesses the mobile terminal.

[0059] The warning by S110 in any of the output forms of the display output, projection output, voice output, acoustic output, and distribution output described above may include notification information regarding infrastructure facilities such as traffic lights existing in the blind spot area Ab and be output. In any of the output forms described, the output status of the warning by S110 may be notified from the internal information unit 80 to the passengers in the host vehicle 2 according to the control command to the internal information unit 80.

[0060] In any of the output forms described, the warning by S110 may increase the warning level as the vulnerability of the human 3b increases (i.e., the vulnerability increases), for example, due to being a child or an elderly person. At this time, when the human 3b with a high vulnerability becomes the selected user 30, a high-level warning instructing to suppress or stop the movement of the target vehicle 3a to the driving side where it is traveling may be output to the human 3b. On the other hand, when the human 3b with a high vulnerability hides in the blind spot area Ab and the target vehicle 3a becomes the selected user 30, a high-level warning instructing to suppress or stop the approach to the blind spot area Ab side may be output to the target vehicle 3a.

[0061] (Function and Effect) The function and effect of the first embodiment will be described below.

[0062] According to the first embodiment, for the blind spot area Ab formed by being hidden by the host vehicle 2 from the target vehicle 3a among other road users 3, the entry of the human 3b among other road users 3 is monitored. Therefore, in the first embodiment, a warning is output to the selected user 30 selected from at least one of the target vehicle 3a and the human 3b in the blind spot area Ab on the condition that the human 3b enters the blind spot area Ab.

[0063] According to such a first embodiment, between the target vehicle 3a which is a non-vulnerable road user and the human 3b which is a vulnerable road user in the blind spot area Ab, an avoidance action of traffic obstacles by the selected user 30 who has received a warning from the host vehicle 2 as at least one of them can be expected. Therefore, in the correlation scene between the target vehicle 3a and the human 3b via the host vehicle 2 that forms the blind spot area Ab, it becomes possible to contribute to ensuring traffic safety among these road users.

[0064] According to the first embodiment, a warning is output by the display on the traveling side of the target vehicle 3a in the host vehicle 2 to the target vehicle 3a. According to this, by the sensor sensing the warning display from the host vehicle 2 or the occupant visually recognizing it, it becomes possible to ensure traffic safety between the target vehicle 3a for which an avoidance action of traffic obstacles can be expected and the human 3b in the blind spot area Ab.

[0065] According to the first embodiment, a warning is output by the display on the traveling side of the target vehicle 3a in the host vehicle 2 that has steered and controlled the wheels 20 toward the traveling side of the target vehicle 3a. According to this, by the sensor sensing both the warning display and the wheel steering from the host vehicle 2 or the occupant visually recognizing them, it becomes possible to enhance the effect of ensuring traffic safety between the target vehicle 3a for which an avoidance action of traffic obstacles can be expected and the human 3b in the blind spot area Ab.

[0066] According to the first embodiment, a warning is output to the target vehicle 3a by wireless communication with the host vehicle 2. According to this, by making it easier to receive the warning from the host vehicle 2 in a timely and accurate manner through communication, it is possible to expect avoidance actions for traffic obstacles at any driving speed from low speed to high speed (especially at high speed where the occupants have a narrow field of view). Between the target vehicle 3a and the person 3b in the blind spot area Ab, it is possible to enhance the effect of ensuring traffic safety.

[0067] According to the first embodiment, a warning is output to the person 3b in the blind spot area Ab by a display on the person 3b side in the host vehicle 2. According to this, by visually recognizing the warning display from the host vehicle 2, it is possible to ensure traffic safety between the person 3b who can be expected to take avoidance actions for traffic obstacles in the blind spot area Ab and the target vehicle 3a.

[0068] According to the first embodiment, a warning is output to the person 3b in the blind spot area Ab by a display on the person 3b side in the host vehicle 2 of the captured image captured by the target vehicle 3a. According to this, by visually recognizing the presence of the target vehicle 3a, which is the warning target from the host vehicle 2, from the captured image, it is possible to ensure traffic safety between the person 3b who can be expected to take avoidance actions for traffic obstacles in the blind spot area Ab and the target vehicle 3a.

[0069] According to the first embodiment, a warning is output in which the display direction on the person 3b side in the host vehicle 2 is matched to the face orientation of the person 3b in the blind spot area Ab. According to this, by making it easier to visually recognize the warning display within the field of view of the face orientation, it is possible to enhance the effect of ensuring traffic safety between the person 3b who can be expected to take avoidance actions for traffic obstacles in the blind spot area Ab and the target vehicle 3a.

[0070] According to the first embodiment, for a human 3b moving toward the traveling side of the target vehicle 3a within the blind spot area Ab, a warning may be output by means of a display at a displaced location on the side of the host vehicle 2 facing the human 3b that is displaced to the side opposite to the traveling side of the target vehicle 3a. According to this, from the initial stage of entry into the blind spot area Ab from the side opposite to the traveling side of the target vehicle 3a, a warning display is visually provided, so that traffic safety can be ensured between the human 3b who can be expected to take avoidance actions for traffic obstacles within the blind spot area Ab and the target vehicle 3a.

[0071] According to the first embodiment, for a human 3b moving toward the traveling side of the target vehicle 3a within the blind spot area Ab, a warning may be output by means of a display at a displaced location on the side of the host vehicle 2 facing the human 3b that is displaced to the traveling side of the target vehicle 3a. According to this, traffic safety can be ensured between the human 3b who can be visually provided with a warning display so as to avoid traffic obstacles by escaping from within the blind spot area Ab after moving toward the traveling side of the target vehicle 3a from the displaced location of the warning display, and the target vehicle 3a.

[0072] According to the first embodiment, a warning is output in response to an increase in the risk of traffic obstacles occurring within the warning range between the human 3b who has entered the blind spot area Ab and the target vehicle 3a. According to this, at least one of the target vehicle 3a and the human 3b within the blind spot area Ab, i.e., the selected user 30, can be given a warning aiming at the timing when avoidance actions for traffic obstacles are required according to the risk. Therefore, it is possible to enhance the effect of ensuring traffic safety between the target vehicle 3a and the human 3b within the blind spot area Ab, where at least one of them receives the warning in a timely manner.

[0073] According to the first embodiment, as the vulnerability of the human 3b who has entered the blind spot area Ab increases, the warning level for the selected user 30 increases. According to this, at least one of the selected user 30, which is at least one of the target vehicle 3a and the human 3b in the blind spot area Ab, can be warned aiming at a correlation scene in which an avoidance action for traffic obstacles is required according to the vulnerability of the human 3b. Therefore, it is possible to enhance the traffic safety ensuring effect between the target vehicle 3a and the human 3b in the blind spot area Ab, in which at least one of them receives a warning in a timely manner.

[0074] According to the first embodiment, a warning is output by wireless communication between the host vehicle 2 and a mobile terminal held by the human 3b in the blind spot area Ab. According to this, since it becomes easier to receive the warning from the host vehicle 2 in a timely and accurate manner by communication in the blind spot area Ab, it is possible to enhance the traffic safety ensuring effect between the human 3b, for whom an avoidance action for traffic obstacles can be expected, and the target vehicle 3a.

[0075] According to the first embodiment, a warning is output to the selected user 30 by projection onto the road Rm on which the selected user 30 moves. According to this, at least one of the selected user 30, which is at least one of the target vehicle 3a and the human 3b in the blind spot area Ab, can recognize the warning from the projection display accompanying the movement, so that it is possible to ensure traffic safety among those road users.

[0076] According to the first embodiment, a warning is output to at least one of the selected user 30, which is at least one of the human 3b who has entered the blind spot area Ab in response to getting off from the host vehicle 2 and the target vehicle 3a. As a result, the selected user 30 can be warned aiming at the timing when an avoidance action for traffic obstacles is expected along with the getting off of the human 3b from the host vehicle 2. Therefore, it is possible to enhance the traffic safety ensuring effect between the target vehicle 3a and the human 3b in the blind spot area Ab, in which at least one of them receives a warning in a timely manner.

[0077] (Second Embodiment) The second embodiment is a modification of the first embodiment.

[0078] As shown in FIGS. 9 to 11, the actuator system 2004 of the second embodiment includes an electric mirror unit 2040 that rotationally drives a side mirror unit 2022 around a rotating shaft portion 2020 spaced apart from the vehicle body in a host vehicle 2 that is a bus. Here, the side mirror unit 2022 has a reflecting surface 2022a capable of reflecting a real image of a target, as shown in FIGS. 11 and 12.

[0079] In S2110 corresponding to S110 in the support flow of the second embodiment, as shown in FIG. 13, the control block 120 may output a warning using the drive of the reflecting surface 2022a. Specifically, in the warning by S2110, as shown in FIG. 12, a control command for driving the side mirror unit 2022 so that the reflecting surface 2022a reflects the real image of the other party to the selected user 30, who is both the target vehicle 3a and the human 3b in the blind spot area Ab, is given to the electric mirror unit 2040.

[0080] With such S2110, in the target vehicle 3a, the sensor can sense or the occupant can visually recognize the reflected output of the warning due to the reflecting surface 2022a reflecting the real image of the human 3b hidden in the blind spot area Ab as shown in FIG. 12. At the same time, the human 3b in the blind spot area Ab can visually recognize the reflected output of the warning due to the reflecting surface 2022a reflecting the real image of the target vehicle 3a traveling in the blind spot seen from itself and hidden by the host vehicle 2 as shown in FIG. 12. Note that FIG. 12 shows an example combined with the display output of FIG. 5, but of course, any of the output forms described in the first embodiment can be combined.

[0081] According to the second embodiment described so far, the reflecting surface 2022a driven in the host vehicle 2 reflects the target vehicle 3a and the human 3b in the blind spot area Ab to the respective selected users 30, thereby outputting a warning. According to this, since the target vehicle 3a and the human 3b in the blind spot area Ab can recognize the other side reflected by the reflecting surface 2022a as the warning target, it is possible to enhance the effect of ensuring traffic safety between the target vehicle 3a and the human 3b.

[0082] (Other embodiments) As described above, a plurality of embodiments have been described. However, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations without departing from the gist of the present disclosure.

[0083] In a modification, the dedicated computer constituting the support system 1 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is, for example, at least one of an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), an SOC (System on a Chip), a PGA (Programmable Gate Array), and a CPLD (Complex Programmable Logic Device). Further, such a digital circuit may have a memory storing a program.

Description of reference numerals

[0084] 1: Support system, 2: Host vehicle, 3: Other road users, 3a: Target vehicle, 3b: Human, 10: Memory, 12: Processor, 20: Wheel, 30: Selected user, 2022a: Reflecting surface, Ab: Blind spot area, Rm: Road

Claims

1. An assistance system having a processor (12) and assisting in avoiding traffic obstacles among other road users (3) under the control of a host vehicle (2), wherein the processor is configured to: monitor the entry of a human (3b) among the other road users into a blind spot area (Ab) formed by being hidden by the host vehicle from the perspective of a target vehicle (3a) among the other road users; and output a warning to a selected user (30) selected from at least one of the target vehicle and the human in the blind spot area, on the condition of the entry.

2. The output of the warning includes: outputting the warning by display on the running side of the target vehicle in the host vehicle, to the target vehicle. The assistance system according to claim 1.

3. The output of the warning includes: outputting the warning by display on the running side of the target vehicle in the host vehicle whose wheels (20) are steered and controlled toward the running side of the target vehicle. The assistance system according to claim 2.

4. The output of the warning includes: outputting the warning to the target vehicle by wireless communication between the host vehicle and the target vehicle. The assistance system according to claim 1.

5. The output of the warning includes: outputting the warning by display on the human side in the host vehicle, to the human in the blind spot area. The assistance system according to claim 1.

6. The output of the warning includes: outputting the warning by display on the human side of a captured image of the target vehicle, to the human in the blind spot area. The assistance system according to claim 5.

7. The output of the warning includes outputting the warning in which the display direction on the human side is matched to the face orientation of the human in the blind spot area, for the assistance system according to claim 5.

8. The output of the warning includes outputting the warning by display at a displaced location on the human side of the host vehicle that is displaced to the side opposite to the traveling side of the target vehicle, for the human moving toward the traveling side of the target vehicle within the blind spot area, for the assistance system according to claim 5.

9. The output of the warning includes outputting the warning by display at a displaced location on the human side of the host vehicle that is displaced to the traveling side of the target vehicle, for the human moving toward the traveling side of the target vehicle within the blind spot area, for the assistance system according to claim 5.

10. The output of the warning includes outputting the warning to the selected user in response to an increase in the risk of occurrence of the traffic obstacle within the warning range between the human who has entered the blind spot area and the target vehicle, for the assistance system according to claim 1.

11. The output of the warning includes increasing the warning level for the selected user as the vulnerability of the human who has entered the blind spot area increases, for the assistance system according to claim 1.

12. The output of the warning includes outputting the warning by wireless communication between the host vehicle and a mobile terminal held by the human within the blind spot area, for the assistance system according to claim 1.

13. The output of the warning Outputting the warning to the selected user by projecting onto a road (Rm) on which the selected user moves, the assistance system according to claim 1, comprising.

14. Output of the warning is The reflecting surface (2022a) driven in the host vehicle reflects the other side with respect to both the target vehicle and the selected user who is the human in the blind spot area, thereby outputting the warning, the assistance system according to claim 1, comprising.

15. Output of the warning is Outputting the warning to at least one of the selected users, which is at least one of the human who has entered the blind spot area in response to getting off the host vehicle and the target vehicle, the assistance system according to claim 1, comprising.

16. An assistance program stored in a storage medium (10) and including instructions to be executed by a processor (12) to assist in avoiding traffic obstacles among other road users (3) under the control of a host vehicle (2), Monitoring the entry of a human (3b) among the other road users into a blind spot area (Ab) formed by being hidden by the host vehicle as viewed from a target vehicle (3a) among the other road users, The instructions for causing execution to output a warning to a selected user (30) selected from at least one of the target vehicle and the human in the blind spot area on the condition of the entry. The assistance program.

17. An assistance method executed by a processor (12) to assist in avoiding traffic obstacles among other road users (3) under the control of a host vehicle (2), Monitoring the entry of a human (3b) among the other road users into a blind spot area (Ab) formed by being hidden by the host vehicle as viewed from a target vehicle (3a) among the other road users, A support method including outputting a warning to a selected user (30) selected from at least one of the target vehicle and the human in the blind spot area on the condition of the entry.

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