Driving assistance system, driving assistance method, and driving assistance program

Abstract

To provide a driving support system for securing security and safety of a host vehicle.SOLUTION: A processor of a driving assistance system that assists driving of a host vehicle is configured to plan a lane change of the host vehicle, sense deceleration of a target vehicle traveling behind the host vehicle in a target lane that is a traveling lane after the lane change, monitor a yielding action Ag in which the target vehicle whose deceleration is sensed yields an entry space after the lane change to the host vehicle in the target lane, and control an entry action Ae to the entry space in front of the target vehicle whose yielding action Ag is confirmed with respect to the host vehicle.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a driving assistance technology that assists the driving of a host vehicle. [Background technology]

[0002] Patent Document 1 discloses a technique for controlling lane changes, which are changes in the driving behavior of a host vehicle, in accordance with the speed of a following vehicle among other road users. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-72222 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology disclosed in Patent Document 1, the target used as the standard for determining whether or not to change lanes is set to a following vehicle traveling in the same driving lane as the vehicle from which the lane is to be changed. However, in order to ensure the safety and security of the vehicle by quickly determining whether or not to change lanes, the relative relationship with other vehicles traveling in the driving lane to which the lane is to be changed is particularly important. Therefore, with the technology disclosed in Patent Document 1, there is a concern that unexpected interactions may occur between the vehicle and other vehicles traveling in the driving lane to which the lane is to be changed, which may affect the safety and security of the vehicle.

[0005] An object of the present disclosure is to provide a driving assistance system that ensures the safety and security of a host vehicle. Another object of the present disclosure is to provide a driving assistance method that ensures the safety and security of a host vehicle. Yet another object of the present disclosure is to provide a driving assistance program that ensures the safety and security of a host vehicle. [Means for solving the problem]

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

[0007] A first aspect of the present disclosure is A driving assistance system for assisting driving of a host vehicle (2), the driving assistance system having a processor (12), The processor Planning lane changes for a host vehicle; Sensing deceleration of a target vehicle (30) traveling behind the host vehicle in a target lane (900t), which is a driving lane (900) after a lane change; Monitoring a yielding behavior (Ag) of a target vehicle whose deceleration has been sensed yielding an entry space (900ts) of a lane change destination to a host vehicle in the target lane; and controlling the host vehicle to take an approach action (Ae) into the approach space ahead of the target vehicle for which the yielding action has been confirmed.

[0008] A second aspect of the present disclosure is A driving assistance method executed by a processor (12) to assist driving of a host vehicle (2), comprising: Planning lane changes for a host vehicle; Sensing deceleration of a target vehicle (30) traveling behind the host vehicle in a target lane (900t), which is a driving lane (900) after a lane change; Monitoring a yielding behavior (Ag) of a target vehicle whose deceleration has been sensed yielding an entry space (900ts) of a lane change destination to a host vehicle in the target lane; and controlling the host vehicle to take an action (Ae) to enter the entry space ahead of the target vehicle for which the yielding action has been confirmed.

[0009] A third aspect of the present disclosure is A driving assistance program stored in a storage medium (10) for assisting driving of a host vehicle (2), the driving assistance program including instructions for causing a processor (12) to execute the assistance, Planning lane changes for a host vehicle; Sensing deceleration of a target vehicle (30) traveling behind the host vehicle in a target lane (900t), which is a driving lane (900) after a lane change; Monitoring a yielding behavior (Ag) of a target vehicle whose deceleration has been sensed yielding an entry space (900ts) of a lane change destination to a host vehicle in the target lane; and controlling the host vehicle to take an approach action (Ae) into the approach space ahead of the target vehicle whose yielding action has been confirmed.

[0010] As described above, in the first to third aspects, deceleration of a target vehicle traveling behind the host vehicle in the target lane where the host vehicle plans to make a lane change is sensed. Therefore, according to the first to third aspects, the target vehicle whose deceleration has been sensed is monitored for its yielding behavior in the target lane, yielding the entry space to the host vehicle at the lane change destination. This makes it possible to quickly determine target vehicles that not only have decelerated in the target lane but also intend to yield the entry space. Therefore, when the host vehicle's entry behavior is controlled for the entry space ahead of the target vehicle whose yielding behavior has been confirmed, it is possible to ensure safety and security between the host vehicle and the target vehicle traveling in the target lane. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a physical configuration of a driving assistance system according to an embodiment. [Figure 2] FIG. 1 is a schematic diagram illustrating a traveling environment of a host vehicle to which an embodiment is applied. [Figure 3]1 is a block diagram showing a functional configuration of a driving assistance system according to an embodiment. [Figure 4] 1 is a flowchart illustrating a driving assistance flow according to an embodiment. [Figure 5] FIG. 2 is a schematic diagram illustrating a driving assistance flow according to an embodiment. [Figure 6] FIG. 2 is a schematic diagram illustrating a driving assistance flow according to an embodiment. [Figure 7] FIG. 2 is a schematic diagram illustrating a driving assistance flow according to an embodiment. [Figure 8] FIG. 2 is a schematic diagram illustrating a driving assistance flow according to an embodiment. [Figure 9] FIG. 2 is a schematic diagram illustrating a driving assistance flow according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0013] A driving assistance system 1 according to one embodiment shown in FIG. 1 assists the driving of a host vehicle 2. At least a portion of the driving assistance system 1 is mounted on the host vehicle 2. The host vehicle 2 to which the driving assistance system 1 is applied may be capable of achieving a level of automated driving defined, for example, in SAE J3016 or the like, in which a manual driving assistance task exists that assists an operator in performing manual driving operations, along with an automated driving task. Here, the host vehicle 2 is a road user, such as an automobile or truck, and may be referred to as an ego-vehicle from a perspective centered on the host vehicle 2. Therefore, in this embodiment, an occupant who sits in a seat in the host vehicle 2 and serves as an operator capable of performing manual driving operations is the target of driving assistance by the driving assistance system 1 as the host occupant.

[0014] As shown in FIG. 2, a traffic scene in which other road users 3 other than the host vehicle 2 exist is assumed in the driving environment in which the host vehicle 2 travels. The other road users 3 include vulnerable road users and non-vulnerable road users depending on their vulnerability. A vulnerable user is, for example, a human being such as a pedestrian. A non-vulnerable road user is at least one type of mobile body with a human occupant, such as a car, truck, bus, motorcycle, or bicycle. Among these non-vulnerable road users, vehicles capable of self-propelling by being equipped with a power source, such as a car, truck, bus, or motorcycle, are particularly targeted for monitoring by the driving assistance system 1 as target vehicles 30.

[0015] 1 and 3, a 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 presentation system 8, along with at least a part of a driving assistance system 1. Note that Fig. 1 representatively shows an example in which the entire driving assistance system 1, which is implemented in the form of a driving assistance device such as a control device (e.g., a control ECU) or a semiconductor device (e.g., a semiconductor chip), is equipped in the host vehicle 2.

[0016] The actuator system 4 shown in Figures 1 and 3 is configured to be able to control the host vehicle 2 based on control commands given from the driving assistance system 1. The actuator system 4 may be at least one type of power train actuator, such as an internal combustion engine or a motor-generator motor. The actuator system 4 may be at least one type of braking actuator, such as a brake unit. The actuator system 4 may be at least one type of steering actuator, such as a power steering unit. The actuator system 4 may be at least one type of light-emitting actuator, such as a headlight unit, a hazard unit, or a turn signal.

[0017] The sensor system 5 senses the external and internal environments of the host vehicle 2 to obtain sensing information that can be used in the driving assistance system 1. To this end, the sensor system 5 includes an external sensor 50 and an internal sensor 52.

[0018] The external sensor 50 senses targets that exist in the external world of the host vehicle 2. The target sensing type external sensor 50 is at least one type of sensor selected from the group consisting of an on-board camera, a LiDAR (light detection and ranging / laser imaging detection and ranging), a laser sensor, a millimeter wave sensor, and a sonar sensor. The target sensing type external sensor 50 may be implemented by combining multiple types of sensors so as to be capable of sensing the front, sides, and rear directions of the host vehicle 2.

[0019] The internal sensor 52 senses a specific physical quantity of motion related to vehicle motion in the internal world 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, a gyro sensor, and an inertial sensor. The internal sensor 52 may sense the operation or state of occupants, including the driver, in the internal world of 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 brake pedal sensor, a shift sensor, a steering angle sensor, a steering torque sensor, an occupant camera, an occupant seat switch, a gesture sensor, a biometric sensor, and a seating sensor.

[0020] The communication system 6 acquires communication information available to the driving assistance system 1 via a communication network. The communication system 6 may receive positioning signals from satellites of a global navigation satellite system (GNSS) present in the external world of the host vehicle 2. The positioning type communication system 6 is, for example, a GNSS receiver. The communication system 6 may transmit and receive communication signals to and from a V2X system present in the external world of the host vehicle 2. The V2X communication type communication system 6 is, for example, at least one of a dedicated short range communications (DSRC) 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 present in the internal world of the host vehicle 2. The terminal communication type communication system 6 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, an infrared communication device, etc.

[0021] The map DB 7 stores map information that can be used in the driving assistance system 1. The map DB 7 includes at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The map DB 7 may be a DB for a locator that estimates the self-position of the host vehicle 2. The map DB may be a DB for a navigation unit that navigates the driving route of the host vehicle 2. The map DB 7 may be constructed by combining multiple types of DBs.

[0022] The map DB 7 updates the map information by downloading digital maps as needed, for example, via V2X communication with an external center via the communication system 6. The map information is two-dimensional or three-dimensional data representing the external environment in which the host vehicle 2 is traveling. High-precision map digital data may be used as the three-dimensional map information. The map information includes road information representing at least one of the following: the position, shape, and size of a road. The map information may also include structure information representing at least one of the following: the position, shape, and size of buildings and traffic lights facing the road. The map information may also include road marking information representing at least one of the following: the position, shape, and size of signs and lane markings attached to the road.

[0023] The information presentation system 8 presents alarm information to the occupants of the host vehicle 2. The information presentation system 8 presents the alarm information by stimulating the vision of the occupants in the host vehicle 2. The information presentation system 8 of the visual information presentation type (hereinafter referred to as the visual information presentation system 8a as shown in FIG. 3) is, for example, at least one of an electronic mirror unit, a monitor unit, a navigation unit, a HUD (head-up display) unit, and an illumination unit. The information presentation system 8 may present the alarm information by stimulating the auditory sense of the occupants. The information presentation system 8 of the auditory information presentation type (hereinafter referred to as the auditory information presentation system 8b as shown in FIG. 3) is, for example, at least one of a speaker, a buzzer, a vibration unit, and the like.

[0024] The driving assistance system 1 is connected to an actuator system 4, a sensor system 5, a communication system 6, a map DB 7, and an information presentation system 8 via at least one of, for example, a LAN (local area network), a wire harness, an internal bus, or a wireless communication line. The driving assistance system 1 is configured to include at least one dedicated computer.

[0025] The dedicated computer constituting the driving assistance 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 driving assistance 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 driving assistance 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 driving assistance system 1 may be a locator ECU that estimates the self-position of the host vehicle 2.

[0026] The dedicated computer constituting the driving assistance system 1 may be a planning ECU that plans driving control of the host vehicle 2. The dedicated computer constituting the driving assistance system 1 may be a navigation ECU that navigates a driving route in driving control of the host vehicle 2. The dedicated computer constituting the driving assistance system 1 may be an actuator ECU that controls the actuator system 4 as part of driving control of the host vehicle 2.

[0027] The dedicated computer constituting the driving assistance system 1 may be an information management ECU that controls the information presentation system 8 as part of driving control of the host vehicle 2. The dedicated computer constituting the driving assistance system 1 may also be at least one external computer that constitutes, for example, an external center or a mobile terminal that can communicate via the communication system 6.

[0028] The dedicated computer constituting the driving assistance system 1 has at least one memory 10 and one processor 12 shown in Fig. 1. The memory 10 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs, data, etc. The processor 12 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), or a reduced instruction set computer (RISC)-CPU.

[0029] The processor 12 executes a plurality of instructions included in a driving assistance program stored as software in the memory 10. In this way, the driving assistance system 1 constructs a plurality of functional blocks for assisting the driving of the host vehicle 2. The functional blocks constructed by the driving assistance system 1 in this way include a recognition block 100, a planning block 110, and a control block 120, as shown in FIG.

[0030] 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 stored in the map DB 7. The recognition block 100 acquires past data of control commands to the host vehicle 2 by the control block 120 from the memory 10. The recognition block 100 processes this acquired information and data individually and then fuses them to recognize the state of the external and internal environments for each driving scene of the host vehicle 2 and generate recognition data.

[0031] Specifically, the recognition block 100 generates recognition data by localization that recognizes the self-state including the self-position of the host vehicle 2. The recognition data regarding the self-state may represent at least one of the following, which appear in the host vehicle 2 in accordance with the control command from the control block 120: the self-position (longitude and latitude and altitude), attitude angle, steering angle, speed, acceleration, jerk, yaw rate, etc.

[0032] The recognition block 100 generates recognition data by recognizing targets, including other road users 3, obstacles, and structures, that exist in the external world of the host vehicle 2. Here, the recognition data related to the targets in this embodiment is generated so as to include sensing recognition information related to the target vehicle 30 and its occupants, which is recognized by sensing from the external sensor 50 in the host vehicle 2. Such recognition data related to the targets may represent at least one type of physical quantity of motion, such as separation distance, direction of motion, relative speed, relative acceleration, and time to collision. Furthermore, the recognition data related to the targets may represent a classification of targets clustered based on such physical quantities of motion.

[0033] The recognition block 100 generates recognition data by recognizing the road on which the host vehicle 2 is traveling. The recognition data regarding the road may represent at least one type of road structure. In particular, the recognition data regarding the road may represent at least one type of road structure, such as the number, position, width, length, shape, curve curvature, curve radius, and nodes of the traveling lanes 900 (see FIGS. 2, 5, and 6) that make up the traveling path 90 of the general road on which the host vehicle 2 and the target vehicle 30 are traveling.

[0034] The recognition block 100 generates recognition data by recognizing road markings associated with the road on which the host vehicle 2 is traveling. The recognition data regarding road markings may represent at least one type of marking status, such as road signs, dividing lines, and traffic lights. The recognition data regarding road markings may further represent at least one type of traffic rules on the road recognized from such marking status, such as direction of travel, speed limit, and stopping positions. For these reasons, it is particularly preferable that the recognition data regarding the travel path 90 of the general road (see FIGS. 2, 5, and 6) include identification data identifying the travel lanes 900 on which the host vehicle 2 and the target vehicle 30 are traveling.

[0035] In addition to the above, the recognition block 100 generates recognition data by recognizing the actions of the driver as an operator with respect to the host vehicle 2. In particular, the recognition data regarding the driver operation for providing a manual driving assistance task to the host vehicle 2 may represent at least one of, for example, an accelerator pedal operation amount, a brake pedal operation amount, a shift position, a steering angle, and a steering torque. Furthermore, the recognition data regarding the driver operation for switching the driving task provided to the host vehicle 2 between an automated driving task and a manual driving assistance task may represent the operating state of a passenger seat switch, which is at least one of, for example, a task changeover switch and an assist switch.

[0036] The planning block 110 acquires recognition data from the recognition block 100. The planning block 110 acquires past data of control commands to the host vehicle 2 by reading them from the memory 10. Based on this acquired data, the planning block 110 plans a target driving trajectory Td (see FIGS. 5 and 6) for the future traveling of the host vehicle 2.

[0037] Here, the driving trajectory Td specifies the time-series changes for each control cycle expected in the future with respect to the motion parameters that are targeted as the self-state of the host vehicle 2. Specifically, the driving trajectory Td may represent the position coordinates for each control cycle of the trajectory that the host vehicle 2 is to follow in the future. Furthermore, the driving trajectory Td may represent at least one type of physical quantity of motion, such as speed, acceleration, jerk, yaw rate, and yaw angle, as the motion parameters that are to appear on such a trajectory for each control cycle.

[0038] The control block 120 acquires recognition data from the recognition block 100. The control block 120 acquires data of the driving trajectory Td from the planning block 110. The control block 120 acquires past data of control commands to the host vehicle 2 by reading them from the memory 10. The control block 120 generates control commands for the host vehicle 2 based on this acquired data. At this time, a control command is generated to be issued to the actuator system 4 so as to control driving behavior in accordance with the autonomous driving level, which is adjusted according to the driving scene, of the autonomous driving task and the manual driving assistance task in the host vehicle 2. The control command data generated in this manner is stored in the memory 10.

[0039] Examples of control of driving behavior according to the autonomous driving level include lane change assist, lane keeping assist, adaptive cruise control, and collision mitigation braking. Therefore, adjustment of the autonomous driving level may include handover of the driving task between the driving assistance system 1 and the driver by transitioning the driving mode between the autonomous driving task and the manual driving assistance task. Such handover may be realized at least at one of the following times: a driver's request for handover, a timing to enter or leave the autonomous driving operational design domain (ODD), and a timing required for a minimum risk maneuver (MRM).

[0040] (Driving assistance flow) The driving assistance method in which the driving assistance system 1 assists the driving of the host vehicle 2 by cooperating with the blocks 100, 110, and 120 described so far is repeatedly executed in accordance with the driving assistance flow shown in Fig. 4 while the host vehicle 2 is running. Note that in the following description, each "S" in the driving assistance flow refers to a plurality of steps that are executed by a plurality of commands included in the driving assistance program.

[0041] In S100, the recognition block 100 generates recognition data that recognizes the state of the external and internal environments in the current driving scene of the host vehicle 2. In S110, the planning block 110 plans a driving trajectory Td of the host vehicle 2 from the current driving scene toward future driving, based on the recognition data generated by S100 of at least the current flow out of the current flow and the past flow. Note that the recognition data generated by S100 may be updated as necessary in steps from S120 onwards, which will be described later.

[0042] In S120, the control block 120 determines whether the driving trajectory Td planned in S110 of the current flow specifies a lane change for the host vehicle 2. In this case, a lane change refers to a driving task in which the host vehicle 2 moves from a host lane 900h, which is the driving lane 900 in which the host vehicle 2 is currently traveling, to another driving lane 900 on a driving road 90 with multiple parallel driving lanes 900 as shown in FIG. 5. Therefore, the driving trajectory Td that specifies a lane change may be planned to control a transition from a manual driving assistance task in response to the operation of a task switching switch or an assist switch, for example, to an automatic lane change as an automated driving task. The driving trajectory Td that specifies a lane change may be planned to control switching to an automatic lane change as an automated driving task during execution.

[0043] 4, if a negative determination is made in S120, the current flow ends. On the other hand, if a positive determination is made in S120, the current flow proceeds to S130. In S130, the recognition block 100 determines, based on the recognition data including the sensing recognition information, whether or not a target vehicle 30 that is predicted to interact with the host vehicle 2 in response to the lane change confirmed in S120 of the current flow is present.

[0044] Therefore, in S130, the presence or absence of a target vehicle 30 traveling in the same direction as the host vehicle 2 is determined in a target lane 900t, which is a lane change destination as shown in Fig. 5, among the travel lanes 900 adjacent to and parallel to the host lane 900h. At this time, it is preferable to determine the presence or absence of a target vehicle 30 on the target lane 900t within a set distance range from the host vehicle 2 within the sensing area of ​​the external sensor 50.

[0045] 4, if a positive determination is made in S130, the current flow proceeds to S140. In S140, the recognition block 100 determines whether the target vehicle 30 confirmed in S130 of the current flow has decelerated based on the recognition data including the sensing recognition information. In other words, the determination process in S140 is equivalent to determining whether deceleration of the target vehicle 30 has been sensed.

[0046] If a negative determination is made in S140, the current flow returns to S100. On the other hand, if a positive determination is made in S140, the current flow proceeds to S150. In S150, the recognition block 100 monitors whether the target vehicle 30, whose deceleration has been sensed in S140 of the current flow, performs a yielding action Ag to yield the target lane 900t to the host vehicle 2. The yielding action Ag in this case is performed to communicate the intention of the target vehicle 30, which has decelerated in the target lane 900t, to secure an entry space 900ts, into which the host vehicle 2 will change lanes, with a distance of at least Lt behind it, as shown in FIG.

[0047] Therefore, in S150, a direct notification of a yielding behavior Ag from the target vehicle 30 whose deceleration has been sensed may be monitored based on recognition data including sensing recognition information and / or communication information. In this case, the notification of the yielding behavior Ag may be headlight flashing of the target vehicle 30. The notification of the yielding behavior Ag may be hazard light flashing on the target vehicle 30. The notification of the yielding behavior Ag may be turn signal flashing on the host lane 900h side of the target vehicle 30. The notification of the yielding behavior Ag may be switching between headlights and position lights on the target vehicle 30. The notification of the yielding behavior Ag may be sound output from a horn or a speaker on the target vehicle 30. The notification of the yielding behavior Ag may be communication information output transmitted from the target vehicle 30 via a communication network.

[0048] In S150, an indirect indication of intention to perform a yielding behavior Ag by a target occupant of the target vehicle 30, whose deceleration has been sensed, may be monitored based on recognition data including sensing recognition information. In this case, the indication of intention to perform a yielding behavior Ag may be at least one of facial expressions, head movements, and hand gestures, etc., with respect to the target occupant. In S150, a direct yielding behavior Ag, in which the target vehicle 30, whose deceleration has been sensed, travels at a speed slower than the legal speed limit of the target lane 900t, may be monitored based on recognition data including sensing recognition information and marking information.

[0049] If a negative determination is made in S150 because the yielding action Ag of the target vehicle 30 is not confirmed within the set time, the current flow returns to S100. On the other hand, if a positive determination is made in S150 because the yielding action Ag of the target vehicle 30 is confirmed within the set time, the current flow proceeds to S160. In S160, the control block 120 controls the host vehicle 2 to perform an entry action Ae into the entry space 900ts ahead of the target vehicle 30 whose yielding action Ag was confirmed in S150 of the current flow.

[0050] Therefore, in S160, the control block 120 may perform notification control to notify the host occupant in the host vehicle 2 of the start of the entering action Ae in a manner that is recognizable by the host occupant in the host vehicle 2. At this time, the auditory information presentation system 8b may be controlled to notify the start of the entering action Ae by audio output or pronunciation. The visual information presentation system 8a may be controlled to notify the start of the entering action Ae by displaying an image that allows the host occupant to recognize the start position or start timing of the action Ae.

[0051] In addition, in S160, the control block 120 may perform notification control in response to the approaching behavior Ae to notify the host occupant in the host vehicle 2 of the continuation of the behavior Ae from the start to the end in a manner that is recognizable by the host occupant in the host vehicle 2. At this time, as shown in Fig. 7, the blinking of the turn signal 21 on the target lane 900t side attached to the side mirror 20 that reflects the target vehicle 30 outside the host vehicle 2 may be controlled by a light-emitting actuator serving as the actuator system 4, thereby notifying the continuation of the behavior Ae. The blinking speed of the turn signal 21 for notifying the continuation may be controlled to be slower than the normal speed when turning right or left in the host vehicle 2, for example.

[0052] Furthermore, in S160, in association with the entering behavior Ae, the control block 120 may perform notification control to notify the host occupant in the host vehicle 2 of the relative positional relationship of the target vehicle 30 with respect to the inter-vehicle distance Lt required behind the entry space 900ts in a manner that allows the host occupant in the host vehicle 2 to recognize it. At this time, an inter-vehicle distance image IL for allowing the host occupant to recognize the minimum required safe inter-vehicle distance Lt (see FIG. 6) behind the entry space 900ts may be displayed on the electronic side mirror 20 that displays the target vehicle 30 outside the host vehicle 2 under the control of the visual information presentation system 8a, as shown in FIG. 8. The inter-vehicle distance image IL may be displayed on the electronic rearview mirror 22 that displays the target vehicle 30 from inside the host vehicle 2 under the control of the visual information presentation system 8a. As shown in Figure 9, by controlling the visual information presentation system 8a, the inter-vehicle distance image IL may be simulated and displayed on a monitor unit or navigation unit within the host vehicle 2, together with a host image IH simulating the host vehicle 2 and a target image IT simulating the target vehicle 30.

[0053] In either case, the control for reporting the relative positional relationship may be started from the stage of S140 or S150, which precedes S160. After the execution of S160 described above is completed, the current flow ends.

[0054] 4, if a negative determination is made in S130, the current flow proceeds to S170. In S170, the control block 120 controls the host vehicle 2 to take an action Ae to enter the target lane 900t when there is no target vehicle 30 that is predicted to interact with the host vehicle 2. Note that the current flow also ends after the execution of S170 is completed.

[0055] (Action and effect) The effects of the present embodiment described above will be explained below.

[0056] In this embodiment, deceleration of the target vehicle 30 traveling behind the host vehicle 2 in the target lane 900t, a lane change destination planned for the host vehicle 2, is sensed. Therefore, according to this embodiment, the target vehicle 30, whose deceleration has been sensed, is monitored for a yielding behavior Ag in the target lane 900t, in which the target vehicle 30 yields the entry space 900ts, the lane change destination, to the host vehicle 2. This makes it possible to quickly determine a target vehicle 30 that not only has decelerated in the target lane 900t but also intends to yield the entry space 900ts. Therefore, when the entry behavior Ae is controlled for the entry space 900ts ahead of the target vehicle 30 for which the yielding behavior Ag has been confirmed, the host vehicle 2 can ensure safety and security between itself and the target vehicle 30 traveling in the target lane 900t.

[0057] According to this embodiment, since a direct notification of a yielding behavior Ag from the target vehicle 30 whose deceleration has been sensed is monitored, it is possible to quickly and accurately determine the target vehicle 30 that intends to yield to the entry space 900ts. Therefore, it is possible to increase the reliability of the effect of ensuring safety and security in the host vehicle 2.

[0058] According to this embodiment, since the indirect expression of intention to make a yielding action Ag by the target occupant of the target vehicle 30 whose deceleration has been sensed is monitored, it is possible to quickly predict and determine the target vehicle 30 that intends to yield the entry space 900ts. Therefore, it is possible to improve the speed of the effect of ensuring safety and security in the host vehicle 2.

[0059] According to this embodiment, since direct yielding behavior Ag, in which the target vehicle 30 whose deceleration has been sensed travels at a speed slower than the speed limit of the target lane 900t, is monitored, it is possible to quickly and accurately determine the target vehicle 30 that intends to yield to the entry space 900ts. Therefore, it is possible to increase the reliability of the effect of ensuring safety and security in the host vehicle 2.

[0060] According to this embodiment, as the approaching action Ae is controlled, the start of the approaching action Ae is notified in the host vehicle 2. This allows the host occupant of the host vehicle 2, who can recognize the start of the approaching action Ae from the notification, to feel reassured that the lane change has been made safely thanks to the yielding action Ag of the target vehicle 30.

[0061] According to this embodiment, in the host vehicle 2, the blinking speed of the turn indicator 21 attached to the mirror 20 that reflects the target vehicle 30 is controlled to be slower than the normal speed in conjunction with controlling the approaching behavior Ae. This makes it possible for the host occupant of the host vehicle 2, who can recognize the target vehicle 30 reflected in the mirror 20, to reduce the anxiety felt by the slow blinking of the turn indicator 21, which is felt when the target vehicle 30 is performing a yielding behavior Ag, as would be felt with an automatic lane change.

[0062] According to this embodiment, the relative positional relationship of the target vehicle 30 with respect to the following distance Lt required behind the entry space 900ts is displayed. This makes it possible for the host occupant of the host vehicle 2 to reduce anxiety felt in an automatic lane change even when the target vehicle 30 is performing a yielding action Ag, by recognizing the relative positional relationship with respect to the following distance Lt.

[0063] According to this embodiment, the inter-vehicle distance image IL for allowing the host occupant to recognize the inter-vehicle distance Lt required behind the entry space 900ts may be displayed on the mirrors 20, 22 that reflect the target vehicle 30 in the host vehicle 2. In this case, the host occupant who can recognize the target vehicle 30 reflected in the mirrors 20, 22 in the host vehicle 2 can reduce the anxiety felt by the automatic lane change even when the target vehicle 30 is performing a yielding behavior Ag by recognizing the position of the target vehicle 30 and the inter-vehicle distance image IL.

[0064] According to this embodiment, the inter-vehicle distance image IL, which allows the host occupant to recognize the inter-vehicle distance Lt required behind the entry space 900ts, may be displayed together with images IH, IT that represent the vehicles 2, 30. In this case, the host occupant of the host vehicle 2 can reduce the anxiety he or she may feel about automatic lane changes even when the target vehicle 30 is making a yielding move Ag, by recognizing the positions of the images IH, IT corresponding to the vehicles 2, 30 and the inter-vehicle distance image IL.

[0065] (Other embodiments) Although one embodiment has been described above, the present disclosure should not be construed as being limited to the embodiment described above, and can be applied to various embodiments within the scope that does not deviate from the gist of the present disclosure.

[0066] In a modified example, the dedicated computer constituting the driving assistance system 1 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is 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). Furthermore, such a digital circuit may have a memory that stores a program.

[0067] In S160 of the driving assistance flow of the modified example, the notification control for notifying the start of the entry behavior Ae may be skipped. In S160 of the driving assistance flow of the modified example, the notification control for notifying the continuation state of the entry behavior Ae may be skipped. In S160 of the driving assistance flow of the modified example, the notification control for notifying the relative positional relationship of the target vehicle 30 with respect to the inter-vehicle distance Lt required behind the entry space 900ts may be skipped.

[0068] In a modified example, the operator who manually drives the host vehicle 2 to which the driving assistance system 1 is applied may be a remote operator who remotely controls the driving of the host vehicle 2 from an external center. In a modified example, the driving assistance system 1 may be configured to be capable of realizing only automated driving tasks, without any manual driving assistance tasks that assist the operator in manual driving operations.

[0069] (Additional remarks) This specification discloses the following technical ideas and their combinations. Note that the reference symbols in parentheses in the appended remarks indicate the correspondence with the specific means described in the above detailed embodiments, and do not limit the technical scope of the present disclosure.

[0070] (Technical thought 1) A driving assistance system for assisting driving of a host vehicle (2), the driving assistance system having a processor (12), The processor: planning a lane change for the host vehicle; sensing deceleration of a target vehicle (30) traveling behind the host vehicle in a target lane (900t), which is a driving lane (900) after the lane change; Monitoring a yielding behavior (Ag) of the target vehicle, whose deceleration has been sensed, in the target lane, yielding the entry space (900ts) of the lane change destination to the host vehicle; and controlling the host vehicle to take an entry action (Ae) into the entry space ahead of the target vehicle for which the yielding action has been confirmed.

[0071] (Technical thought 2) Monitoring the yielding behavior includes: The driving assistance system according to Technical Idea 1 includes monitoring a notification of the yielding behavior from the target vehicle whose deceleration has been sensed.

[0072] (Technical Thought 3) Monitoring the yielding behavior includes: The driving assistance system according to Technical Idea 1 or 2 includes monitoring the expression of intention to yield by the target occupant of the target vehicle whose deceleration has been sensed.

[0073] (Technical Thought 4) Monitoring the yielding behavior includes: A driving assistance system according to any one of technical ideas 1 to 3, which includes monitoring the yielding behavior of the target vehicle, whose deceleration has been sensed, traveling at a speed slower than the speed limit of the target lane.

[0074] (Technical Thought 5) controlling the entry behavior A driving assistance system described in any one of technical ideas 1 to 4, which includes notifying the start of the entry behavior in a manner that is recognizable by a host occupant of the host vehicle as the entry behavior is controlled.

[0075] (Technical Thought 6) controlling the entry behavior A driving assistance system as described in any one of technical ideas 1 to 5, which includes controlling the blinking speed of a turn signal (21) attached to a mirror (20) that reflects the target vehicle in the host vehicle to a speed slower than a normal speed in conjunction with controlling the approach behavior.

[0076] (Technical Thought 7) The processor: A driving assistance system described in any one of technical ideas 1 to 6, further configured to display the relative positional relationship of the target vehicle with respect to the vehicle-to-vehicle distance (Lt) required behind the entry space in a manner recognizable by a host occupant who is an occupant of the host vehicle.

[0077] (Technical Thought 8) The displaying of the relative positional relationship includes: A driving assistance system according to Technical Idea 7, which includes displaying a vehicle distance image (IL) on a mirror (20, 22) in the host vehicle that reflects the target vehicle, to allow the host occupant to recognize the vehicle distance required behind the entry space.

[0078] (Technical Thought 9) The displaying of the relative positional relationship includes: A driving assistance system described in Technical Idea 7 or 8, which includes displaying a host image (IH) that imitates the host vehicle and a target image (IT) that imitates the target vehicle, together with a vehicle distance image (IL) that allows the host occupant to recognize the vehicle distance required behind the entry space.

[0079] The above-mentioned technical concepts 1 to 9 may be understood as the respective technical concepts of a method and a program. [Explanation of symbols]

[0080] 1: Driver assistance system, 2: Host vehicle, 10: Memory, 12: Processor, 20: Side mirror, 21: Turn indicator, 22: Rearview mirror, 30: Target vehicle, 900: Driving lane, 900t: Target lane, 900ts: Entry space, Ae: Entry behavior, Ag: Yielding behavior, IH: Host image, IL: Following distance image, IT: Target image, Lt: Following distance

Claims

1. A driving assistance system for assisting driving of a host vehicle (2), the system having a processor (12), The processor: planning a lane change for the host vehicle; sensing deceleration of a target vehicle (30) traveling behind the host vehicle in a target lane (900t), which is the driving lane (900) after the lane change; Monitoring a yielding behavior (Ag) of the target vehicle, whose deceleration has been sensed, in the target lane, yielding the entry space (900ts) of the lane change destination to the host vehicle; and controlling the host vehicle to take an entry action (Ae) into the entry space ahead of the target vehicle for which the yielding action has been confirmed.

2. Monitoring the yielding behavior includes: The driving assistance system of claim 1 , further comprising monitoring for notification of the yielding behavior from the target vehicle upon sensing deceleration.

3. Monitoring the yielding behavior includes: The driving assistance system according to claim 1 , further comprising monitoring an indication of an intention to make a yielding action by a target occupant of the target vehicle whose deceleration has been sensed.

4. Monitoring the yielding behavior includes: The driving assistance system according to claim 1 , further comprising monitoring the yielding behavior of the target vehicle, whose deceleration has been sensed, traveling at a speed slower than the speed limit of the target lane.

5. controlling the entry behavior The driving assistance system according to claim 1 , further comprising: notifying a host occupant of the host vehicle of the start of the approaching behavior in a manner that is recognizable by the host occupant, the host occupant, as the approaching behavior is controlled.

6. controlling the entry behavior 2. The driving assistance system according to claim 1, further comprising controlling the blinking rate of a turn signal (21) attached to a mirror (20) of the host vehicle that reflects the target vehicle to a rate slower than a normal rate in conjunction with controlling the approaching behavior.

7. The processor: A driving assistance system as described in any one of claims 1 to 6, further configured to display the relative positional relationship of the target vehicle with respect to the vehicle-to-vehicle distance (Lt) required behind the entry space in a manner recognizable by a host occupant of the host vehicle.

8. The displaying of the relative positional relationship includes:

8. The driving assistance system of claim 7, further comprising displaying a vehicle distance image (IL) on a mirror (20, 22) in the host vehicle that reflects the target vehicle, to allow the host occupant to recognize the vehicle distance required behind the entry space.

9. The displaying of the relative positional relationship includes: The driving assistance system of claim 7, further comprising displaying a host image (IH) simulating the host vehicle and a target image (IT) simulating the target vehicle together with a vehicle distance image (IL) for allowing the host occupant to recognize the vehicle distance required behind the entry space.

10. A driving assistance method executed by a processor (12) to assist driving of a host vehicle (2), comprising: planning a lane change for the host vehicle; sensing deceleration of a target vehicle (30) traveling behind the host vehicle in a target lane (900t), which is the driving lane (900) after the lane change; Monitoring a yielding behavior (Ag) of the target vehicle, whose deceleration has been sensed, in the target lane, yielding the entry space (900ts) of the lane change destination to the host vehicle; and controlling the host vehicle to take an action (Ae) to enter the entry space ahead of the target vehicle for which the yielding action has been confirmed.

11. A driving assistance program stored in a storage medium (10) for assisting driving of a host vehicle (2), the driving assistance program including instructions for causing a processor (12) to execute the assistance, the program comprising: planning a lane change for the host vehicle; sensing deceleration of a target vehicle (30) traveling behind the host vehicle in a target lane (900t), which is the driving lane (900) after the lane change; Monitoring a yielding behavior (Ag) of the target vehicle, whose deceleration has been sensed, in the target lane, yielding the entry space (900ts) of the lane change destination to the host vehicle; and controlling the host vehicle to take an entry action (Ae) into the entry space ahead of the target vehicle for which the yielding action has been confirmed.

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