Vehicle driving assistance system

Abstract

The present invention provides a vehicle driver assistance system that can provide appropriate notifications to the driver of the vehicle regarding other vehicles traveling in adjacent lanes. [Solution] The vehicle driving support device 10 provides driving support to its own vehicle 100 based on the location information of other vehicles included in the wireless communication information transmitted from other vehicles 402 and 403. The vehicle driving support device acquires the distance between its own vehicle and other vehicles in adjacent lanes as the inter-vehicle distance based on the location information, and acquires the value obtained by dividing the inter-vehicle distance by the relative speed of its own vehicle with respect to the other vehicle as the inter-vehicle time based on the location information. When the inter-vehicle time is less than or equal to a predetermined time and the surrounding detection device 50 mounted on the own vehicle has not detected any other vehicles, if the device detects that the operator of the own vehicle intends to enter the adjacent lane or that the operator is performing an action to enter the adjacent lane, it provides driving support by notifying the operator that there is another vehicle in the adjacent lane.

Description

Technical Field

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

Background Art

[0002] Patent Document 1 describes a vehicle driving support device that issues an alarm to the driver of the host vehicle when another vehicle traveling in an adjacent lane is present near the host vehicle while the hazard warning lamp is not operating. Also, in this vehicle driving support device, no alarm is issued even if another vehicle traveling in the adjacent lane is present near the host vehicle when the hazard warning lamp is operating.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

[0004] When the hazard warning lamp is operating and the host vehicle is about to enter an adjacent lane, the driver of the host vehicle may not recognize that another vehicle traveling in the adjacent lane is present near the host vehicle. In such a case, it is preferable to notify the driver of the host vehicle of the presence of such another vehicle. However, in a conventional vehicle driving support device, no alarm is issued even if another vehicle traveling in the adjacent lane is present near the host vehicle when the hazard warning lamp is operating and the host vehicle is about to enter the adjacent lane. Therefore, an appropriate notification about another vehicle traveling in the adjacent lane is not given to the driver of the host vehicle.

[0005] On the other hand, when a vehicle's turn signal is activated and it is about to enter an adjacent lane, the driver of the vehicle may be aware that another vehicle is nearby in that adjacent lane. In such cases, notifying the driver of the vehicle of the presence of that other vehicle may cause them annoyance. In this case, the driver of the vehicle would not have received appropriate notification about the other vehicle in the adjacent lane.

[0006] Furthermore, even if the driver of one vehicle is unaware of the presence of another vehicle in an adjacent lane, they may become aware of the other vehicle when their own vehicle enters the adjacent lane, giving them sufficient time to avoid a collision. In such cases, notifying the driver of the other vehicle of its presence may cause them inconvenience. In this case as well, the driver of the other vehicle would not have received appropriate notification about the other vehicle in the adjacent lane.

[0007] The object of the present invention is to provide a vehicle driving assistance device that can provide appropriate notification to the operator of the vehicle regarding other vehicles traveling in adjacent lanes.

[0008] One of the vehicle driving assistance devices according to the present invention includes a control device that provides driving assistance to the vehicle based on location information of another vehicle included in wireless communication information transmitted from that vehicle. The control device is configured to acquire the distance between the vehicle and the other vehicle located in an adjacent lane adjacent to the lane in which the vehicle is traveling, based on the location information, and to acquire the value obtained by dividing the inter-vehicle distance by the relative speed of the vehicle with respect to the other vehicle, based on the location information, as the inter-vehicle time. Furthermore, when the inter-vehicle time is less than or equal to a predetermined time and the other vehicle has not been detected by a surrounding detection device mounted on the vehicle, the control device is configured to provide driving assistance by notifying the operator that the other vehicle is located in the adjacent lane, if the operator of the vehicle has an intention to move the vehicle into the adjacent lane or has performed an operation to move the vehicle into the adjacent lane.

[0009] According to the present invention, if the time between vehicles is longer than a predetermined time, no notification will be issued even if the operator of the vehicle is attempting to move their vehicle into an adjacent lane. In other words, even if the operator of the vehicle moves their vehicle into an adjacent lane, no notification will be issued if the operator has sufficient time to avoid contact with the other vehicle. Furthermore, if the other vehicle is detected by the surrounding detection device, and therefore there is a high probability that the operator of the vehicle is aware of the other vehicle's presence, no notification will be issued even if the operator of the vehicle is attempting to move their vehicle into an adjacent lane. Thus, no notification will be issued if the operator of the vehicle has sufficient time to avoid contact with the other vehicle, or if the operator is aware of the other vehicle's presence. Therefore, the issuance of unnecessary notifications can be suppressed, and as a result, it is possible to prevent the operator of the vehicle from feeling annoyed. Accordingly, appropriate notifications about other vehicles traveling in adjacent lanes can be provided to the operator of the vehicle.

[0010] Furthermore, another vehicle driving assistance device according to the present invention also includes a control device that provides driving assistance to the vehicle based on the location information of the other vehicle contained in the wireless communication information transmitted from the other vehicle. However, the control device is configured to acquire the distance between the vehicle and the other vehicle located in an adjacent lane adjacent to the lane in which the vehicle is traveling, based on the location information. The control device is configured to provide driving assistance by notifying the operator that the other vehicle is present in the adjacent lane when the conditions are met, such that the distance between vehicles is less than or equal to a predetermined distance and the other vehicle is not detected by the surrounding detection device mounted on the vehicle, and the operator of the vehicle has an intention to move the vehicle into the adjacent lane or has performed an operation to move the vehicle into the adjacent lane.

[0011] According to the present invention, if the distance between vehicles is longer than a predetermined distance, no notification will be given even if the operator of the vehicle is attempting to move their vehicle into an adjacent lane. That is, even if the operator of the vehicle moves their vehicle into an adjacent lane, no notification will be given if the operator has sufficient time to avoid contact with the other vehicle. Furthermore, if the other vehicle is detected by the surrounding detection device, and therefore there is a high probability that the operator of the vehicle is aware of the other vehicle's presence, no notification will be given even if the operator of the vehicle is attempting to move their vehicle into an adjacent lane. In this way, no notification will be given if the operator of the vehicle has sufficient time to avoid contact with the other vehicle, or if the operator is aware of the other vehicle's presence. Therefore, the implementation of unnecessary notifications can be suppressed, and as a result, it is possible to suppress the annoyance felt by the operator of the vehicle. Accordingly, appropriate notifications about other vehicles traveling in adjacent lanes can be given to the operator of the vehicle.

[0012] Furthermore, in the vehicle driving assistance device according to the present invention, the adjacent lane is, for example, an oncoming lane adjacent to the lane in which the vehicle is traveling, and the other vehicle is, for example, an oncoming vehicle traveling in the oncoming lane.

[0013] According to the present invention, appropriate notification can be given to the operator of the vehicle regarding an oncoming vehicle traveling in an adjacent lane.

[0014] Furthermore, in the vehicle driving support device according to the present invention, the target condition may include the condition that an obstacle is detected in front of the vehicle and in the lane in which the vehicle is traveling by the surrounding detection device.

[0015] When there is an obstacle in front of the vehicle, the likelihood of the vehicle's operator noticing other vehicles in the adjacent lane increases. According to the present invention, when there is an obstacle in front of the vehicle, the target condition is met and the presence of other vehicles is notified to the vehicle's operator. Therefore, more appropriate notification about other vehicles traveling in the adjacent lane can be provided to the vehicle's operator.

[0016] Furthermore, in the vehicle driving support device according to the present invention, the wireless communication information is, for example, information transmitted from a wireless communication terminal held by a driver riding in the other vehicle.

[0017] According to the present invention, even if a wireless communication device that transmits wireless communication information is not installed, if a driver riding in another vehicle is carrying a wireless communication terminal, notification can be made using that wireless communication terminal.

[0018] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured to determine that the operator of the vehicle intends to enter the adjacent lane when it detects the operation of the vehicle's turn signal device indicating that the vehicle will enter the adjacent lane, and to determine that it has detected an operation by the operator to enter the adjacent lane when it detects the steering operation of the vehicle that causes the vehicle to enter the adjacent lane.

[0019] According to the present invention, it is possible to determine that the operator of the host vehicle intends to enter the host vehicle into an adjacent lane by using the fact that the blinker device of the host vehicle has been activated, and it is also possible to determine that an operation by the operator to enter the host vehicle into an adjacent lane has been performed by using the fact that a steering operation of the host vehicle has been performed.

[0020] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features and attendant advantages of the present invention will be readily understood from the description of the embodiments of the present invention.

Brief Description of the Drawings

[0021] [Figure 1] FIG. 1 is a diagram showing a vehicle driving support device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing a communication network. [Figure 3] FIG. 3 is a diagram showing a scene in which an oncoming vehicle traveling on a curved road approaches the host vehicle. [Figure 4] FIG. 4 is a diagram showing a scene in which an oncoming vehicle traveling on a straight road approaches the host vehicle. [Figure 5] FIG. 5 is a diagram showing a scene in which a parallel vehicle exists diagonally in front of the right side of the preceding vehicle. [Figure 6] FIG. 6 is a flowchart showing a routine executed by the vehicle driving support device according to an embodiment of the present invention.

Mode for Carrying Out the Invention

[0022] Hereinafter, a vehicle driving support device according to an embodiment of the present invention will be described with reference to the drawings. In FIG. 1, a vehicle driving support device 10 according to an embodiment of the present invention is shown. The vehicle driving support device 10 is mounted on the host vehicle 100. Hereinafter, the case where the operator of the host vehicle 100 is the driver of the host vehicle 100 (that is, the person who rides in the host vehicle 100 and drives the host vehicle 100) will be taken as an example to describe the vehicle driving support device 10.

[0023] However, the operator of the host vehicle 100 may be a remote operator of the host vehicle 100 (i.e., a person who remotely drives the host vehicle 100 without boarding the host vehicle 100). When the operator of the host vehicle 100 is a remote operator, the vehicle driving support device 10 is mounted on each of the host vehicle 100 and remote operation equipment installed outside the host vehicle 100 for remotely driving the host vehicle 100, and the functions of the vehicle driving support device 10 described below are shared and performed by the vehicle driving support device 10 mounted on the host vehicle 100 and the vehicle driving support device 10 mounted on the remote operation equipment, respectively.

[0024] As shown in FIG. 1, the vehicle driving support device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 mainly includes a microcomputer. The microcomputer includes a CPU, a computer-readable storage medium, an interface, and the like. The storage medium is a ROM, a RAM, a non-volatile memory, or the like. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving support device 10 stores a program for realizing various controls executed by the vehicle driving support device 10 in the storage medium.

[0025] In this example, the vehicle driving support device 10 includes only one ECU 90, but may be configured to include a plurality of ECUs and share and perform the functions of the vehicle driving support device 10 described below by each ECU.

[0026] Furthermore, the vehicle driving support device 10 may be configured to be able to update (update) a program stored in the storage medium by wireless communication (e.g., Internet communication) with an external device.

[0027] Note that the vehicle driving support device 10 is applicable not only to a vehicle driven manually by an operator but also to a vehicle driven automatically.

[0028] The vehicle 100 is equipped with a steering device 21, a steering wheel 22, a steering shaft 23, and a steering angle sensor 24.

[0029] The steering device 21 is a device that provides steering force to the vehicle 100 for steering the vehicle 100. The steering wheel 22 is a device operated by the driver to steer the vehicle 100. The steering wheel 22 is connected to the steering shaft 23. The driver can rotate the steering shaft 23 by rotating the steering wheel 22. The steering angle sensor 24 is a sensor for detecting the rotation angle of the steering shaft 23 from the neutral position.

[0030] The steering device 21 and the steering angle sensor 24 are electrically connected to the ECU 90. The vehicle driving support system 10 obtains the rotation angle of the steering shaft 23 as the steering angle θ using the steering angle sensor 24. The vehicle driving support system 10 also steers the vehicle 100 by controlling the steering device 21 according to the obtained steering angle θ.

[0031] Furthermore, the vehicle 100 is equipped with a turn signal device 31, a turn signal lever 32, and a turn signal lever sensor 33.

[0032] The turn signal device 31 is equipped with a right turn signal 31R and a left turn signal 31L. The right turn signal 31R is a device that flashes to inform people around the vehicle 100 that the vehicle 100 is moving to the right (especially turning right). The left turn signal 31L is a device that flashes to inform people around the vehicle 100 that the vehicle 100 is moving to the left (especially turning left).

[0033] The turn signal lever 32 is a device operated by the driver to activate the turn signal device 31. The turn signal lever sensor 33 is a sensor that detects operation on the turn signal lever 32.

[0034] The right turn signal 31R, the left turn signal 31L, and the turn signal lever sensor 33 are electrically connected to the ECU 90. When the vehicle driver assistance system 10 detects that the turn signal lever 32 has been operated clockwise by the turn signal lever sensor 33, it flashes the right turn signal 31R. On the other hand, when the vehicle driver assistance system 10 detects that the turn signal lever 32 has been operated counterclockwise by the turn signal lever sensor 33, it flashes the left turn signal 31L.

[0035] Furthermore, the vehicle 100 is equipped with a notification device 40. The notification device 40 includes a display device 41 and an audio device 42.

[0036] The display device 41 is a device that displays various images. The display device 41 includes, for example, a display. The display device 41 is electrically connected to the ECU 90. The vehicle driving assistance system 10 displays various images using the display device 41.

[0037] The sound device 42 is a device that outputs various sounds and / or voices. The sound device 42 is equipped with, for example, a speaker. The sound device 42 is electrically connected to the ECU 90. The vehicle driving assistance system 10 outputs various sounds and / or voices through the sound device 42.

[0038] Furthermore, the vehicle 100 is equipped with the following on-board equipment: a surrounding detection device 50, a vehicle speed detection device 61, a wireless communication device 62, a GPS signal receiver 63, and a map database 64.

[0039] The surrounding detection device 50 is a device that detects information about the surroundings of the vehicle 100. In particular, in this example, the surrounding detection device 50 is a device used to detect other vehicles. The surrounding detection device 50 is equipped with a plurality of image sensors 51 and a plurality of electromagnetic wave sensors 52.

[0040] The image sensor 51 is a device that captures images of the area around the vehicle 100. The image sensor 51 is, for example, a camera sensor. The image sensor 51 is electrically connected to the ECU 90. The vehicle driving support system 10 acquires image data or image information of the area around the vehicle 100 as surrounding information IS using the image sensor 51.

[0041] The electromagnetic wave sensor 52 is a device that acquires information about targets in the vicinity of the vehicle 100. The electromagnetic wave sensor 52 is, for example, a millimeter-wave radar. The electromagnetic wave sensor 52 is electrically connected to the ECU 90. The vehicle driving support system 10 acquires target data or target information about targets in the vicinity of the vehicle 100 as surrounding information IS using the electromagnetic wave sensor 52.

[0042] The vehicle speed detection device 61 is a device that detects the driving speed of the vehicle 100. The vehicle speed detection device 61 is equipped with, for example, wheel speed sensors provided on each wheel of the vehicle 100. The vehicle speed detection device 61 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires the driving speed of the vehicle 100 as the vehicle speed V1 using the vehicle speed detection device 61.

[0043] The wireless communication device 62 is a device that receives wireless signals transmitted from other vehicles. In this example, the wireless signals are transmitted from a wireless communication terminal 200 held by a driver riding in another vehicle. The wireless communication terminal 200 is a terminal equipped with wireless communication capabilities. The wireless communication terminal 200 is, for example, a so-called mobile phone.

[0044] The radio signal is a signal representing various types of information (radio communication information IW) that include at least the location information IP of the radio communication terminal 200. The location information IP is information indicating the location of the radio communication terminal 200.

[0045] As shown in Figure 2, the wireless signal transmitted from the wireless communication terminal 200 arrives at the wireless communication device 62 of the vehicle driving support system 10 via the communication network 300.

[0046] The wireless communication device 62 is electrically connected to the ECU 90. The vehicle driving assistance system 10 receives wireless signals via the wireless communication device 62. The vehicle driving assistance system 10 acquires wireless communication information IW based on the wireless signals.

[0047] In this example, the exchange of wireless communication information between another vehicle (more precisely, a wireless communication terminal 200 held by a driver in another vehicle) and the vehicle driving support device 10 is an exchange using so-called V2N technology. Therefore, in this example, the communication network 300 is the Internet communication network, which is part of the communication network infrastructure used in V2N technology. However, the present invention is also applicable when using infrastructure (equipment) including a communication network used in so-called V2X technology, which includes V2N technology.

[0048] Furthermore, the radio signal may be a signal transmitted from a radio communication device installed in another vehicle.

[0049] The GPS signal receiver 63 is a device that receives so-called GPS signals. The GPS signal receiver 63 is electrically connected to the ECU 90. The vehicle driving assistance system 10 receives GPS signals via the GPS signal receiver 63. The vehicle driving assistance system 10 obtains the current position of its own vehicle 100 based on the GPS signals.

[0050] The map database 64 is a device that stores map information (IM). The map database 64 is electrically connected to the ECU 90.

[0051] <Operation of vehicle driver assistance system> Next, the operation of the vehicle driving assistance system 10 will be explained.

[0052] As shown in Figures 3 and 4, when vehicle 100 attempts to enter the oncoming lane LN2 to overtake vehicle 401, oncoming vehicle 402 may be approaching vehicle 100. In this case, as shown in Figure 3, if the road ahead of vehicle 100 is a curved road and oncoming vehicle 402 is present on that curve, the driver of vehicle 100 may not be able to see oncoming vehicle 402. Also, as shown in Figure 4, even if the road ahead of vehicle 100 is a straight road and oncoming vehicle 402 is present in the oncoming lane LN2 of that straight road, the driver of vehicle 100 may not be able to see oncoming vehicle 402 if vehicle 401 is present ahead of vehicle 100. In particular, if vehicle 401 is a relatively large vehicle such as a large truck, the driver of vehicle 100 may not be able to see oncoming vehicle 402. In such situations, it is preferable to inform the driver of vehicle 100 of the presence of oncoming vehicle 402.

[0053] Furthermore, as shown in Figure 5, when vehicle 100 attempts to enter the parallel lane LN3 to overtake the preceding vehicle 401, the parallel vehicle 403 may be located diagonally in front of the preceding vehicle 401. In this case, the driver of vehicle 100 may not be able to see the parallel vehicle 403. In such situations, it is preferable to inform the driver of vehicle 100 of the presence of the parallel vehicle 403.

[0054] The vehicle driving support device 10 executes the routine shown in Figure 6, and when predetermined conditions are met, it notifies the driver of its own vehicle 100 that there is an oncoming vehicle 402 or a parallel vehicle 403 as described above.

[0055] The vehicle driving support system 10 executes the routine shown in Figure 6 at predetermined time intervals. Therefore, when the predetermined timing arrives, the vehicle driving support system 10 starts processing from step S600 of the routine shown in Figure 6, proceeds to step S605, and determines whether or not reception condition C1 has been met. Reception condition C1 is the condition that wireless communication information IW has been received.

[0056] If reception condition C1 is met, the vehicle driving support device 10 determines "Yes" in step S605 and proceeds to step S610 to determine whether adjacent vehicle condition C2 is met.

[0057] Adjacent vehicle condition C2 is the condition that the information transmitting vehicle is an adjacent vehicle. The information transmitting vehicle is the other vehicle that transmitted the wireless communication information IW received by the vehicle driving support device 10. The adjacent vehicle is a vehicle traveling in an adjacent lane, and is an oncoming vehicle 402 or a parallel vehicle 403 that is in front of the vehicle 100 when viewed along the vehicle's own lane LN1. The adjacent lane is the oncoming lane LN2 or the parallel lane LN3 adjacent to the vehicle's own lane LN1. The vehicle's own lane LN1 is the lane in which the vehicle 100 is traveling.

[0058] The vehicle driving support system 10 identifies its own lane LN1 by comparing the current position of its own vehicle 100 with map information IM. Furthermore, the vehicle driving support system 10 obtains the current position of the information-transmitting vehicle based on the position information IP contained in the received wireless communication information IW, and determines whether the information-transmitting vehicle is an adjacent vehicle by comparing the obtained current position with map information IM.

[0059] If adjacent vehicle condition C2 is met, the vehicle driving support system 10 determines "Yes" in step S610 and proceeds to step S615 to determine the type of adjacent vehicle. That is, the vehicle driving support system 10 determines whether the adjacent vehicle is an oncoming vehicle 402 or a parallel vehicle 403. Based on the map information IM, the vehicle driving support system 10 determines whether the adjacent lane in which the adjacent vehicle is traveling is the oncoming lane LN2 or the parallel lane LN3, and based on that determination result, determines whether the adjacent vehicle is an oncoming vehicle 402 or a parallel vehicle 403.

[0060] Next, the vehicle driving support system 10 proceeds to step S620 and acquires the inter-vehicle time TTC. The inter-vehicle time TTC is the time obtained by dividing the inter-vehicle distance D by the relative speed Vr.

[0061] The inter-vehicle distance D is the distance between the vehicle 100 and an adjacent vehicle along the road on which the vehicle 100 is traveling. The vehicle driving support system 10 obtains the inter-vehicle distance D based on the current position of the vehicle 100 and the wireless communication information IW. More specifically, the vehicle driving support system 10 obtains the current position of the adjacent vehicle based on the location information IP of the adjacent vehicle included in the wireless communication information IW, and obtains the inter-vehicle distance D based on the obtained current position and the current position of the vehicle 100.

[0062] Thus, the vehicle driving support system 10 acquires the distance between its own vehicle 100 and another vehicle in an adjacent lane adjacent to the lane in which its own vehicle 100 is traveling, as the inter-vehicle distance D based on the position information IP.

[0063] The relative speed Vr is the relative speed between the vehicle 100 and the adjacent vehicle. More specifically, if the adjacent vehicle is the oncoming vehicle 402, the relative speed Vr is the sum of the vehicle speed V1 and the vehicle speed V2 of the oncoming vehicle 402 (Vr = V1 + V2). On the other hand, if the adjacent vehicle is the parallel vehicle 403, the relative speed Vr is the absolute value of the difference between the vehicle speed V1 and the vehicle speed V3 of the parallel vehicle 403 (Vr = |V1 - V3|). The vehicle driving support system 10 acquires the relative speed Vr based on the vehicle speed V1 and the wireless communication information IW. More specifically, the vehicle driving support system 10 acquires the vehicle speed V2 of the oncoming vehicle 402 or the vehicle speed V3 of the parallel vehicle 403 based on the position information IP contained in the wireless communication information IW, and acquires the relative speed Vr based on the acquired vehicle speed V2 of the oncoming vehicle 402 or the vehicle speed V3 of the parallel vehicle 403 and the vehicle speed V1.

[0064] Thus, the vehicle driving support system 10 acquires the inter-vehicle time TTC based on the position information IP by dividing the inter-vehicle distance D by the relative speed Vr of the vehicle 100 with respect to other vehicles.

[0065] Next, the vehicle driving support device 10 proceeds to step S625 and determines whether or not the target condition C3 is met.

[0066] If the adjacent vehicle is an oncoming vehicle 402, the target condition C3 is that the inter-vehicle time TTC is less than or equal to the predetermined oncoming vehicle inter-vehicle time TTC2 (a predetermined inter-vehicle time set for the oncoming vehicle 402) and the oncoming vehicle 402 is not detected by the surrounding detection device 50. In other words, the target condition C3 is that the inter-vehicle time TTC is less than or equal to the predetermined oncoming vehicle inter-vehicle time TTC2 and the vehicle driving support device 10 has not detected the oncoming vehicle 402 based on the surrounding information IS.

[0067] On the other hand, if the adjacent vehicle is a parallel vehicle 403, the target condition C3 is that the inter-vehicle time TTC is less than or equal to the predetermined parallel vehicle inter-vehicle time TTC3 (a predetermined inter-vehicle time set for the parallel vehicle 403) and the parallel vehicle 403 is not detected by the surrounding detection device 50. In other words, the target condition C3 is that the inter-vehicle time TTC is less than or equal to the predetermined parallel vehicle inter-vehicle time TTC3 and the vehicle driving support device 10 does not detect the parallel vehicle 403 based on the surrounding information IS.

[0068] Furthermore, the predetermined oncoming vehicle interval TTC2 and the predetermined parallel vehicle interval TTC3 may be set to the same time or to different times. When the predetermined oncoming vehicle interval TTC2 and the predetermined parallel vehicle interval TTC3 are set to different times, it is preferable that the predetermined oncoming vehicle interval TTC2 is set to a longer time than the predetermined parallel vehicle interval TTC3.

[0069] Alternatively, the vehicle driving support device 10 may be configured to acquire only the inter-vehicle distance D in step S620 without acquiring the inter-vehicle time TTC, and to use the inter-vehicle distance D to determine in step S625 whether or not the target condition C3 is met.

[0070] In this case, if the adjacent vehicle is an oncoming vehicle 402, the target condition C3 is that the inter-vehicle distance D is less than or equal to the predetermined oncoming vehicle inter-vehicle distance D2 (a predetermined inter-vehicle distance set for the oncoming vehicle 402) and the oncoming vehicle 402 is not detected by the surrounding detection device 50. In other words, the target condition C3 is that the inter-vehicle distance D is less than or equal to the predetermined oncoming vehicle inter-vehicle distance D2 and the vehicle driving support device 10 does not detect the oncoming vehicle 402 based on the surrounding information IS.

[0071] On the other hand, if the adjacent vehicle is a parallel vehicle 403, the target condition C3 is that the inter-vehicle distance D is less than or equal to the predetermined parallel vehicle inter-vehicle distance D3 (a predetermined inter-vehicle distance set for the parallel vehicle 403) and the parallel vehicle 403 is not detected by the surrounding detection device 50. In other words, the target condition C3 is that the inter-vehicle distance D is less than or equal to the predetermined parallel vehicle inter-vehicle distance D3 and the vehicle driving support device 10 does not detect the parallel vehicle 403 based on the surrounding information IS.

[0072] In this example, the predetermined distance D3 between parallel vehicles is set to be shorter than the predetermined distance D2 between oncoming vehicles.

[0073] Alternatively, the target condition C3 may include, in addition to the above-mentioned conditions, the condition that an obstacle has been detected in the vehicle's lane LN1 in front of the vehicle 100 by the surrounding detection device 50. The obstacle here refers to a preceding vehicle 401, fallen objects, and a stationary vehicle located in the vehicle's lane LN1 in front of the vehicle 100. The preceding vehicle 401 is another vehicle traveling in the vehicle's lane LN1 directly in front of the vehicle 100. The vehicle driving support system 10 detects the preceding vehicle 401 based on the surrounding information IS. Fallen objects are relatively large objects that have fallen into the vehicle's lane LN1 in front of the vehicle 100. Relatively large objects include, for example, tires and pieces of wood. The vehicle driving support system 10 detects fallen objects in the vehicle's lane based on the surrounding information IS. A stationary vehicle is another vehicle that has stopped in the vehicle's lane LN1 in front of the vehicle 100. The vehicle driving support system 10 detects a stationary vehicle in the vehicle's lane based on the surrounding information IS.

[0074] If the target condition C3 is met, the vehicle driving support system 10 determines "Yes" in step S625 and proceeds to step S630 to determine whether the entry condition C4 is met.

[0075] Entry condition C4 is the condition that the driver of vehicle 100 intends to enter the adjacent lane in which the adjacent vehicle is traveling. In other words, entry condition C4 is the condition that the driver of vehicle 100 intends to enter the target adjacent lane (i.e., the adjacent lane in which the adjacent vehicle is traveling) or that the driver has performed an action to enter the target adjacent lane.

[0076] In this example, the vehicle driving assistance system 10 determines that the driver of vehicle 100 intends to move vehicle 100 into the adjacent lane if the turn signal device 31 indicating the movement of vehicle 100 to the adjacent lane is activated. More specifically, the vehicle driving assistance system 10 determines that the driver of vehicle 100 intends to move vehicle 100 into the adjacent lane if the right turn signal 31R is activated when the adjacent lane is the lane to the right of the vehicle's lane LN1. On the other hand, the vehicle driving assistance system 10 determines that the driver of vehicle 100 intends to move vehicle 100 into the adjacent lane if the left turn signal 31L is activated when the adjacent lane is the lane to the left of the vehicle's lane LN1.

[0077] Furthermore, the vehicle driving support system 10 determines that the driver has performed an operation to move the vehicle 100 into the target adjacent lane if the driver of the vehicle 100 is operating the steering wheel 22 so that the vehicle 100 enters the target adjacent lane. More specifically, the vehicle driving support system 10 determines that the driver has performed an operation to move the vehicle 100 into the target adjacent lane if the steering angle θ becomes greater than or equal to a predetermined angle θth so that the vehicle 100 enters the target adjacent lane.

[0078] Thus, the vehicle driving support system 10 is configured to detect the driver's intention to move the vehicle 100 into an adjacent lane or the driver's actions to move the vehicle 100 into an adjacent lane.

[0079] Furthermore, when the vehicle driving assistance system 10 detects the operation of the turn signal device 31 indicating that the vehicle 100 is entering an adjacent lane, it determines that it has detected the driver's intention to enter the vehicle 100 into an adjacent lane. When it detects the operation of the steering wheel 22 to enter the vehicle 100 into an adjacent lane, it determines that it has detected an operation by the driver to enter the vehicle 100 into an adjacent lane.

[0080] If entry condition C4 is met, the vehicle driving support system 10 determines "Yes" in step S630, proceeds to step S635, and issues a target vehicle notification. Next, the vehicle driving support system 10 proceeds to step S695 and terminates the processing of this routine.

[0081] The target vehicle notification is a notification to inform the driver of vehicle 100 that there is an oncoming vehicle 402 or a parallel vehicle 403 in the adjacent lane into which the driver is attempting to enter. The target vehicle notification is made by the notification device 40. Specifically, the target vehicle notification is made by displaying an image on the display device 41 that shows the presence of an oncoming vehicle 402 or a parallel vehicle 403 in the adjacent lane into which the driver is attempting to enter, and / or by outputting an audio sound from the sound device 42 that informs the driver that there is an oncoming vehicle 402 or a parallel vehicle 403 in the adjacent lane into which the driver is attempting to enter.

[0082] Thus, the vehicle driving support device 10 is configured to provide driving support to its own vehicle 100 by notifying the target vehicle based on the location information IP of the other vehicle, which is included in the wireless communication information IW transmitted from the other vehicle.

[0083] Furthermore, when the vehicle driving support system 10 is set up to notify the driver that there is another vehicle in the adjacent lane when the target condition C3 is met, such as when the inter-vehicle time TTC is less than or equal to a predetermined time and no other vehicle is detected by the surrounding detection device 50 mounted on the vehicle 100, or when the inter-vehicle distance D is less than or equal to a predetermined distance and no other vehicle is detected by the surrounding detection device 50 mounted on the vehicle 100, the system detects that the driver of the vehicle 100 intends to move the vehicle 100 into the adjacent lane or performs an operation by the driver to move the vehicle 100 into the adjacent lane.

[0084] Furthermore, if the vehicle driving assistance device 10 determines "No" in step S605, step S610, step S625, or step S630, it proceeds directly to step S695 and terminates the processing of this routine.

[0085] The above describes the operation of the vehicle driving assistance device 10.

[0086] According to the vehicle driving support device 10, if the inter-vehicle time TTC is longer than a predetermined time (predetermined inter-vehicle time TTC2 or predetermined inter-vehicle time TTC3), or if the inter-vehicle distance D is longer than a predetermined distance (predetermined inter-vehicle distance D2 or predetermined inter-vehicle distance D3), a target vehicle notification will not be issued even if the driver of the vehicle 100 is attempting to move the vehicle 100 into an adjacent lane. In other words, even if the driver of the vehicle 100 moves the vehicle 100 into an adjacent lane, a target vehicle notification will not be issued if the driver of the vehicle 100 has sufficient time to avoid contact between the vehicle 100 and the other vehicle (inter-vehicle 402 or parallel vehicle 403).

[0087] Furthermore, if another vehicle is detected by the surrounding detection device 50, and therefore there is a high probability that the driver of vehicle 100 is aware of the presence of the other vehicle, then no notification of the target vehicle will be issued, even if the driver of vehicle 100 is attempting to move vehicle 100 into an adjacent lane.

[0088] Thus, if the driver of vehicle 100 has sufficient time to avoid contact with another vehicle, or if the driver of vehicle 100 is aware of the presence of another vehicle, the target vehicle notification will not be issued. Therefore, the issuance of unnecessary target vehicle notifications can be suppressed, and as a result, the driver of vehicle 100 will not be inconvenienced. Consequently, appropriate target vehicle notifications regarding other vehicles traveling in adjacent lanes can be issued to the driver of vehicle 100.

[0089] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention. [Explanation of Symbols]

[0090] 10...Vehicle driving assistance system, 50...Surroundings detection device, 51...Image sensor, 52...Electromagnetic wave sensor, 62...Wireless communication device, 90...ECU, 100...Own vehicle, 200...Wireless communication terminal, 300...Communication network, 402...Oncoming vehicle, 403...Vehicle driving alongside

Claims

1. In a vehicle driving assistance system equipped with a control device that provides driving assistance to the own vehicle based on location information of another vehicle contained in wireless communication information transmitted from another vehicle, The control device is Based on the position information, the distance between the vehicle and the other vehicle in the adjacent lane adjacent to the lane in which the vehicle is traveling is obtained as the inter-vehicle distance, and the value obtained by dividing the inter-vehicle distance by the relative speed of the vehicle with respect to the other vehicle is obtained as the inter-vehicle time based on the position information. When the conditions are met, such that the distance between vehicles is less than or equal to a predetermined time and the surrounding detection device mounted on the vehicle does not detect the other vehicle, and the driver of the vehicle has an intention to move the vehicle into the adjacent lane or has performed an action by the driver to move the vehicle into the adjacent lane, the driver assistance system will be provided to notify the driver that the other vehicle is present in the adjacent lane. It is structured in such a way. Vehicle driving assistance system.

2. In a vehicle driving assistance system equipped with a control device that provides driving assistance to the own vehicle based on location information of another vehicle contained in wireless communication information transmitted from another vehicle, The control device is Based on the position information, the distance between the vehicle and another vehicle in an adjacent lane adjacent to the lane in which the vehicle is traveling is obtained as the inter-vehicle distance. When the conditions are met, such that the distance between vehicles is less than or equal to a predetermined distance and the surrounding detection device mounted on the vehicle does not detect the other vehicle, and the driver of the vehicle has an intention to move the vehicle into the adjacent lane or has performed an action by the driver to move the vehicle into the adjacent lane, the driver assistance system will be provided to notify the driver that the other vehicle is in the adjacent lane. It is structured in such a way. Vehicle driving assistance system.

3. In the vehicle driving support device according to claim 1 or claim 2, The adjacent lane is the oncoming lane adjacent to the lane in which the vehicle is traveling. The aforementioned other vehicle is an oncoming vehicle traveling in the opposite lane. Vehicle driving assistance system.

4. In the vehicle driving support device according to claim 1 or claim 2, The aforementioned target conditions include the condition that an obstacle is detected by the surrounding detection device in front of the vehicle and in the lane in which the vehicle is traveling. Vehicle driving assistance system.

5. In the vehicle driving support device according to claim 1 or claim 2, The wireless communication information is information transmitted from a wireless communication terminal carried by a driver riding in the aforementioned other vehicle. Vehicle driving assistance system.

6. In the vehicle driving support device according to claim 1 or claim 2, The control device is configured such that, upon detecting the activation of the vehicle's turn signal device indicating that the vehicle is entering the adjacent lane, it determines that the operator of the vehicle has detected an intention to enter the vehicle into the adjacent lane, and upon detecting steering of the vehicle that causes it to enter the adjacent lane, it determines that an operation by the operator to cause the vehicle to enter the adjacent lane has been detected. Vehicle driving assistance system.

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