Driving assist device

Abstract

To provide a driving assist device capable of suppressing start assistance (provision of information to a driver) that is not originally required.SOLUTION: A driving assist device 1 executes starting assistance when it is detected that a preceding vehicle starts driving based on information acquired by an on-vehicle sensor 20, and when it is detected that a signal light SC of a signal device S is green based on information acquired by a communication device 30, and does not execute the starting assistance when it is detected that the preceding vehicle start driving based on the information acquired by the on-vehicle sensor 20 and when it is detected that the signal light SC of the signal device S is yellow or red based on the information acquired by the communication device 30.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a driving support device that supports (promotes) the start of a host vehicle by providing predetermined information to the driver of the host vehicle when it is detected that a preceding vehicle has started moving while the host vehicle is stopped behind the stopped preceding vehicle.

Background Art

[0002] There has been proposed a driving support device that supports the start of a host vehicle by providing predetermined information to the driver of the host vehicle when it is detected that a preceding vehicle has started moving while the host vehicle is stopped behind the stopped preceding vehicle (see, for example, Patent Document 1 below). According to the device of Patent Document 1 (hereinafter referred to as the "conventional device"), even if the driver of the host vehicle has a slightly insufficient attention to the front, the driver can promptly start the host vehicle to follow the preceding vehicle by taking advantage of the information provided by the driving support device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] By the way, at an intersection, since the traffic signal light is yellow or red, a situation is assumed where the preceding vehicle and the host vehicle are stopped. In this situation, the preceding vehicle may start moving, for example, into a right-turn (left-turn) lane. The conventional device provides predetermined information even in this situation. When the driver of the host vehicle intends to go straight through the intersection, the driver may find the provision of the information troublesome.

[0005] One object of the present invention is to provide a driving support device that can suppress the execution of unnecessary start support (provision of information to the driver).

[0006] In order to solve the above problems, the driving support device (1) of the present invention includes an in-vehicle sensor (20) that acquires information regarding the behavior of the host vehicle (V1) and information regarding the behavior of a preceding vehicle (V0) located in front of the host vehicle, and based on the information acquired from the in-vehicle sensor, when it is detected that the preceding vehicle has started moving while the preceding vehicle is stopped and the host vehicle is stopped behind the preceding vehicle, a processor (10) that executes start assistance to control the notification device (40) of the host vehicle so as to provide predetermined information to the driver of the host vehicle. The driving support device further includes a communication device (30) that acquires information representing the traffic signal color (SC) of a traffic signal (S) via a wireless communication line. When the processor detects that the preceding vehicle has started moving based on the information acquired from the in-vehicle sensor and detects that the traffic signal color is green based on the information acquired from the communication device, the processor executes the start assistance. When the processor detects that the preceding vehicle has started moving based on the information acquired from the in-vehicle sensor and detects that the traffic signal color is yellow or red based on the information acquired from the communication device, the processor does not execute the start assistance.

[0007] The driving support device according to the present invention executes start assistance when it detects that the preceding vehicle has started moving and the traffic signal color is "green". On the other hand, even if the driving support device detects that the preceding vehicle has started moving, it does not execute start assistance when the traffic signal color is "yellow" or "red". According to the driving support device of the present invention, unnecessary start assistance (notification) can be suppressed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0009] (Schematic) An operation support device 1 according to an embodiment of the present invention is mounted on a vehicle V1 (own vehicle) equipped with an automatic driving function. The operation support device 1 monitors the behavior of a preceding vehicle V0 in a situation where the automatic driving function is disabled (a situation where the driver is mainly performing driving operations) and the vehicle V1 is stopped immediately behind the preceding vehicle V0 that has stopped in front of a traffic signal S. Then, when the operation support device 1 detects that the preceding vehicle has started, it has a function (start assistance function) of providing a predetermined piece of information (information for prompting the start of the own vehicle) to the driver of the own vehicle. Here, the operation support device 1 determines whether to provide the above-mentioned predetermined information to the driver of the own vehicle according to the traffic signal color of the traffic signal S.

[0010] (Specific Configuration) As shown in FIG. 1, the operation support device 1 includes an operation support ECU 10, an in-vehicle sensor 20, a communication device 30, and a notification device 40.

[0011] The operation support ECU 10 includes a microcomputer having a CPU 10a, a ROM 10b (flash ROM), a RAM 10c, a timer 10d, etc. The operation support ECU 10 is connected to other ECUs provided in the own vehicle via a CAN (Controller Area Network).

[0012] The in-vehicle sensor 20 includes a millimeter-wave radar 21, a front camera 22, a speed sensor 23, and a hazard switch 24.

[0013] The millimeter-wave radar 21 includes a transmission / reception unit and a signal processing unit (not shown). The transmission / reception unit radiates radio waves in the millimeter-wave band (hereinafter referred to as "millimeter waves") forward of the host vehicle, and receives the millimeter waves (reflected waves) reflected by a three-dimensional object (preceding vehicle) located within the radiation range. The signal processing unit calculates the distance between the host vehicle and the three-dimensional object, the speed of the three-dimensional object, etc. (the behavior of the preceding vehicle) based on the time from when the transmission / reception unit radiates the millimeter waves until the reflected waves are received, the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, etc., and transmits the calculation result to the driving support ECU 10.

[0014] The front camera 22 includes an imaging device and an image analysis device. The imaging device is, for example, a digital camera incorporating an image sensor composed of a CCD (charge coupled device). The imaging device is assembled at the front of the passenger compartment. The imaging device is directed forward. The imaging device captures a predetermined area in front of the host vehicle at a predetermined frame rate to acquire image data. The imaging device provides the image data to the image analysis device. The image analysis device can analyze the acquired image data to identify the type of object (preceding vehicle, pedestrian, etc.) located in front of the host vehicle. Further, the image analysis device acquires (calculates) information regarding the behavior of the preceding vehicle located in front of the host vehicle based on changes in the images (time-series data composed of a plurality of image data). For example, the image analysis device acquires (calculates) the speed (relative speed) of the preceding vehicle with respect to the host vehicle based on changes in the position and size of the license plate of the preceding vehicle within the angle of view. The image analysis device transmits the above calculation result to the driving support ECU 10.

[0015] The speed sensor 23 detects the rotational speed (wheel speed) of each wheel of the host vehicle, and calculates the speed v1 of the host vehicle (the behavior of the host vehicle) based on the wheel speeds of the respective wheels. The speed sensor 23 transmits the speed v1 to the driving support ECU 10.

[0016] The hazard switch 24 includes a push-button type switch device for operating (flashing) the hazard lamp of the host vehicle. The driving support ECU 10 monitors the on / off state of the hazard switch 24.

[0017] The communication device 30 acquires the traffic signal color of the traffic signal S facing the host vehicle from a server computer of the advanced road traffic system (hereinafter referred to as the "ITS server") via a wireless communication line in the 760 MHz band. The communication device 30 transmits the acquired traffic signal color to the driving support ECU 10.

[0018] The notification device 40 includes an image display device 41 and an acoustic device 42. The image display device 41 and the acoustic device 42 are incorporated in, for example, the instrument panel of the host vehicle. The image display device 41 displays an image according to an image display command acquired from the driving support ECU 10. Further, the acoustic device 42 reproduces sound according to a voice reproduction command acquired from the driving support ECU 10.

[0019] (Start support function) The driving support ECU 10 acquires various information from the millimeter wave radar 21 and the front camera 22, and sequentially determines whether or not a vehicle V0 (preceding vehicle) exists in front of the vehicle V1 (host vehicle) based on the information. When the driving support ECU 10 determines that a preceding vehicle exists, it acquires the speed v0 of the preceding vehicle based on the information acquired from the millimeter wave radar 21 and the front camera 22, and acquires the speed v1 of the host vehicle based on the information acquired from the speed sensor 23. When the speeds v0 and v1 are "0 km / h" (that is, when the host vehicle is stopped behind a stopped preceding vehicle), the driving support ECU 10 starts monitoring the behavior of the preceding vehicle. That is, the driving support ECU 10 sequentially determines whether or not the preceding vehicle has started based on the information acquired from the millimeter wave radar 21 and the front camera 22. Specifically, when the driving support ECU 10 detects that the distance Δd between the host vehicle and the preceding vehicle has increased and exceeded the threshold value Δdth based on the information, it determines that the preceding vehicle has started. Note that the driving support ECU 10 may determine that the preceding vehicle has started when it detects that the speed v0 of the preceding vehicle has increased and exceeded the threshold value v0th based on the information.

[0020] When the driving support ECU 10 determines that the preceding vehicle has started, it acquires the traffic signal color SC of the traffic signal S from the communication device 30 (ITS server). When the traffic signal color SC is "green (blue)", the driving support ECU 10 transmits various command signals to the notification device 40 so as to provide predetermined information to the driver of the host vehicle. Specifically, an "image for prompting the host vehicle to start" is displayed on the image display device 41 of the notification device 40, and a predetermined sound (for example, a beep sound) is reproduced by the acoustic device 42.

[0021] However, even if the traffic signal color SC is "green (blue)", if the driving support ECU 10 determines that the driver of the host vehicle has no intention of starting the host vehicle, the above-mentioned predetermined information is not provided to the driver of the host vehicle. For example, when the hazard switch 24 is in the ON state (when the hazard lamp is operating), the driving support ECU 10 determines that the driver of the host vehicle has no intention of starting the host vehicle.

[0022] Even if the driving support ECU 10 detects that the preceding vehicle has started, if the traffic signal color SC is "yellow" or "red", the above-mentioned predetermined information is not provided to the driver of the host vehicle. Also, when the driving support ECU 10 cannot acquire the traffic signal color SC of the traffic signal S, the above-mentioned predetermined information is not provided to the driver of the host vehicle.

[0023] Next, with reference to FIG. 2, the operation (start support function) of the driving support device 1 will be specifically described. FIG. 2(A) shows a scene where the preceding vehicle has started (passed through the intersection) under the condition that the traffic signal color SC of the traffic signal S is "green". Note that the hazard lamp of the host vehicle is not operating. In this scene, the driving support device 1 causes the notification device 40 to display a message "The signal is green. Please check the surrounding situation and start." and reproduce a beep sound.

[0024] FIG. 2(B) shows a scene where the preceding vehicle that has been stopped starts to enter the right-turn lane under the condition that the traffic signal color SC of the traffic signal S is "red". Note that the hazard lamp of the host vehicle is not operating. In this scene, although the preceding vehicle has started but the traffic signal color SC is "red", the driving support device 1 does not cause the notification device 40 to display the above message and does not reproduce the beep sound.

[0025] Next, referring to FIG. 3, a program PR1 executed by the CPU 10a (hereinafter simply referred to as "CPU") to implement the above start support function will be described.

[0026] When the CPU detects that the ignition switch of the vehicle V1 has transitioned from the off state to the on state, it starts the execution of the program PR1.

[0027] (Program PR1) The CPU starts the execution of the program PR1 from step 100 and proceeds to step 101.

[0028] At step 101, the CPU determines whether a preceding vehicle has been detected (the presence or absence of a preceding vehicle) based on the information acquired from the millimeter-wave radar 21 and the front camera 22. If the CPU determines that a preceding vehicle has been detected (101: Yes), it proceeds to step 102. On the other hand, if the CPU determines that a preceding vehicle has not been detected (101: No), it returns the process to step 101.

[0029] At step 102, the CPU determines whether the preceding vehicle and the host vehicle are stopped (whether the speed v0 = 0 and the speed v1 = 0). If the CPU determines that the preceding vehicle and the host vehicle are stopped (102: Yes), it proceeds to step 103. On the other hand, if the CPU determines that the preceding vehicle and the host vehicle are not stopped (102: No), it returns the process to step 101.

[0030] The CPU determines at step 103 whether the leading vehicle has started moving. If the CPU determines that the leading vehicle has started moving (103: Yes), it proceeds to step 104. On the other hand, if the CPU does not determine that the leading vehicle has started moving, it returns the process to step 103.

[0031] At step 104, the CPU requests the traffic signal color SC (providing information regarding the traffic signal color) of traffic signal S from the ITS server. Then, the CPU proceeds to step 105.

[0032] At step 105, the CPU determines whether it has obtained the traffic signal color SC. If the CPU has obtained the traffic signal color SC (105: Yes), it proceeds to step 106. On the other hand, if the CPU has not obtained the traffic signal color SC (105: No), it proceeds to step 109.

[0033] At step 106, the CPU determines whether the traffic signal color SC is "green". If the CPU determines that the traffic signal color SC is "green" (106: Yes), it proceeds to step 107. On the other hand, if the CPU does not determine that the traffic signal color SC is "green" (106: No), it proceeds to step 109.

[0034] At step 107, the CPU determines whether the driver of the host vehicle has the intention to start the host vehicle. When the hazard switch 24 is in the off state, the CPU determines that the driver of the host vehicle has the intention to start the host vehicle. On the other hand, when the hazard switch 24 is in the on state, the CPU determines that the driver of the host vehicle does not have the intention to start the host vehicle. If the CPU determines that the driver of the host vehicle has the intention to start the host vehicle (107: Yes), it proceeds to step 108. On the other hand, if the CPU does not determine that the driver of the host vehicle has the intention to start the host vehicle (107: No), it proceeds to step 109.

[0035] The CPU executes the start assistance process in step 108. That is, the CPU controls the notification device 40 so that predetermined information is provided to the driver of the host vehicle. Then, the CPU returns the process to step 101.

[0036] If the CPU proceeds to step 109, it returns the process to step 101 without executing the start assistance process.

[0037] (Effect) As described above, the driving support device 1 detects that the preceding vehicle has started, and executes start assistance when the traffic signal color SC of the traffic signal S is "green". On the other hand, even if the driving support device 1 detects that the preceding vehicle has started, it does not execute start assistance when the traffic signal color SC of the traffic signal S is "yellow" or "red". Note that even if the driving support device 1 detects that the preceding vehicle has started and the traffic signal color SC of the traffic signal S is "green", it does not execute start assistance if the driver of the host vehicle does not have the intention to start the host vehicle. Thus, according to the present embodiment, unnecessary start assistance (notification) can be suppressed.

[0038] The present invention is not limited to the above embodiment, and various modifications can be adopted within the scope of the present invention.

[0039] (Modification 1) In the above embodiment, the CPU determines that the driver of the host vehicle does not have the intention to start the host vehicle when the hazard lamp of the host vehicle is operating. Instead, for example, the CPU may determine that the driver does not have the intention to start the host vehicle when the host vehicle is in a state of being braked by the parking brake device, or when the shift position is in a position other than the forward position.

[0040] (Modification Example 2) In the above-described embodiment, the CPU determines whether or not the driver of the host vehicle has the intention to start the host vehicle (see step 107 in FIG. 3), but this process may be omitted (skipped). That is, when the CPU determines in step 106 that the traffic light color SC is "green" (106: Yes), the process may proceed to step 108.

Description of Reference Numerals

[0041] 1... Driving support device, 10... Driving support ECU, 20... In-vehicle sensor, 30... Communication device, 40... Notification device

Claims

【Claim 1】 An in-vehicle sensor that acquires information regarding the behavior of the host vehicle and information regarding the behavior of a preceding vehicle located ahead of the host vehicle, A processor that executes start assistance for controlling a notification device of the host vehicle so as to provide predetermined information to a driver of the host vehicle when it is detected based on the information acquired from the in-vehicle sensor that the preceding vehicle has started moving in a situation where the preceding vehicle is stopped and the host vehicle is stopped behind the preceding vehicle, A driving support device comprising: A communication device that acquires information representing the traffic signal color via a wireless communication line, The processor: Executes the start assistance when it is detected based on the information acquired from the in-vehicle sensor that the preceding vehicle has started moving and it is detected based on the information acquired from the communication device that the traffic signal color is green, Does not execute the start assistance when it is detected based on the information acquired from the in-vehicle sensor that the preceding vehicle has started moving and it is detected based on the information acquired from the communication device that the traffic signal color is yellow or red, A driving support device configured as described above.

Images