Vehicle driving assistance system

Abstract

The present invention provides a vehicle driving assistance device that can appropriately notify the operator of the vehicle of the presence of a moving object. [Solution] When the vehicle driving support device 10 recognizes, based on wireless communication information, the presence of a moving body 200 that is moving toward an intersection 401 that intersects with the vehicle's travel road 402 at an intersection 400T in the direction of travel of the vehicle 100, and that satisfies predetermined movement state conditions, it notifies the operator of the vehicle of the presence of the moving body. The predetermined movement state conditions include a first movement state condition in which the moving speed of the moving body is at or below a first speed, and the grace period for reaching the intersection, which is the grace period until the moving body reaches the intersection, is within the range of first hour or less and shorter than the first hour, but at or above second hour. When the vehicle driving support device recognizes the presence of a moving body that satisfies the first movement state conditions, it notifies the operator of the presence of the moving body.

Description

Technical Field

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

Background Art

[0002] There is known a vehicle driving support device that recognizes the presence of a moving object that may collide with the host vehicle based on wireless communication information and notifies the operator of the host vehicle of the presence of the moving object (see, for example, Patent Document 1). Note that the wireless communication information is information transmitted from a wireless communication terminal possessed by the moving object. Further, the wireless communication information includes, for example, position information indicating the position of the moving object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] By the way, the error in the movement information of the moving object recognized based on the wireless communication information is smaller as the moving speed of the moving object is higher. However, it takes a certain amount of time from when the wireless communication information is transmitted from the wireless communication terminal until the presence of the moving object is recognized. That is, there is a certain delay in recognizing the presence of the moving object. And, the higher the moving speed of the moving object is, the longer the distance the moving object moves during the delay time. Therefore, even if the error in the movement information of the moving object is relatively small, if the moving speed of the moving object is high, the influence of the error on the recognition accuracy of the moving object is large. For this reason, even for a moving object with a small error in movement information, when the moving object is recognized based on the wireless communication information, there is a possibility that the presence of the moving object cannot be appropriately notified to the operator of the host vehicle when the moving speed of the moving object is high.

[0005] An object of the present invention is to provide a vehicle driving support device capable of appropriately notifying an operator of a host vehicle of the presence of a moving object.

[0006] The vehicle driving assistance system according to the present invention includes a control device that, when it recognizes the presence of a moving object that is moving toward an intersection on a road that intersects with the road the vehicle is traveling on at an intersection ahead of the direction of travel of the vehicle, and that satisfies predetermined movement state conditions, it notifies the operator of the vehicle of the presence of the moving object. The predetermined movement state conditions include a first movement state condition in which the speed of the moving object is at or below a first speed, and the grace period for reaching the intersection, which is the grace period until the moving object reaches the intersection, is in the range of 1 hour or less and 2 hours or more, which is shorter than the first hour. The control device is configured to notify the operator of the presence of a moving object when it recognizes the presence of a moving object that satisfies the first movement state conditions.

[0007] According to the vehicle driving support system of the present invention, the moving object notified to the operator of the vehicle based on wireless communication information is a moving object whose speed is at or below the first speed and whose intersection arrival grace period is within the range of 1 hour or less and 2 hours or more. In this way, since the intersection arrival grace period for the notified moving object is 2 hours or more, compared to when there is no intersection arrival grace period, it is possible to suppress notifications based on wireless communication information of moving objects that have already passed the intersection during the delay period by the time the vehicle driving support system recognizes the moving object via wireless communication information. Furthermore, by setting the intersection arrival grace period for the notified moving object to 1 hour or less, it is possible to suppress causing inconvenience to the driver due to notifying the operator of the vehicle too early. Therefore, the presence of a moving object can be appropriately notified to the operator of the vehicle.

[0008] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured to change the method of notification if the vehicle's onboard equipment directly detects the moving object while the notification is being made.

[0009] According to the vehicle driving assistance system of the present invention, when a moving object is directly detected by an in-vehicle device, the method of notification is changed. Specifically, the notification to inform the vehicle operator of the presence of a moving object is changed from a notification based on wireless communication information to a notification based on information detected by the in-vehicle device. Therefore, the presence of a moving object can be appropriately notified to the vehicle operator.

[0010] Furthermore, in the vehicle driving support device according to the present invention, the wireless communication information is, for example, information provided to the vehicle driving support device via a communication network from a wireless communication terminal held by the mobile body.

[0011] The technology for providing various types of information from wireless communication terminals via communication networks is widely used. According to the vehicle driving assistance system of the present invention, it is possible to recognize moving objects using this widely used technology.

[0012] Furthermore, in the vehicle driving support device according to the present invention, the second time is longer than, for example, the time required from when the wireless communication information is transmitted from the wireless communication terminal held by the mobile body until the wireless communication information is provided to the wireless communication device of the vehicle.

[0013] According to the vehicle driving assistance device of the present invention, the time it takes for wireless communication information relating to a moving object to be provided to the vehicle's wireless communication device is reflected in the notification of the presence of the moving object. Therefore, the presence of a moving object can be appropriately notified to the operator of the vehicle.

[0014] Furthermore, in the vehicle driving support device according to the present invention, the first speed is, for example, a speed near the maximum value of the travel speed that a bicycle normally achieves.

[0015] According to the vehicle driving assistance device of the present invention, the presence of a bicycle can be appropriately notified to the operator of the vehicle.

[0016] Furthermore, in the vehicle driving support device according to the present invention, the predetermined movement state condition may include a second movement state condition, which is that the movement speed of the moving body is at a speed lower than or equal to a second speed, which is lower than the first speed. In this case, the control device may be configured to notify the presence of a moving body when it recognizes the presence of a moving body that satisfies either the first or second movement state condition.

[0017] According to the vehicle driving support device of the present invention, the moving objects notified to the operator of the vehicle based on wireless communication information are moving objects whose speed is at or below the first speed and whose time to reach an intersection is within the range of 1 hour or less and 2 hours or more, and moving objects whose speed is at or below the second speed, which is lower than the first speed. Therefore, the presence of moving objects can be appropriately notified to the operator of the vehicle.

[0018] Furthermore, in the vehicle driving support device according to the present invention, the first speed is, for example, a speed near the maximum value of the movement speed that a bicycle normally achieves, and the second speed is, for example, a speed near the maximum value of the movement speed that a pedestrian normally achieves.

[0019] According to the vehicle driving assistance device of the present invention, the presence of pedestrians and bicycles can be appropriately notified to the operator of the vehicle.

[0020] Furthermore, in the vehicle driving assistance device according to the present invention, the in-vehicle equipment is, for example, an image sensor or an electromagnetic wave sensor.

[0021] According to the vehicle driving assistance device of the present invention, when a moving object is directly detected by an image sensor or electromagnetic wave sensor, the method of notification is changed. Therefore, the presence of a moving object can be appropriately notified to the operator of the vehicle.

[0022] Furthermore, in the vehicle driving support device according to the present invention, the wireless communication information is, for example, the position information of the moving body, or the direction of movement information and the speed of movement information of the moving body.

[0023] According to the vehicle driving support device of the present invention, a moving object can be recognized based on the position information of the moving object, or the moving direction information and moving speed information of the moving object.

[0024] Further, in the vehicle driving support device according to the present invention, even when the control device recognizes, based on the wireless communication information, a moving object moving on a road intersecting the traveling road of the host vehicle at the intersection and moving toward the intersection, if the moving object does not satisfy the first moving state condition, the control device can be configured not to perform the notification.

[0025] According to the vehicle driving support device of the present invention, only when a moving object whose moving speed is equal to or lower than a first speed, the remaining time until reaching the intersection is within a range of not more than a first time and not less than a second time, is recognized based on the wireless communication information, the presence of the moving object is notified to the operator of the host vehicle. Therefore, the presence of the moving object can be appropriately notified to the operator of the host vehicle.

[0026] Further, in the vehicle driving support device according to the present invention, even when the control device recognizes, based on the wireless communication information, a moving object moving on a road intersecting the traveling road of the host vehicle at the intersection and moving toward the intersection, if the moving object does not satisfy any of the first moving state condition and the second moving state condition, the control device can be configured not to perform the notification.

[0027] According to the vehicle driving support device of the present invention, only when a moving object whose moving speed is equal to or lower than a first speed, the remaining time until reaching the intersection is within a range of not more than a first time and not less than a second time, or a moving object whose moving speed is equal to or lower than a second speed lower than the first speed, is recognized, the presence of the moving object is notified to the operator of the host vehicle. Therefore, the presence of the moving object can be appropriately notified to the operator of the host vehicle.

[0028] 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

[0029] [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 flowchart showing a routine executed by the vehicle driving support device according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an intersection. [Figure 5] FIG. 5 is a diagram for explaining an intersection point or the like. [Figure 6] FIG. 6 is a diagram showing a target moving body image displayed on a display device. [Figure 7] FIG. 7 is a flowchart showing a routine executed by the vehicle driving support device according to an embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing a routine executed by the vehicle driving support device according to an embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing a routine executed by the vehicle driving support device according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0030] 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, a case where the operator of the host vehicle 100 is the driver of the host vehicle 100 (that is, a person who rides on the host vehicle 100 and drives the host vehicle 100) will be taken as an example to describe the vehicle driving support device 10.

[0031] However, the operator of the vehicle 100 may also be a remote operator of the vehicle 100 (i.e., a person who operates the vehicle 100 remotely without being in the vehicle 100). When the operator of the vehicle 100 is a remote operator, the vehicle driving support device 10 is installed in the vehicle 100 and in the remote control equipment installed outside the vehicle 100 for remote operation of the vehicle 100, and the functions of the vehicle driving support device 10 described below are shared between the vehicle driving support device 10 installed in the vehicle 100 and the vehicle driving support device 10 installed in the remote control equipment.

[0032] As shown in Figure 1, the vehicle driving assistance system 10 is equipped with an ECU (Electronic Control Unit) 90 as a control device. The ECU 90 mainly consists of a microcomputer. The microcomputer includes a CPU, a computer-readable storage medium, and an interface, etc. The storage medium is ROM, RAM, and non-volatile memory, etc. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving assistance system 10 stores programs that realize the various controls that the vehicle driving assistance system 10 performs in the storage medium.

[0033] In this example, the vehicle driving assistance system 10 is equipped with only one ECU 90, but it may also be equipped with multiple ECUs, and each ECU may be responsible for performing the functions of the vehicle driving assistance system 10 described below.

[0034] Furthermore, the vehicle driving assistance device 10 may be configured to update the program stored in the storage medium via wireless communication (for example, internet communication) with an external device.

[0035] Furthermore, the vehicle driving assistance system 10 is applicable not only to vehicles driven manually by an operator, but also to vehicles driven by automated systems.

[0036] The vehicle 100 is equipped with a notification device 20. The notification device 20 includes a display device 21 and an audio device 22.

[0037] The display device 21 is a device that displays various images. The display device 21 includes, for example, a display. The display device 21 is electrically connected to the ECU 90. The vehicle driving assistance system 10 displays various images using the display device 21.

[0038] The sound device 22 is a device that outputs various sounds and / or voices. The sound device 22 is equipped with, for example, a speaker. The sound device 22 is electrically connected to the ECU 90. The vehicle driving assistance system 10 outputs various sounds and / or voices using the sound device 22.

[0039] Furthermore, the vehicle 100 is equipped with on-board equipment including a wireless communication device 31, a GPS signal receiver 32, a map information database 33, a surrounding information detection device 40, and a vehicle speed detection device 50.

[0040] The wireless communication device 31 is a device that receives radio signals provided from outside the vehicle 100. The wireless communication device 31 is electrically connected to the ECU 90. The vehicle driving support system 10 receives radio signals via the wireless communication device 31. Based on the radio signals, the vehicle driving support system 10 acquires information about the mobile body 200 as wireless communication information IW.

[0041] In this example, the mobile unit 200 possesses a wireless communication terminal 201. The wireless communication terminal 201 is a terminal equipped with wireless communication capabilities. The wireless communication terminal 201 is, for example, a so-called mobile phone. The wireless communication terminal 201 transmits a radio signal to the outside indicating the location of the mobile unit 200 (more precisely, the location of the wireless communication terminal 201). Alternatively, the wireless communication terminal 201 transmits a radio signal to the outside indicating the direction and speed of movement of the mobile unit 200 (more precisely, the direction and speed of movement of the wireless communication terminal 201).

[0042] As shown in Figure 2, the radio signal transmitted from the wireless communication terminal 201 is provided to the vehicle driving support system 10 via the communication network 300. Based on the provided radio signal, the vehicle driving support system 10 acquires the position information of the mobile body 200, or the direction of movement information and the speed of movement information of the mobile body 200, as wireless communication information IW.

[0043] Thus, in this example, the wireless communication information IW is information provided to the vehicle driving support device 10 via the communication network 300 from the wireless communication terminal 201 held by the mobile body 200. Furthermore, the wireless communication information IW is either the location information of the mobile body 200, or the direction of movement information and the speed of movement information of the mobile body 200.

[0044] Furthermore, the position information of the mobile object 200 indicates the position of the mobile object 200. The direction of movement information of the mobile object 200 indicates the direction in which the mobile object 200 is moving. The speed information of the mobile object 200 indicates the speed at which the mobile object 200 is moving.

[0045] Furthermore, in this example, the exchange of wireless communication information between the mobile unit 200 (more precisely, the wireless communication terminal 201 possessed by the mobile unit 200) and the vehicle driving assistance 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.

[0046] The GPS signal receiver 32 is a device that receives so-called GPS signals. The GPS signal receiver 32 is electrically connected to the ECU 90. The vehicle driving assistance system 10 receives GPS signals via the GPS signal receiver 32. Based on the GPS signals, the vehicle driving assistance system 10 acquires the current position of its own vehicle 100 as the current position Pnow.

[0047] The map information database 33 is a device that stores map information. The map information database 33 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires map information of the area around the vehicle 100 as map information IM from the map information database 33 based on the current position Pnow of the vehicle 100.

[0048] The surrounding information detection device 40 is a device that detects information about the surroundings of the vehicle 100. The surrounding information detection device 40 is equipped with a plurality of image sensors 41 and a plurality of electromagnetic wave sensors 42.

[0049] The image sensor 41 is a device that captures images of the area around the vehicle 100. The image sensor 41 is, for example, a camera sensor. The image sensor 41 is electrically connected to the ECU 90. The vehicle driving assistance system 10 acquires image data or image information of the area around the vehicle 100 as surrounding information IS using the image sensor 41.

[0050] The electromagnetic wave sensor 42 is a device that acquires information about targets in the vicinity of the vehicle 100. The electromagnetic wave sensor 42 is, for example, a millimeter-wave radar. The electromagnetic wave sensor 42 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 42.

[0051] The vehicle speed detection device 50 is a device that detects the driving speed of the vehicle 100. The vehicle speed detection device 50 is equipped with, for example, wheel speed sensors provided on each wheel of the vehicle 100. The vehicle speed detection device 50 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 Ve from the vehicle speed detection device 50.

[0052] <Operation of vehicle driver assistance system> Next, the operation of the vehicle driving assistance device 10 will be explained. The vehicle driving assistance device 10 executes the routine shown in Figure 3 at predetermined time intervals, and when predetermined conditions are met, it makes a wireless recognition notification, which will be described later.

[0053] When a predetermined timing occurs, the vehicle driving assistance device 10 starts processing from step S300 of the routine shown in Figure 3, proceeds to step S305, and determines whether or not the intersection condition CI is met.

[0054] The intersection condition CI is the condition that the target intersection 400T exists. As shown in Figure 4, the target intersection 400T is the intersection ahead in the direction of travel of the vehicle 100. In particular, the target intersection 400T is an intersection ahead in the direction of travel of the vehicle 100 and located within a predetermined distance (intersection determination distance Dth) from the vehicle 100.

[0055] The vehicle driving support system 10 determines whether or not intersection condition CI is met based on map information IM. Alternatively, the vehicle driving support system 10 determines whether or not intersection condition CI is met based on wireless communication information IW. Alternatively, the vehicle driving support system 10 determines whether or not intersection condition CI is met based on surrounding information IS.

[0056] If the vehicle driving assistance device 10 determines "Yes" in step S305, it proceeds to step S310 to determine whether the wireless recognition condition CW is met.

[0057] The wireless recognition condition for CW is that the target mobile object 200T is present.

[0058] The target moving body 200T is a moving body 200 that moves along the intersecting road 401 toward the target intersection 400T and satisfies the predetermined movement state condition CM.

[0059] As shown in Figure 4, the intersecting road 401 is the road that intersects with the road 402 of the vehicle 100 at the target intersection 400T.

[0060] Furthermore, the predetermined movement state condition CM is the condition (first movement state condition) that the movement speed Vm of the moving body 200 is less than or equal to the first speed V1, and the time limit for reaching the intersection TTC is within the range of less than or equal to the first hour TTC1, and less than or equal to the second hour TTC2 which is shorter than the first hour TTC1.

[0061] Furthermore, the intersection arrival grace period (TTC) is the leeway time until the mobile object 200 reaches the target intersection 400T. More specifically, the intersection arrival grace period (TTC) is the time required for the mobile object 200 to reach the intersection point PC. Therefore, the intersection arrival grace period (TTC) is the time obtained by dividing the distance Dm from the mobile object 200 to the target intersection 400T (intersection point PC) by the mobile object 200's speed Vm.

[0062] Furthermore, as shown in Figure 5, the distance Dm from the mobile object 200 to the target intersection 400T is the distance from the mobile object 200 to the intersection point PC. The intersection point PC is the point where the planned route of the vehicle 100 and the planned route of the mobile object 200 intersect.

[0063] Furthermore, the first velocity V1 is a speed near the maximum speed that a bicycle can normally achieve. In other words, the first velocity V1 is the speed at which it is possible to distinguish whether the moving object 200 is a bicycle or a pedestrian with a moving speed Vm slower than a bicycle, or whether the moving object 200 is a moving object 200 with a moving speed Vm faster than a bicycle. In this case, the moving object 200 with a moving speed Vm faster than a bicycle is a motorcycle or an automobile.

[0064] Furthermore, the first time TTC1 is set to the time at which notification of the presence of the mobile object 200 can be given at an appropriate time. In particular, in this example, the first time TTC1 is the minimum time required for the driver to avoid a collision between the target mobile object 200T and the vehicle 100 after the driver is notified of the presence of the target mobile object 200T, whose moving speed Vm is less than or equal to the first speed V1 and greater than or equal to the second speed V2. Furthermore, in this example, the second time TTC2 is the time (delay time) required from the time a radio signal (i.e., radio communication information IW) is transmitted from the radio communication terminal 201 possessed by the mobile object 200 until the radio signal (i.e., radio communication information IW) is provided to the radio communication device 31 of the vehicle 100.

[0065] If the vehicle driving support system 10 determines "Yes" in step S310, it proceeds to step S315 and sends a wireless recognition notification. Next, the vehicle driving support system 10 proceeds to step S395 and terminates the processing of this routine.

[0066] The wireless recognition notification is a notification to inform the driver of the vehicle 100 of the presence of the target mobile object 200T. In this example, the wireless recognition notification is performed in a predetermined manner by the notification device 20.

[0067] For example, wireless recognition notification is performed by displaying the target moving object image IMG_T on the display device 21 in a predetermined manner, as shown in Figure 6.

[0068] Alternatively, in addition to or instead of the above, wireless recognition notification is performed by outputting a predetermined pattern of sound from the sound device 22.

[0069] Alternatively, in addition to or instead of the above, wireless recognition notification is performed by outputting a voice of predetermined content from the sound device 22.

[0070] Furthermore, the target mobile object image IMG_T is an image representing the target mobile object 200T. In particular, if the vehicle driving support system 10 recognizes that the target mobile object 200T is a pedestrian, the target mobile object image IMG_T can be an image representing a pedestrian. Also, if the vehicle driving support system 10 recognizes that the target mobile object 200T is a bicycle, the target mobile object image IMG_T can be an image representing a bicycle. In this example, the type of target mobile object 200T is determined by an available known method.

[0071] Furthermore, in this example, the wireless recognition notification continues until the target mobile object 200T enters the target intersection 400T. Alternatively, the wireless recognition notification continues for a predetermined time Tth.

[0072] Furthermore, if the vehicle driving assistance device 10 determines "No" in step S305 or step S310, it proceeds directly to step S395 and terminates the processing of this routine.

[0073] Thus, even if the vehicle driving support device 10 recognizes a moving object 200 moving toward the target intersection 400T on a road (intersecting road 401) that intersects with the road 402 of the vehicle 100 at the target intersection 400T, based on wireless communication information IW, it is configured not to issue a wireless recognition notification if the moving object 200 does not meet a predetermined movement state condition CM (first movement state condition).

[0074] The above describes the operation of the vehicle driving assistance device 10.

[0075] The error in the movement information of a mobile object 200, as recognized based on wireless communication information IW, is smaller the faster the mobile object 200's movement speed Vm is. However, a certain amount of time is required from the time the wireless communication information IW is transmitted from the wireless communication terminal 201 until the presence of the mobile object 200 is recognized. In other words, a certain delay time occurs in the recognition of the presence of the mobile object 200. Furthermore, the faster the mobile object 200's movement speed Vm is, the longer the distance the mobile object 200 travels during this delay time. Therefore, even if the error in the movement information of the mobile object 200 is relatively small, if the mobile object 200's movement speed Vm is fast, this error has a significant impact on the recognition accuracy of the mobile object 200. For this reason, even if a mobile object 200 has a small error in its movement information, when the mobile object 200 is recognized based on wireless communication information IW, if the mobile object 200's movement speed Vm is fast, it may not be possible to properly notify the driver of the vehicle 100 of the presence of the mobile object 200.

[0076] According to the vehicle driving support device 10, the mobile object 200 notified to the driver of the vehicle 100 based on the wireless communication information IW is a mobile object whose moving speed Vm is less than or equal to the first speed V1 and whose grace period until reaching the intersection (intersection arrival grace period TTC) is within the range of first hour TTC1 or less and second hour TTC2 or more, which is shorter than the first hour TTC1. In this way, since the intersection arrival grace period TTC of the notified mobile object 200 is second hour TTC2 or more, compared to when there is no intersection arrival grace period TTC, it is possible to suppress notifications based on wireless communication information IW of mobile objects 200 that have already passed the intersection (target intersection 400T) during the delay period by the time the vehicle driving support device 10 recognizes the mobile object 200 via wireless communication information IW. Furthermore, by setting the intersection arrival grace period TTC of the notified mobile object 200 to first hour TTC1 or less, it is possible to suppress causing inconvenience to the driver of the vehicle 100 due to notifications being made too early.

[0077] 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.

[0078] For example, the vehicle driving support device 10 may be configured to execute the routine shown in Figure 7 at predetermined time intervals. In this case, when the predetermined timing arrives, the vehicle driving support device 10 starts processing from step S700 of the routine shown in Figure 7, proceeds to step S705, and determines whether or not the intersection condition CI is met.

[0079] If the vehicle driving assistance device 10 determines "Yes" in step S705, it proceeds to step S710 to determine whether the wireless recognition condition CW is met.

[0080] If the vehicle driving assistance device 10 determines "Yes" in step S710, it proceeds to step S715 and issues a wireless recognition notification. The wireless recognition notification issued in step S715 is the same as the wireless recognition notification issued in step S315.

[0081] Next, the vehicle driving support device 10 proceeds to step S720 and determines whether or not the target detection condition CT is met.

[0082] The target detection condition CT is that the target moving object 200T has been detected based on the surrounding information IS.

[0083] If the vehicle driving support system 10 determines "Yes" in step S720, it proceeds to step S725, terminates the wireless recognition notification, and issues a target detection notification. Next, the vehicle driving support system 10 proceeds to step S795, and terminates the processing of this routine.

[0084] The target detection notification is a notification to inform the driver of the vehicle 100 of the presence of the target mobile object 200T. In this example, the target detection notification is made by the notification device 20. However, the target detection notification is made in a different form than the wireless recognition notification.

[0085] For example, the target detection notification is performed by displaying the target mobile object image IMG_T on the display device 21 in a manner different from the predetermined manner in the wireless recognition notification. In this case, the vehicle driving support device 10, for example, displays the target mobile object image IMG_T in a size and color different from the size and color of the target mobile object image IMG_T displayed in the wireless recognition notification.

[0086] Alternatively, in addition to or instead of the above, the target detection notification is made by outputting a sound pattern from the sound device 22 that is different from the predetermined pattern in the wireless recognition notification. In this case, the vehicle driving assistance device 10, for example, if it outputs a sound from the sound device 22 briefly once in the wireless recognition notification, outputs a sound from the sound device 22 briefly twice in a row in the target detection notification.

[0087] Alternatively, in addition to or instead of the above, the target detection notification is made by outputting an audio message from the sound device 22 that has different content from the predetermined content in the wireless recognition notification.

[0088] Thus, the vehicle driving assistance system 10 is configured to change the notification method if the vehicle's onboard equipment (in this example, the surrounding information detection device 40) directly detects the target moving object 200T while wireless recognition notification is being performed.

[0089] Furthermore, if the vehicle driving assistance device 10 determines "No" in step S705, step S710, or step S720, it proceeds directly to step S795 and terminates the processing of this routine.

[0090] When a target mobile object 200T recognized based on wireless communication information IW is detected by an in-vehicle device such as a peripheral information detection device 40, it is preferable that notification of the target mobile object 200T is made based on the information detected by the in-vehicle device.

[0091] According to the vehicle driving assistance system 10 in this example, if the target mobile object 200T is detected based on the surrounding information IS while wireless recognition notification is being performed, the presence of the target mobile object 200T is notified to the driver of the vehicle 100 in a form different from the notification form of the wireless recognition notification. Therefore, the presence of the mobile object 200 can be appropriately notified to the driver of the vehicle 100.

[0092] Alternatively, the vehicle driving support device 10 may be configured to execute the routine shown in Figure 8 at predetermined time intervals. In this case, when the predetermined timing arrives, the vehicle driving support device 10 starts processing from step S800 of the routine shown in Figure 8, proceeds to step S805, and determines whether or not the intersection condition CI is met.

[0093] If the vehicle driving assistance device 10 determines "Yes" in step S805, it proceeds to step S810 to determine whether the first wireless recognition condition CW1 is met.

[0094] The first radio recognition condition CW1 is the condition that a first target mobile object 200T1 exists. The first target mobile object 200T1 is a mobile object 200 that is moving along the intersecting road 401 toward the target intersection 400T and satisfies a predetermined first movement state condition CM1. The predetermined first movement state condition CM1 is the condition that the movement speed Vm of the mobile object 200 is less than or equal to the first speed V1, and the time limit for reaching the intersection TTC is within the range of less than or equal to the first hour TTC1, and less than or equal to the second hour TTC2 which is shorter than the first hour TTC1.

[0095] As described above, the first velocity V1 is a speed near the maximum speed that a bicycle can normally achieve. In other words, the first velocity V1 is the speed at which it is possible to distinguish whether the moving object 200 is a bicycle or a pedestrian with a slower speed Vm than a bicycle, or whether the moving object 200 is a moving object 200 with a faster speed Vm than a bicycle. In this context, moving objects 200 other than bicycles include motorcycles and automobiles.

[0096] If the vehicle driving support device 10 determines "Yes" in step S810, it proceeds to step S815 and issues a first wireless recognition notification. Next, the vehicle driving support device 10 proceeds to step S895 and terminates the processing of this routine.

[0097] The first wireless recognition notification is a notification to inform the driver of the vehicle 100 of the presence of the first target mobile object 200T1. In this example, the first wireless recognition notification is made by the notification device 20 in a predetermined manner.

[0098] For example, the first wireless recognition notification is performed by displaying the first target mobile object image IMG_T1 on the display device 21 in a predetermined manner.

[0099] Alternatively, in addition to or instead of the above, the first wireless recognition notification is performed by outputting a sound of a predetermined pattern from the sound device 22.

[0100] Alternatively, in addition to or instead of the above, the first wireless recognition notification is performed by outputting a voice of predetermined content from the sound device 22.

[0101] Furthermore, the first target mobile object image IMG_T1 represents the first target mobile object 200T1. In particular, the first target mobile object image IMG_T1 represents a bicycle.

[0102] In this example, the first wireless recognition notification continues until the first target mobile object 200T1 enters the target intersection 400T. Alternatively, the first wireless recognition notification continues for a predetermined time Tth.

[0103] On the other hand, if the vehicle driving support device 10 determines "No" in step S810, it proceeds to step S830 to determine whether the second wireless recognition condition CW2 is met.

[0104] The second radio recognition condition CW2 is the condition that a second target mobile object 200T2 exists. The second target mobile object 200T2 is a mobile object 200 that is moving along the intersecting road 401 toward the target intersection 400T and satisfies a predetermined second movement state condition CM2. The predetermined second movement state condition CM2 is the condition that the movement speed Vm of the mobile object 200 is less than or equal to the second speed V2, which is lower than the first speed V1.

[0105] The second speed V2 is a speed near the maximum speed that a pedestrian would normally achieve. In other words, the second speed V2 is the speed at which it is possible to distinguish whether the moving object 200 is a pedestrian or a moving object other than a pedestrian. In this case, the moving objects other than pedestrians 200 include bicycles, motorcycles, and automobiles.

[0106] If the vehicle driving support system 10 determines "Yes" in step S830, it proceeds to step S835 and issues a second wireless recognition notification. Next, the vehicle driving support system 10 proceeds to step S895 and terminates the processing of this routine.

[0107] The second wireless recognition notification is a notification to inform the driver of the vehicle 100 of the presence of the second target mobile object 200T2. In this example, the second wireless recognition notification is made in a predetermined form by the notification device 20.

[0108] For example, the second wireless recognition notification is performed by displaying the second target mobile object image IMG_T2 on the display device 21 in a predetermined manner.

[0109] Alternatively, in addition to or instead of the above, the second wireless recognition notification is performed by outputting a predetermined pattern of sound from the sound device 22.

[0110] Alternatively, in addition to or instead of the above, the second wireless recognition notification is made by outputting an audio message of a predetermined content from the sound device 22.

[0111] Furthermore, the second target moving object image IMG_T2 represents the second target moving object 200T2. In particular, the second target moving object image IMG_T2 represents a pedestrian.

[0112] Furthermore, in this example, the second wireless recognition notification continues until the second target mobile object 200T2 enters the target intersection 400T. Alternatively, the second wireless recognition notification continues for a predetermined time Tth.

[0113] Furthermore, if the vehicle driving assistance device 10 determines "No" in step S805 or step S830, it proceeds directly to step S895 and terminates the processing of this routine.

[0114] The error in the movement information of a mobile object 200, as recognized based on wireless communication information IW, increases as the movement speed Vm of the mobile object 200 decreases. Consequently, the error in the intersection arrival time TTC, which is determined based on the movement information, also increases, resulting in lower accuracy when defining the notification timing using the intersection arrival time TTC for mobile objects 200 with slow movement speeds Vm.

[0115] On the other hand, the slower the mobile body 200's movement speed Vm, the shorter the distance it travels during the delay time between the transmission of wireless communication information IW from the wireless communication terminal 201 and the recognition of the mobile body 200's presence. Therefore, even if the error in the movement information of the mobile body 200 is relatively large, if the mobile body 200's movement speed Vm is slow, the impact of the delay time on the recognition accuracy becomes smaller.

[0116] Therefore, if a moving object 200 with a slow movement speed Vm, such as a pedestrian, is moving towards an intersection (target intersection 400T), it is unlikely that the moving object 200 will have already passed the intersection (target intersection 400T) during the delay period by the time the vehicle driving support system 10 recognizes the moving object 200 via wireless communication information IW. Thus, even if the vehicle driving support system 10 notifies the driver at the time it recognizes the moving object 200, it is unlikely to cause the driver any discomfort.

[0117] According to the vehicle driving support device 10 in this example, based on wireless communication information IW, it is possible to appropriately notify the driver of the vehicle 100 of the presence of a moving object 200 (e.g., a bicycle) whose moving speed Vm is less than or equal to a first speed V1 and whose grace period until reaching an intersection (target intersection 400T) is within the range of a first hour TTC1 or less and a second hour TTC2 or more that is shorter than the first hour TTC1, and the presence of a moving object 200 (e.g., a pedestrian) whose moving speed Vm is lower than the first speed V1 and is a second speed V2 or less.

[0118] Alternatively, the vehicle driving support device 10 may be configured to execute the routine shown in Figure 9 at predetermined time intervals. In this case, when the predetermined timing arrives, the vehicle driving support device 10 starts processing from step S900 of the routine shown in Figure 9, proceeds to step S905, and determines whether or not the intersection condition CI is met.

[0119] If the vehicle driving assistance device 10 determines "Yes" in step S905, it proceeds to step S910 to determine whether the first wireless recognition condition CW1 is met.

[0120] If the vehicle driving assistance device 10 determines "Yes" in step S910, it proceeds to step S915 and issues a first wireless recognition notification. The first wireless recognition notification issued in step S915 is the same as the first wireless recognition notification issued in step S815.

[0121] Next, the vehicle driving support device 10 proceeds to step S920 and determines whether or not the first target detection condition CT1 is met.

[0122] The first target detection condition CT1 is the condition that the first target moving object 200T1 has been detected based on the surrounding information IS.

[0123] If the vehicle driving support system 10 determines "Yes" in step S920, it proceeds to step S925 and issues a first target detection notification. Next, the vehicle driving support system 10 proceeds to step S995 and terminates the processing of this routine.

[0124] The first target detection notification is a notification to inform the driver of the vehicle 100 of the presence of the first target moving object 200T1. In this example, the first target detection notification is made by the notification device 20. However, the first target detection notification is made in a different form than the first wireless recognition notification.

[0125] For example, the first target detection notification is performed by displaying the first target moving object image IMG_T1 on the display device 21 in a manner different from the predetermined manner in the first wireless recognition notification.

[0126] Alternatively, in addition to or instead of the above, the first target detection notification is made by outputting a sound from the sound device 22 that has a different pattern from the predetermined pattern in the first wireless recognition notification.

[0127] Alternatively, in addition to or instead of the above, the first target detection notification is made by outputting an audio message from the sound device 22 that has content different from the predetermined content in the first wireless recognition notification.

[0128] Therefore, the vehicle driving support system 10 is configured to change the notification method if the vehicle's onboard equipment (i.e., the surrounding information detection device 40) directly detects the first target moving object 200T1 while the first wireless recognition notification is being made.

[0129] On the other hand, if the vehicle driving support device 10 determines "No" in step S910 or step S920, it proceeds to step S930 to determine whether the second wireless recognition condition CW2 is met.

[0130] If the vehicle driving assistance device 10 determines "Yes" in step S930, it proceeds to step S935 and issues a second wireless recognition notification. The second wireless recognition notification issued in step S935 is the same as the second wireless recognition notification issued in step S835.

[0131] Next, the vehicle driving support system 10 proceeds to step S940 and determines whether the second target detection condition CT2 is met.

[0132] The second target detection condition CT2 is the condition that the second target mobile object 200T2 has been detected based on the surrounding information IS.

[0133] If the vehicle driving support system 10 determines "Yes" in step S940, it proceeds to step S945 and issues a second target detection notification. Next, the vehicle driving support system 10 proceeds to step S995 and terminates the processing of this routine.

[0134] The second target detection notification is a notification to inform the driver of the vehicle 100 of the presence of the second target mobile object 200T2. In this example, the second target detection notification is made by the notification device 20. However, the second target detection notification is made in a different form than the second wireless recognition notification.

[0135] For example, the second target detection notification is performed by displaying the second target moving object image IMG_T2 on the display device 21 in a manner different from the predetermined manner in the second wireless recognition notification.

[0136] Alternatively, in addition to or instead of the above, the second target detection notification is made by outputting a sound from the sound device 22 that has a different pattern from the predetermined pattern in the second wireless recognition notification.

[0137] Alternatively, in addition to or instead of the above, the second target detection notification is made by outputting an audio message from the sound device 22 that has content different from the predetermined content in the second wireless recognition notification.

[0138] Therefore, the vehicle driving support system 10 is configured to change the method of notification if the vehicle's onboard equipment (i.e., the surrounding information detection device 40) directly detects the second target moving object 200T2 while the second wireless recognition notification is being made.

[0139] Furthermore, if the vehicle driving assistance device 10 determines "No" in step S905, step S930, or step S940, it proceeds directly to step S995 and terminates the processing of this routine.

[0140] According to the vehicle driving support device 10 in this example, based on wireless communication information IW, it is possible to appropriately notify the driver of the vehicle 100 of the presence of a moving object 200 (e.g., a bicycle) whose moving speed Vm is less than or equal to a first speed V1 and whose grace period until reaching an intersection (target intersection 400T) is within the range of a first hour TTC1 or less and a second hour TTC2 or more that is shorter than the first hour TTC1, and the presence of a moving object 200 (e.g., a pedestrian) whose moving speed Vm is lower than the first speed V1 and is a second speed V2 or less.

[0141] Furthermore, according to the vehicle driving assistance device 10 in this example, if the target mobile object 200T is detected based on the surrounding information IS while wireless recognition notification is being performed, the presence of the target mobile object 200T is notified to the driver of the vehicle 100 in a form different from the notification form of the wireless recognition notification. Therefore, the presence of the mobile object 200 can be appropriately notified to the driver of the vehicle 100. [Explanation of Symbols]

[0142] 10...Vehicle driving assistance system, 20...Notification device, 21...Display device, 22...Audio device, 31...Wireless communication device, 40...Surrounding information detection device, 90...ECU, 100...Own vehicle, 200...Moving object, 200T...Target moving object, 200T1...First target moving object, 200T2...Second target moving object, 201...Wireless communication terminal, 400T...Target intersection

Claims

1. In a vehicle driving assistance system equipped with a control device that, when it recognizes the presence of a moving object that is moving toward an intersection on a road intersecting the vehicle's roadway at an intersection ahead of the vehicle's direction of travel and that satisfies predetermined movement conditions, based on wireless communication information, the control device notifies the operator of the vehicle of the presence of the moving object, The predetermined movement state conditions include a first movement state condition in which the movement speed of the moving body is at or below a first speed, and the grace period for reaching the intersection, which is the grace period for reaching the intersection, is in the range of 1 hour or less and 2 hours or more, which is shorter than the first hour. The control device is configured to notify the presence of a moving object when it recognizes the presence of a moving object that satisfies the first moving state condition. Vehicle driving assistance system.

2. In the vehicle driving support device according to claim 1, The control device is configured to change the method of notification if the vehicle's onboard equipment directly detects the moving object while the notification is being made. Vehicle driving assistance system.

3. In the vehicle driving support device according to claim 1, The aforementioned wireless communication information is information provided to the vehicle driving assistance device via a communication network from a wireless communication terminal held by the mobile vehicle. Vehicle driving assistance system.

4. In the vehicle driving support device according to claim 3, The second time is longer than the time required from the time the wireless communication information is transmitted from the wireless communication terminal held by the mobile body until the wireless communication information is provided to the wireless communication device of the vehicle. Vehicle driving assistance system.

5. In the vehicle driving support device according to claim 1, The first speed is a speed near the maximum speed that a bicycle can normally achieve. Vehicle driving assistance system.

6. In the vehicle driving support device according to claim 1, The predetermined movement state condition includes a second movement state condition in which the movement speed of the moving body is at a speed lower than or equal to a second speed, which is lower than the first speed. The control device is configured to notify the presence of a moving object when it recognizes the presence of a moving object that satisfies the first or second moving state condition. Vehicle driving assistance system.

7. In the vehicle driving support device according to claim 6, The first speed is a speed near the maximum speed that a bicycle can normally achieve. The second speed is a speed near the maximum speed that a pedestrian would normally achieve. Vehicle driving assistance system.

8. In the vehicle driving support device according to claim 2, The in-vehicle equipment is an image sensor or an electromagnetic wave sensor. Vehicle driving assistance system.

9. In the vehicle driving support device according to claim 1, The wireless communication information is the position information of the mobile body, or the direction of movement information and the speed of movement information of the mobile body. Vehicle driving assistance system.

10. In the vehicle driving support device according to claim 1, The control device is configured such that, even if it recognizes a moving object moving toward the intersection on a road that intersects with the vehicle's roadway at the intersection based on the wireless communication information, it does not issue the notification if the moving object does not meet the first movement state condition. Vehicle driving assistance system.

11. In the vehicle driving support device according to claim 6, The control device is configured such that, even if it recognizes a moving object moving toward the intersection on a road that intersects with the vehicle's travel path at the intersection based on the wireless communication information, it will not issue the notification if the moving object does not satisfy either of the first or second moving state conditions. Vehicle driving assistance system.

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