Driving assist system

Abstract

To provide a driving assist system capable of preventing a vehicle from coming into contact with an obstacle when the vehicle makes a curving motion at an intersection.SOLUTION: A driving assist system that can communicate with a monitoring system which monitors each of crosswalks laid along the perimeter of an intersection and detects an obstacle in the crosswalk includes a motion prediction unit that predicts a curving motion at the intersection of the vehicle, a contact prediction unit that, when the curving motion at the intersection of the vehicle is predicted by the motion prediction unit, predicts a contact of the vehicle with an obstacle in the crosswalk in the curving direction of the vehicle, and a speed management unit that, when the contact of the vehicle with the obstacle in the crosswalk in the curving direction is predicted by the contact prediction unit, performs safety processing relevant to deceleration of the vehicle.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a driving support device.

Background Art

[0002] In Patent Document 1 below, an automatic braking device mounted on a vehicle is disclosed, and automatic braking control is executed when there is a possibility of contact with a forward obstacle.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Such an automatic braking device is mainly for avoiding a collision with a vehicle ahead when the vehicle is going straight. Therefore, for example, when the vehicle makes a turning operation within an intersection, there is a risk that the vehicle cannot detect or detects with a delay an obstacle moving on the crosswalk.

[0005] When the vehicle makes a turning operation within an intersection as described above, on the crosswalk, the front of the vehicle does not face the inner wheel side of the vehicle's traveling path. Therefore, when the vehicle makes a turning operation within an intersection, in particular, there is a risk that the vehicle cannot detect or detects with a delay an obstacle moving on the crosswalk from the inner wheel side to the outer wheel side of the vehicle's traveling path.

[0006] The present invention has been made in view of the above circumstances, and an object thereof is to provide a driving support device capable of preventing contact between the vehicle and an obstacle when the vehicle makes a turning operation at an intersection.

Means for Solving the Problems

[0007] The present invention has been made to solve at least a part of the above-described problems, and can be realized as the following aspects or application examples.

[0008] The driving support device according to this application example is a driving support device mounted on a vehicle, which can communicate with a monitoring device that monitors each crosswalk installed around an intersection and detects obstacles on the crosswalk, and includes: an operation prediction unit that predicts a curve operation of the vehicle at the intersection; a contact prediction unit that predicts contact between the vehicle and an obstacle on the crosswalk in the curve direction of the vehicle when the curve operation of the vehicle at the intersection is predicted by the operation prediction unit; and a speed management unit that executes a safety process related to deceleration of the vehicle when the contact prediction unit predicts contact between the vehicle and an obstacle on the crosswalk in the curve direction of the vehicle.

[0009] According to this application example, when a vehicle enters an intersection and performs a curve operation, it is possible to execute a safety process before the vehicle enters the intersection. Therefore, according to this application example, it is possible to prevent contact between the vehicle and an obstacle when the vehicle performs a curve operation at the intersection.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0011] 1. Intersection and Its Vicinity First, referring to FIGS. 1 and 2, the intersection C and its vicinity will be described. FIGS. 1 and 2 are schematic views showing the intersection C and its vicinity of the present embodiment.

[0012] Also, in this specification, when viewed from the intersection C of the roads 10, articles, data, etc. related to the first direction D side among the extending directions of the road 10 are denoted by the symbol D, and when viewed from the intersection C of the roads 10, articles, data, etc. related to the second direction E side among the extending directions of the road 10 are denoted by the symbol E, and when viewed from the intersection C of the roads 10, articles, data, etc. related to the third direction F side among the extending directions of the road 10 are denoted by the symbol F, and when viewed from the intersection C of the roads 10, articles, data, etc. related to the fourth direction G side among the extending directions of the road 10 are denoted by the symbol G to distinguish them.

[0013] Also, in this specification, the front - rear direction of the vehicle 60, in other words, the vehicle length direction means the front - rear direction as viewed from the driver 62 of the vehicle 60. Also, the left - right direction of the vehicle 60, in other words, the vehicle width direction means the left - right direction as viewed from the driver 62 of the vehicle 60.

[0014] As shown in FIGS. 1 and 2, around the intersection C of the roads 10 (10A, 10B), a crosswalk 12 straddling the road 10 is installed. The crosswalk 12 includes a first crosswalk 12D, a second crosswalk 12E, a third crosswalk 12F, and a fourth crosswalk 12G.

[0015] Specifically, the first crosswalk 12D and the third crosswalk 12F face each other across the intersection C and straddle the road 10A. The second crosswalk 12E and the fourth crosswalk 12G face each other across the intersection C and straddle the road 10B.

[0016] Also, around the intersection C, traffic lights 14 are installed so as to face each other across the crosswalk 12. The traffic lights 14 are traffic lights for the crosswalk 12. The traffic lights 14 include a first traffic light 14D, a second traffic light 14E, a third traffic light 14F, and a fourth traffic light 14G.

[0017] Specifically, the first traffic signal 14D faces each other across the first crosswalk 12D, the second traffic signal 14E faces each other across the second crosswalk 12E, the third traffic signal 14F faces each other across the third crosswalk 12F, and the fourth traffic signal 14G faces each other across the fourth crosswalk 12G.

[0018] In such an intersection C, when the entry of the vehicle 60 on the road 10A into the intersection C is prohibited, as shown in FIG. 1, the first traffic signal 14D and the third traffic signal 14F permit crossing of the road 10A using the first crosswalk 12D and the third crosswalk 12F.

[0019] Also, in such a case, as shown in FIG. 1, the entry of the vehicle 60 on the road 10B into the intersection C, as well as straight-ahead and right / left turn movements, are permitted, and the second traffic signal 14E and the fourth traffic signal 14G prohibit crossing of the road 10B using the second crosswalk 12E and the fourth crosswalk 12G.

[0020] On the other hand, as shown in FIG. 2, when the entry of the vehicle 60 on the road 10B into the intersection C is prohibited, the second traffic signal 14E and the fourth traffic signal 14G permit crossing of the road 10B using the second crosswalk 12E and the fourth crosswalk 12G.

[0021] Also, in such a case, the entry of the vehicle 60 on the road 10A into the intersection C, as well as straight-ahead and right / left turn movements, are permitted, and the first traffic signal 14D and the third traffic signal 14F prohibit crossing of the road 10A using the first crosswalk 12D and the third crosswalk 12F.

[0022] 2. Driving Support System FIG. 3 is a schematic diagram showing intersection C of the present embodiment and its surroundings. Also, FIG. 3 is a diagram corresponding to FIG. 1. FIG. 4 is a block diagram showing an example of the electrical configuration of the monitoring device 30 of the present embodiment. FIG. 5 is a schematic diagram showing an example of the configuration of the vehicle 60 of the present embodiment. Also, in FIG. 5, an example of the electrical configuration of the driving support device 90 provided in the vehicle 60 is shown in a block diagram. Next, the driving support system 20 will be described with reference to FIGS. 3 to 5.

[0023] The driving support system 20 is a system that supports the driving of the vehicle 60 of the driver 62, and includes a monitoring device 30 (see FIG. 4) and a driving support device 90 (see FIG. 5).

[0024] The monitoring device 30 is a device for monitoring each crosswalk 12 installed around the intersection C. The monitoring device 30 includes a monitoring unit 38, a communication unit 40, and the like. Also, the monitoring device 30 shares a power source with, for example, the traffic signal 14.

[0025] The monitoring unit 38 is provided, for example, in the housing of the traffic signal 14 and monitors the crosswalk 12. As the monitoring unit 38, a general-purpose camera or the like is used. According to the monitoring unit 38, the situation on the crosswalk 12 is monitored.

[0026] The monitoring unit 38 includes a first monitoring unit 38D, a second monitoring unit 38E, a third monitoring unit 38F, and a fourth monitoring unit 38G. The first monitoring unit 38D to the fourth monitoring unit 38G are provided in the respective housings of the first traffic signal 14D to the fourth traffic signal 14G. The first monitoring unit 38D to the fourth monitoring unit 38G monitor the first crosswalk 12D to the fourth crosswalk 12G, respectively.

[0027] The communication unit 40 is provided, for example, in the housing of the traffic signal 14 and directly performs wireless communication with the communication unit 108 of the driving support device 90. As the communication unit 40, for example, a general-purpose wireless communication module is used. According to the communication unit 40, transmission and reception of data and the like are performed. Note that the communication unit 40 can also transmit and receive various commands.

[0028] In addition, the communication unit 40 has directivity. Specifically, the communication unit 40 communicates with the driving support device 90 outside the intersection C on the road 10. The communication unit 40 emits radio waves toward the outside of the intersection C on the road 10. Also, the communication unit 40 receives radio waves transmitted from the outside of the intersection C on the road 10.

[0029] The communication unit 40 includes a first communication unit 40D, a second communication unit 40E, a third communication unit 40F, and a fourth communication unit 40G. The first communication unit 40D to the fourth communication unit 40G are respectively provided in the casings of the first traffic signal 14D to the fourth traffic signal 14G. Also, the first communication unit 40D to the fourth communication unit 40G respectively communicate with the driving support devices 90 on the first direction D side to the fourth direction G side.

[0030] The driving support device 90 is a device mounted on the vehicle 60 and supports the driving of the vehicle 60 by the driver 62. The driving support device 90 includes a communication unit 108.

[0031] The communication unit 108 is provided in the front part inside the vehicle body of the vehicle 60 and directly performs wireless communication with the communication unit 40 of the monitoring device 30. As the communication unit 108, for example, a general-purpose wireless communication module is used. According to the communication unit 108, transmission and reception of data and the like are performed. Note that the communication unit 108 can also transmit and receive various commands.

[0032] In addition, the communication unit 108 has directivity. Specifically, the communication unit 108 can communicate with the communication unit 40 in front of the vehicle 60. The communication unit 108 emits radio waves toward the front of the vehicle 60. Also, the communication unit 108 receives radio waves transmitted from the front of the vehicle 60.

[0033] 3. Configuration of the Monitoring Device Next, with reference to FIGS. 3 and 4, the configuration of the monitoring device 30 will be described. In addition to the communication unit 40 and the like, the monitoring device 30 includes a control unit 32 and the like, and the control unit 32 is communicably connected to each of the monitoring unit 38, the communication unit 40, and the like via a circuit such as a bus.

[0034] The control unit 32 is a computer that controls the overall operation of the monitoring device 30, and includes a CPU (Central Processing Unit) 34 and a storage unit 36 that can be directly accessed by the CPU 34. The storage unit 36 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

[0035] The storage unit 36 stores programs and data for controlling the operation of the monitoring device 30. Also, the data acquired by the components of the monitoring device 30 is appropriately stored in the storage unit 36. Furthermore, the data already stored in the storage unit 36 is appropriately deleted or updated.

[0036] As described above, the monitoring unit 38 monitors the crosswalk 12. Therefore, according to each monitoring unit 38, monitoring information indicating the situation on the crosswalk 12 is acquired and stored in the storage unit 36 as monitoring data 46.

[0037] The monitoring data 46 includes first monitoring data 46D, second monitoring data 46E, third monitoring data 46F, and fourth monitoring data 46G. The first monitoring data 46D to the fourth monitoring data 46G respectively indicate the situations on the first crosswalk 12D to the fourth crosswalk 12G.

[0038] Specifically, the monitoring data 46 is image data or video data. Also, each monitoring data 46 may be updated as necessary. For example, when monitoring each crosswalk 12 in real time using each monitoring unit 38, each monitoring data 46 is constantly updated.

[0039] As described above, the storage unit 36 stores programs and data for controlling the monitoring device 30, and the CPU 34 functions as an obstacle detection unit 42, a data processing unit 44, etc. by executing the program.

[0040] The obstacle detection unit 42 refers to each monitoring data 46 and detects obstacles 16 (see FIG. 3) on each crosswalk 12. Specifically, the obstacle 16 refers to an object that may obstruct the progress of the vehicle 60.

[0041] Examples of the obstacle 16 include an object that crosses the road 10 by moving on the crosswalk 12. In addition, examples of an object that crosses the road 10 by moving on the crosswalk 12 include a pedestrian, a bicycle, a cyclist, and a pet. Further, examples of the obstacle 16 include an object that temporarily stops on the crosswalk 12. Examples of an object that temporarily stops on the crosswalk 12 include other vehicles.

[0042] According to the obstacle detection unit 42, determination information indicating the presence or absence of the obstacle 16 on the crosswalk 12 is stored in the storage unit 36 as determination data 48. The determination data 48 includes first determination data 48D, second determination data 48E, third determination data 48F, and fourth determination data 48G. The first determination data 48D to the fourth determination data 48G indicate the presence or absence of the obstacle 16 on the first crosswalk 12D to the fourth crosswalk 12G, respectively.

[0043] In addition, each determination data 48 may be updated as necessary. For example, when detecting the obstacle 16 on each crosswalk 12 in real time, the obstacle detection unit 42 constantly refers to each monitoring data 46 that is constantly updated as described above, and each determination data 48 is appropriately updated.

[0044] The data processing unit 44 transmits and receives data and the like via each communication unit 40. Note that the data processing unit 44 can also transmit and receive various commands via each communication unit 40.

[0045] When a transmission instruction for the determination data 48 is sent from the communication unit 108 of the driving support device 90 and the data processing unit 44 receives the transmission instruction via the communication unit 40, the data processing unit 44 transmits the determination data 48 corresponding to the instruction content to the communication unit 108 of the driving support device 90 via the communication unit 40. Note that the communication unit 40 used when sending back the determination data 48 in this way is the same as the communication unit 40 that received the transmission instruction for the determination data 48.

[0046] The transmission instruction for the determination data 48 requests the determination data 48 corresponding to the crosswalk 12 in the curve direction of the vehicle 60. Also, there are two types of contents in the transmission instruction for the determination data 48, and the content is along either the right direction or the left direction of the vehicle 60.

[0047] The storage unit 36 stores position data 50 indicating the positional relationship between the communication units 40. Specifically, the position data 50 indicates the positional relationship between the crosswalks 12 when looking at the intersection C from outside the intersection C of the road 10. Therefore, it can be said that the position data 50 is data indicating the positional relationship between the crosswalks 12 as seen by the driver 62 of the vehicle 60 approaching the intersection C.

[0048] The position data 50 includes first position data 50D, second position data 50E, third position data 50F, and fourth position data 50G. The first position data 50D to the fourth position data 50G respectively indicate the positional relationship between the crosswalks 12 when looking at the intersection C from the first direction D side to the fourth direction G side of the road 10.

[0049] Based on the communication unit 40 that received the transmission instruction for the determination data 48, the data processing unit 44 identifies the direction in which the vehicle 60 approaching the intersection C exists among the first direction D to the fourth direction G, and further refers to the position data 50 corresponding to that direction side to identify the crosswalk 12 in the curve direction of the vehicle 60.

[0050] When the data processing unit 44 identifies the crosswalk 12 in the curve direction of the vehicle 60 in this way, it transmits the determination data 48 corresponding to the crosswalk 12 to the communication unit 108 of the driving assistance device 90 via the communication unit 40 as described above.

[0051] 4. Configuration of Vehicle and Driving Assistance Device Next, with reference to FIG. 5, the vehicle 60 equipped with the driving assistance device 90 will be described. The vehicle 60 is, for example, a truck of an electric vehicle. The drive unit 64 of the vehicle 60 converts the electric power supplied from a battery (not shown) into driving force and transmits it to the rear wheels 68 via the drive shaft 66. That is, the rear wheels 68 are drive wheels.

[0052] The drive unit 64 includes an inverter (not shown), a motor generator (not shown), a gearbox (not shown), a differential device (not shown), etc., and these are integrally configured.

[0053] The braking mechanism 70 of the vehicle 60 applies braking force to both the front wheels 76 and the rear wheels 68. The braking mechanism 70 corresponds to the drum brake system, but it may also be of the disc brake system.

[0054] The braking mechanism 70 includes a friction member (not shown), a hydraulic circuit (not shown), an electric pump (not shown), a solenoid valve (not shown), etc. The operation of the braking mechanism 70 is performed according to the operation of the brake pedal (not shown) of the vehicle 60 or electrical control.

[0055] The steering wheel 72 of the vehicle 60 is operated by the driver 62 when adjusting the traveling direction of the vehicle 60. For example, the steering wheel 72 is operated when the vehicle 60 performs a curve operation. Also, the curve operation includes a right turn operation and a left turn operation.

[0056] The steering force applied to the steering wheel 72 is transmitted to the front wheels 76 via a transmission mechanism (not shown) and a steering shaft 74 or the like. That is, the front wheels 76 are driven wheels.

[0057] The direction input unit 78 of the vehicle 60 is operated by the driver 62 when changing lanes of the vehicle 60 or when performing a curve operation with the vehicle 60.

[0058] In addition to a drive unit 64 or the like, the vehicle 60 includes a driving support device 90. As described above, the driving support device 90 supports the driving of the vehicle 60 by the driver 62. Specifically, when the vehicle 60 enters an intersection C, the driving support device 90 executes safety processing as necessary. The safety processing is processing related to deceleration of the vehicle 60.

[0059] The driving support device 90 includes a control unit 92, a steering sensor 98, an operation detection unit 100, a speed sensor 102, a navigation unit 104, and a notification unit 106, in addition to a communication unit 108 or the like.

[0060] Further, the control unit 92 is communicably connected to each of the steering sensor 98, the operation detection unit 100, the speed sensor 102, the navigation unit 104, the notification unit 106, and the communication unit 108 via a circuit such as a bus.

[0061] The control unit 92 is a computer that performs overall control of the driving support device 90, and includes a CPU (Central Processing Unit) 94 and a storage unit 96 directly accessible by the CPU 94. The storage unit 96 includes, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory).

[0062] A program and data for controlling the operation of the driving support device 90 are stored in the storage unit 96. Further, data acquired by components of the driving support device 90 is appropriately stored in the storage unit 96. Furthermore, data already stored in the storage unit 96 is appropriately deleted or updated.

[0063] The steering sensor 98 is an angle sensor that detects the steering angle of the steering wheel 72. According to the steering sensor 98, steering angle information indicating the steering angle of the steering wheel 72 is stored in the storage unit 96 as steering angle data 120.

[0064] Also, the steering angle data 120 may be updated as necessary. For example, when the steering angle of the steering wheel 72 is detected in real time, the steering angle data 120 is updated constantly.

[0065] The operation detection unit 100 detects an operation on the direction input unit 78. According to the operation detection unit 100, direction information corresponding to the operation on the direction input unit 78 is stored in the storage unit 96 as direction data 122. The direction information specifically indicates one of the right direction and the left direction of the vehicle 60.

[0066] Also, the direction data 122 may be deleted from the storage unit 96 as necessary. For example, when the steering sensor 98 is operated and the vehicle 60 performs a curve operation or a lane change in the direction indicated by the direction data 122, the direction data 122 is deleted from the storage unit 96.

[0067] The speed sensor 102 detects the speed of the vehicle 60. Specifically, the speed sensor 102 measures the speed of the vehicle 60 after measuring the rotation speed of the drive system that rotates as the vehicle 60 travels. In the speed sensor 102, for example, the rotation speed of the drive shaft 66 is detected. According to the speed sensor 102, speed information indicating the speed of the vehicle 60 is stored in the storage unit 96 as speed data 124.

[0068] Also, the speed data 124 may be updated as necessary. For example, when the speed of the vehicle 60 is detected in real time using the speed sensor 102, the speed data 124 is updated constantly.

[0069] The navigation unit 104 is equipped with a GPS (Global Positioning System) (not shown), and uses the GPS and map information to appropriately acquire the current position of the vehicle 60 and information about the surroundings of the vehicle 60. The navigation unit 104 can also acquire the planned route from the current position of the vehicle 60 to the destination.

[0070] As the navigation unit 104, application software of information processing terminals such as smartphones and tablets may be used, or a terminal equipped with a dedicated car navigation system may be used. The map information is stored in advance as map data 126 in the navigation unit 104 or the storage unit 96.

[0071] The notification unit 106 notifies the driver 62 of various information using at least one of an auditory transmission method, a visual transmission method, and a tactile transmission method. For example, when a speaker or the like is used as the notification unit 106, various information is audibly notified to the driver 62. When a display, a light-emitting device, or the like is used as the notification unit 106, various information is visually notified to the driver 62. Further, when a vibrator or the like is used as the notification unit 106, various information is tactilely notified to the driver 62.

[0072] As described above, the storage unit 96 stores a program and data for controlling the operation of the driving support device 90, and the CPU 94 functions as the approach detection unit 110, the operation prediction unit 112, the data acquisition unit 114, the contact prediction unit 116, the speed management unit 118, etc. by executing the program.

[0073] The approach detection unit 110 detects the approach of the vehicle 60 to the intersection C. Specifically, the approach detection unit 110 detects the approach of the vehicle 60 to the intersection C in response to the communication unit 108 detecting the radio wave emitted by the communication unit 40 of the monitoring device 30. The approach detection unit 110 also detects the separation of the vehicle 60 from the intersection C in response to the inability to detect the radio wave emitted by the communication unit 40 of the monitoring device 30.

[0074] The motion prediction unit 112 predicts the curve motion of the vehicle 60 at the intersection C. Specifically, when the approach detection unit 110 detects the approach of the vehicle 60 to the intersection C and the operation detection unit 100 detects an operation on the direction input unit 78, the motion prediction unit 112 predicts the curve motion of the vehicle 60 corresponding to the operation.

[0075] The data acquisition unit 114 appropriately acquires the determination data 48 corresponding to the crosswalk 12 in the curve direction of the vehicle 60. Specifically, when the motion prediction unit 112 predicts the curve motion of the vehicle 60, the data acquisition unit 114 transmits a transmission instruction for the determination data 48 corresponding to the crosswalk 12 in the curve direction of the vehicle 60 to the monitoring device 30, and then receives the determination data 48 transmitted from the monitoring device 30.

[0076] When the motion prediction unit 112 predicts the curve motion of the vehicle 60 at the intersection C, the contact prediction unit 116 predicts the contact between the vehicle 60 and the obstacle 16 on the crosswalk 12 in the curve direction of the vehicle 60.

[0077] Specifically, when the motion prediction unit 112 predicts the curve motion of the vehicle 60 at the intersection C and the data acquisition unit 114 acquires the determination data 48, the contact prediction unit 116 refers to the speed data 124 in addition to the determination data 48. By referring to the determination data 48 and the speed data 124, the contact prediction unit 116 predicts the contact between the vehicle 60 and the obstacle 16 on the crosswalk 12 in the curve direction of the vehicle 60 when there is an obstacle 16 on the crosswalk 12 in the curve direction of the vehicle 60 and the speed of the vehicle 60 is equal to or higher than the threshold value.

[0078] When the contact prediction unit 116 predicts the contact between the vehicle 60 and the obstacle 16, the speed management unit 118 executes safety processing. Specifically, when the contact between the vehicle 60 and the obstacle 16 on the crosswalk 12 in the curve direction of the vehicle 60 is predicted, the speed management unit 118 refers to the steering angle data 120 and executes safety processing before the curve motion of the vehicle 60 is actually performed, that is, before the vehicle 60 enters the intersection C.

[0079] The safety process is a process related to the deceleration of the vehicle 60 as described above. In the safety process, for example, the notification unit 106 notifies the driver 62 that deceleration of the vehicle 60 is necessary. In this case, the safety process can also be said to be a notification process.

[0080] Also, for example, in the safety process, the braking mechanism 70 may be operated by electrically controlling it to decelerate the vehicle 60 so that the speed of the vehicle 60 becomes less than the threshold value. In this case, the safety process can also be said to be a deceleration process.

[0081] Furthermore, for example, in the safety process, these may be implemented in the order of notification by the notification unit 106 and operation of the braking mechanism 70, or these may be implemented together.

[0082] 5. Operation example of the driving support device FIG. 6 is a flowchart showing an example of the operation of the control unit 92 of the driving support device 90 according to the present embodiment. The flow shown in FIG. 6 starts, for example, when the vehicle 60 starts.

[0083] In step S1, the control unit 92 determines whether the approach of the vehicle 60 to the intersection C has been detected. Specifically, the control unit 92 determines whether the radio wave emitted by the monitoring device 30 has been detected by the communication unit 108. If it is "NO" in step S1, that is, if the approach of the vehicle 60 to the intersection C has not been detected, the control unit 92 returns the flow. On the other hand, if it is "YES" in step S1, that is, if the approach of the vehicle 60 to the intersection C has been detected, the control unit 92 proceeds to step S2 for processing.

[0084] In step S2, the control unit 92 determines whether the direction input unit 78 has been operated. Specifically, the control unit 92 determines whether an operation on the direction input unit 78 has been detected. If it is "NO" in step S2, that is, if the direction input unit 78 has not been operated, the control unit 92 returns the flow. On the other hand, if it is "YES" in step S2, that is, if the direction input unit 78 has been operated, the control unit 92 proceeds to step S3 for processing.

[0085] In step S3, the control unit 92 predicts the curve operation of the vehicle 60 and proceeds to step S4 for processing. In step S4, the control unit 92 acquires the determination data 48 corresponding to the crosswalk 12 in the curve direction. Specifically, the control unit 92 transmits an instruction to the monitoring device 30 to transmit the determination data 48 corresponding to the crosswalk 12 in the curve direction of the vehicle 60, and then receives the determination data 48 transmitted from the monitoring device 30.

[0086] In step S5, the control unit 92 refers to the determination data 48 and determines whether there is an obstacle 16 on the crosswalk 12 in the curve direction. If it is "NO" in step S5, that is, if there is no obstacle 16 on the crosswalk 12 in the curve direction, the control unit 92 returns the flow. On the other hand, if it is "YES" in step S5, that is, if there is an obstacle 16 on the crosswalk 12 in the curve direction, the control unit 92 proceeds to step S6 for processing.

[0087] In step S6, the control unit 92 refers to the speed data 124 and determines whether the speed of the vehicle 60 is equal to or higher than the threshold value. If it is "NO" in step S6, that is, if the speed of the vehicle 60 is less than the threshold value, the control unit 92 returns the flow. On the other hand, if it is "YES" in step S6, that is, if the speed of the vehicle 60 is equal to or higher than the threshold value, the control unit 92 proceeds to step S7 for processing.

[0088] In step S7, the control unit 92 predicts the contact between the vehicle 60 and the obstacle 16 on the crosswalk 12 in the curve direction of the vehicle 60 and proceeds to step S8 for processing.

[0089] In step S8, safety processing is executed and the flow returns. Specifically, the control unit 92 causes the notification unit 106 to notify the driver 62 that deceleration of the vehicle 60 is necessary, and then operates the brake mechanism 70 to generally cause the vehicle 60 to have a speed less than the threshold value.

[0090] According to such a driving support device 90, before the vehicle 60 enters the intersection C, the curve operation of the vehicle 60 at the intersection C can be predicted. Further, when the curve operation of the vehicle 60 at the intersection C is predicted and contact between the vehicle 60 and the obstacle 16 on the crosswalk 12 in the curve direction of the vehicle 60 is predicted, safety processing, which is processing related to deceleration of the vehicle 60, is executed.

[0091] That is, according to such a driving support device 90, when the vehicle 60 enters the intersection C and performs a curve operation, it is possible to execute safety processing before the vehicle 60 enters the intersection C. Therefore, when the vehicle 60 performs a curve operation at the intersection C, contact between the vehicle 60 and the obstacle 16 can be prevented.

[0092] With the above, the description of the embodiment of the present invention ends, but the specific configuration shown in this embodiment is an example, and the aspect of the present invention is not limited to the configuration shown in each embodiment.

[0093] For example, the approach detection unit 110 of the driving support device 90 may detect the approach of the vehicle 60 to the intersection C by using the navigation unit 104.

[0094] Also, for example, the operation prediction unit 112 of the driving support device 90 may predict the curve operation of the vehicle 60 at the intersection C based on the planned route from the current position of the vehicle 60 acquired by the navigation unit 104 to the destination.

[0095] Furthermore, for example, in the safety processing, deceleration of the vehicle 60 by regenerative braking may be performed by switching the role of the motor generator of the drive unit 64 from an electric motor to a generator.

[0096] Further, for example, when the vehicle 60 is an engine-powered vehicle, in the safety process, the vehicle 60 may be decelerated by an engine brake.

[0097] Furthermore, for example, when the vehicle 60 is engine-powered and is equipped with auxiliary brakes such as an exhaust brake and a retarder, in the safety process, the vehicle 60 may be decelerated by the auxiliary brake.

[0098] Also, the method of monitoring the crosswalk 12 by the monitoring device 30 is not particularly limited. For example, as the monitoring unit 38, a radar such as an image radar and a laser radar may be used.

[0099] Furthermore, the monitoring range of the monitoring unit 38 of the monitoring device 30 may be expanded to the periphery of the crosswalk 12, and a person or the like around the crosswalk 12 may also be detected as an obstacle 16 by the obstacle detection unit 42. In this case, in the contact prediction unit 116 of the driving support device 90, even when there is an obstacle 16 around the crosswalk 12 in the curve direction of the vehicle 60 and the speed of the vehicle 60 is equal to or higher than the threshold value, the contact between the vehicle 60 and the obstacle 16 is predicted. According to such a configuration, it is also possible to prevent the contact between the vehicle 60 and the obstacle 16 that is about to move on the crosswalk 12.

[0100] Also, each communication unit 40 of the monitoring device 30 may always transmit the determination data 48 corresponding to the left and right crosswalks 12 of the vehicle 60 approaching the intersection C to the outside, and the data acquisition unit 114 of the driving support device 90 may simply receive the two pieces of determination data 48. In this case, when the curve operation of the vehicle 60 at the intersection C is predicted by the operation prediction unit 112, the contact prediction unit 116 refers to the speed data 124 in addition to the determination data 48 corresponding to the curve direction among the two pieces of determination data 48, and appropriately predicts the contact between the vehicle 60 and the obstacle 16.

[0101] Also, if it is possible to specify the crosswalk 12 in the curve direction of the vehicle 60, the communication unit 40 of the monitoring unit 38 and the communication unit 108 of the driving support device 90 do not have to be directional.

Explanation of Symbols

[0102] 10 Road 12 Crosswalk 16 Obstacle 30 Monitoring Device 60 Vehicle 90 Driving Support Device 112 Motion Prediction Unit 116 Contact Prediction Unit 118 Speed Management Unit C Intersection

Claims

【Claim 1】 A driving support device mounted on a vehicle, which is communicable with a monitoring device that monitors each crosswalk installed around an intersection and detects obstacles on the crosswalk, and includes: an operation prediction unit that predicts a curve operation of the vehicle at the intersection; a contact prediction unit that predicts contact between the vehicle and an obstacle on the crosswalk in the curve direction of the vehicle when the curve operation of the vehicle at the intersection is predicted by the operation prediction unit; a speed management unit that executes a safety process related to deceleration of the vehicle when the contact prediction unit predicts contact between the vehicle and an obstacle on the crosswalk in the curve direction of the vehicle.

Images