Vehicle driving assistance system, vehicle driving assistance method, and vehicle driving assistance program

Abstract

The present invention provides a vehicle driving assistance system that can appropriately avoid collisions with other vehicles in accordance with the manner in which such collisions occur to the side of the vehicle. [Solution] The vehicle driving support device 10 avoids a collision between its own vehicle 100 and another vehicle 200. When the collision prediction condition is met, in which the vehicle driving support device predicts that another vehicle in an adjacent lane adjacent to its own lane will enter the vehicle's lane and collide with its side while the vehicle is passing it in order to overtake it, the vehicle driving support device executes collision avoidance control to avoid a collision between its own vehicle and the other vehicle in a manner corresponding to the predicted manner of collision between its own vehicle and the other vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device, a vehicle driving support method, and a vehicle driving support program.

Background Art

[0002] There is known a vehicle driving support device that autonomously steers a host vehicle to move it laterally away from an adjacent lane when it is determined that there is a possibility that another vehicle in an adjacent lane may enter the travel lane of the host vehicle to avoid an obstacle (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] The above vehicle driving support device moves the host vehicle laterally on condition that there is an obstacle in the adjacent lane. However, even if there is no obstacle in the adjacent lane, there may be a case where the other vehicle in the adjacent lane enters the travel lane of the host vehicle while the host vehicle passes by the side of the other vehicle in order to overtake the other vehicle. Even in such a case, if the host vehicle is not moved laterally to move away from the adjacent lane, the other vehicle may collide with the side portion of the host vehicle.

[0005] Also, as a means for avoiding a collision when there is a possibility that the other vehicle may collide with the side portion of the host vehicle, a means different from the means of moving the host vehicle laterally to move away from the adjacent lane may be appropriate.

[0006] An object of the present invention is to provide a vehicle driving support device, a vehicle driving support method, and a vehicle driving support program that can appropriately avoid a collision in a manner corresponding to the mode of collision of another vehicle against the side portion of the host vehicle.

[0007] The vehicle driving assistance device according to the present invention is a device that avoids collisions with other vehicles to the side of one's own vehicle. The vehicle driving assistance device according to the present invention includes a control device that, when a collision prediction condition is met in which it is predicted that another vehicle located in an adjacent lane adjacent to the driving lane of one's own vehicle will enter the driving lane of one's own vehicle and collide with the side of one's own vehicle while one's own vehicle is passing alongside the other vehicle in order to overtake it, executes collision avoidance control to avoid a collision with the side of one's own vehicle by the other vehicle in a manner corresponding to the predicted manner of collision with the side of one's own vehicle by the other vehicle.

[0008] According to the vehicle driving assistance system of the present invention, when it is predicted that another vehicle will collide with the side of the vehicle as the vehicle overtakes the other vehicle, collision avoidance control is performed in a manner corresponding to the predicted collision. As a result, collisions with the side of the vehicle by the other vehicle can be appropriately avoided.

[0009] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured to perform acceleration avoidance control, which autonomously accelerates the vehicle, as the collision avoidance control, when the collision prediction condition is met and the manner of the collision is such that the other vehicle collides with the rear side of the vehicle. On the other hand, the control device may be configured to perform steering avoidance control, which autonomously steers the vehicle so that it moves away from the other vehicle, as the collision avoidance control, when the collision prediction condition is met and the manner of the collision is such that the other vehicle collides with a side other than the rear side of the vehicle.

[0010] If another vehicle is likely to collide with the rear side of your vehicle, accelerating your vehicle is an appropriate means of avoiding the collision. On the other hand, if another vehicle is likely to collide with a side other than the rear side of your vehicle, steering your vehicle away from the other vehicle is an appropriate means of avoiding the collision. According to the vehicle driving support system of the present invention, if the collision is such that the other vehicle collides with the rear side of your vehicle, acceleration avoidance control is executed and your vehicle is accelerated. On the other hand, if the collision is such that the other vehicle collides with a side other than the rear side of your vehicle, steering avoidance control is executed and your vehicle is steered away from the other vehicle. Therefore, collisions with the side of your vehicle by other vehicles can be avoided in an appropriate manner.

[0011] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured not to execute the acceleration avoidance control even if the collision prediction condition is met, when the manner of the collision is such that the other vehicle collides with the rear side of the vehicle, and an obstacle exists in front of the vehicle and within the vehicle's driving lane.

[0012] When an obstacle is present in front of the vehicle and within the vehicle's lane, accelerating the vehicle could result in a collision with the obstacle. According to the vehicle driving support system of the present invention, in cases where another vehicle collides with the rear side of the vehicle, if an obstacle is present in front of the vehicle and within the vehicle's lane, acceleration avoidance control is not executed even if the collision prediction condition is met. Therefore, a collision of the vehicle with the obstacle can be avoided.

[0013] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured not to execute the steering avoidance control even if the collision prediction condition is met, when the manner of the collision is such that the other vehicle collides with a side of the own vehicle other than the rear side, and there is an obstacle in the area in which the own vehicle is trying to move away from the other vehicle.

[0014] When an obstacle exists in the area where your vehicle is attempting to move away from another vehicle, moving into that area will result in a collision with the obstacle. According to the vehicle driving support system of the present invention, when another vehicle collides with a side of your vehicle other than the rear side, and an obstacle exists in the area where your vehicle is attempting to move away from the other vehicle, steering avoidance control is not executed even if the collision prediction condition is met. Therefore, a collision of your vehicle with an obstacle can be avoided.

[0015] Furthermore, in the vehicle driving support system according to the present invention, the control device may be configured to acquire the behavior of other vehicles based on target information relating to targets to the side and rear of the vehicle acquired by a surrounding monitoring device mounted on the vehicle, acquire a lateral movement-related value which is a value relating to the lateral movement of the other vehicle based on the acquired behavior of the other vehicle, and determine that the collision prediction condition is met if the other vehicle is located to the side of the vehicle, the other vehicle is moving toward the lane in which the vehicle is traveling, and the lateral movement-related value is greater than or equal to a predetermined threshold.

[0016] The movement of other vehicles in adjacent lanes toward the side of the vehicle can be determined from values ​​relating to the lateral movement of those other vehicles. These values ​​can be determined from the behavior of other vehicles obtained from target information acquired by the surrounding monitoring device. According to the vehicle driving support system of the present invention, the behavior of other vehicles is acquired based on target information acquired by the surrounding monitoring device mounted on the vehicle, and lateral movement-related values ​​are acquired based on that behavior. Then, it is determined whether or not the collision prediction conditions have been met based on these lateral movement-related values. Therefore, it is possible to determine more accurately whether or not the collision prediction conditions have been met.

[0017] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured to perform divergence steering control, which autonomously steers the vehicle so that it moves within its own lane in a direction away from the adjacent lane when a warning condition is met that there is a possibility that another vehicle in the adjacent lane may enter the vehicle's lane in front of the vehicle.

[0018] If your vehicle is attempting to overtake another vehicle in an adjacent lane and there is a possibility that the other vehicle may enter your lane before you catch up, it is preferable to move your vehicle away from the adjacent lane at that point. According to the vehicle driving support system of the present invention, if your vehicle is attempting to overtake another vehicle in an adjacent lane and there is a possibility that the other vehicle may enter your lane before you catch up, the system steers your vehicle away from the adjacent lane at that point. Therefore, a collision between your vehicle and the other vehicle can be avoided.

[0019] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured to determine that the warning condition has been met when the other vehicle is stopped and the first entry condition is met before the own vehicle reaches the side of the other vehicle, and when the other vehicle is moving, the control device may be configured to determine that the warning condition has been met when the second entry condition is met before the own vehicle reaches the side of the other vehicle. In this case, the control device may be configured to determine that the first entry condition has been met when it determines, based on first movement direction information, which is information regarding the direction of movement of the other vehicle, and departure information, which is information regarding the departure of the other vehicle, that there is a possibility that the other vehicle will start moving and enter the driving lane of the own vehicle in front of the own vehicle, and to determine that the second entry condition has been met when it determines, based on second movement direction information, which is information regarding the direction of movement of the other vehicle, and driving speed information, which is information regarding the driving speed of the other vehicle, that there is a possibility that the other vehicle will enter the driving lane of the own vehicle in front of the own vehicle.

[0020] When another vehicle in an adjacent lane is stopped, it is possible to determine whether there is a possibility that the other vehicle will enter the vehicle's lane in front of the vehicle and collide with it before the vehicle reaches the other vehicle's side, based on the direction of movement of the other vehicle and whether or not the other vehicle will start moving. On the other hand, when another vehicle in an adjacent lane is moving, it is possible to determine whether there is a possibility that the other vehicle will enter the vehicle's lane in front of the vehicle and collide with it before the vehicle reaches the other vehicle's side, based on the direction of movement of the other vehicle and the speed of the other vehicle. According to the vehicle driving support device of the present invention, when another vehicle in an adjacent lane is stopped, it is determined, based on first direction of movement information and starting information, whether there is a possibility that the other vehicle will start moving and enter the vehicle's lane in front of the vehicle before the vehicle reaches the other vehicle's side. On the other hand, when another vehicle is traveling in an adjacent lane, it is determined, based on the second direction of movement information and the travel speed information, whether or not there is a possibility that the other vehicle will enter the vehicle's lane in front of the vehicle before the vehicle reaches the other vehicle's side. Therefore, it is possible to more accurately determine whether or not the other vehicle will enter the vehicle's lane in front of the vehicle before the vehicle reaches the other vehicle's side.

[0021] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured to determine that the second entry condition has been met when it determines, based on the second direction of movement information, the driving speed information, and the warning lamp information relating to the operating status of the warning lamp of the other vehicle, that the other vehicle may enter the driving lane of the vehicle in front of the vehicle. In this case, the warning lamp is a lamp that informs the operator of the other vehicle that the vehicle is located outside and behind the other vehicle, in an area that is a blind spot for the operator of the other vehicle.

[0022] A warning lamp is a lamp that informs the operator of another vehicle that their vehicle is in an area that is a blind spot for that operator. Therefore, information regarding the operating status of the warning lamp is useful as information used to determine whether or not another vehicle is entering the vehicle's lane in front of it. According to the vehicle driving support system of the present invention, warning lamp information is used to determine whether or not the second entry condition has been met. Therefore, it is possible to determine more accurately whether or not the second entry condition has been met.

[0023] Furthermore, the vehicle driving assistance method according to the present invention is a method for avoiding a collision with the side of one's own vehicle by another vehicle. When a collision prediction condition is met in the vehicle driving assistance method according to the present invention, where it is predicted that another vehicle located in an adjacent lane adjacent to the driving lane of one's own vehicle will enter the driving lane of one's own vehicle and collide with the side of one's own vehicle while one's own vehicle is passing alongside the other vehicle in order to overtake it, the vehicle driving assistance method according to the present invention executes collision avoidance control to avoid a collision with the side of one's own vehicle by the other vehicle in a manner corresponding to the predicted manner of collision with the side of one's own vehicle by the other vehicle.

[0024] For the same reasons as described above, the vehicle driving assistance method according to the present invention makes it possible to appropriately avoid collisions between other vehicles and the side of one's own vehicle.

[0025] Furthermore, the vehicle driving support program according to the present invention is a program that avoids collisions with other vehicles to the side of the vehicle. The vehicle driving support program according to the present invention is configured to execute collision avoidance control in a manner that corresponds to the predicted manner of collision of the other vehicle to the side of the vehicle, when a collision prediction condition is met in which the vehicle is passing alongside another vehicle in an adjacent lane adjacent to the vehicle's driving lane in order to overtake the vehicle, and it is predicted that the other vehicle will enter the vehicle's driving lane and collide with the side of the vehicle.

[0026] For the same reason as described above, according to the vehicle driving support program according to the present invention, a collision of another vehicle against the side of the host vehicle can be appropriately avoided.

[0027] 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 easily understood from the description of the embodiments of the present invention.

Brief Description of the Drawings

[0028] [Figure 1] FIG. 1 is a diagram showing a vehicle driving support apparatus according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing a scene where a vehicle exists on the side of the host vehicle. [Figure 3] FIG. 3 is a flowchart showing a routine executed by the vehicle driving support apparatus according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing a scene where a vehicle stopped in front of the host vehicle exists. [Figure 5] FIG. 5 is a diagram showing a scene where a vehicle traveling in front of the host vehicle exists. [Figure 6] FIG. 6 is a diagram showing the center line of the host vehicle in the front-rear direction and the center line of the host lane. [Figure 7] FIG. 7 is a diagram showing a scene where the host vehicle is autonomously steered by separated steering control. [Figure 8] FIG. 8 is a diagram showing a scene where a vehicle exists near a side other than the side on the rear side of the host vehicle. [Figure 9] FIG. 9 is a diagram showing a scene where a vehicle exists near the side on the rear side of the host vehicle. [Figure 10] FIG. 10 is a diagram showing a scene where an obstacle exists in a region where the host vehicle is about to move. [Figure 11] FIG. 11 is a diagram showing a scene where an obstacle (preceding vehicle) exists in front of the host vehicle. [Figure 12]Figure 12 shows a scenario in which the vehicle is autonomously steered by steering avoidance control. [Figure 13] Figure 13 shows a scenario in which the vehicle autonomously accelerates due to acceleration avoidance control. [Modes for carrying out the invention]

[0029] Hereinafter, with reference to the drawings, a vehicle driving support device, a vehicle driving support method, and a vehicle driving support program according to embodiments of the present invention will be described. Figure 1 shows a vehicle driving support device 10 according to an embodiment of the present invention. The vehicle driving support device 10 is mounted on the vehicle 100. Hereinafter, the vehicle driving support device 10 will be described using the case where the operator of the vehicle 100 is the driver of the vehicle 100 (i.e., a person who is in the vehicle 100 and drives the vehicle 100) as an example. However, the operator of the vehicle 100 may also be a remote operator of the vehicle 100 (i.e., a person who does not ride in the vehicle 100 and drives the vehicle 100 remotely).

[0030] 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.

[0031] 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.

[0032] Furthermore, the vehicle driving assistance device 10 may be configured to update the program stored in the storage medium via wireless communication with an external device (for example, internet communication).

[0033] Furthermore, the vehicle driving assistance system 10 is applicable not only to vehicles driven manually by a driver, but also to vehicles driven by autonomous driving.

[0034] As shown in Figure 1, the vehicle 100 is equipped with a drive unit 20, a steering unit 30, and a surrounding monitoring device 40.

[0035] The drive unit 20 is a device that generates the driving force supplied to the vehicle 100 (particularly to the drive wheels of the vehicle 100). The drive unit 20 includes, for example, an internal combustion engine and an electric motor. The drive unit 20 is electrically connected to the ECU 90. The vehicle driving support system 10 can control the driving force supplied to the vehicle 100 by controlling the operation of the drive unit 20. In other words, the vehicle driving support system 10 can accelerate the vehicle 100 by controlling the operation of the drive unit 20.

[0036] The steering device 30 is a device that generates steering force applied to the vehicle 100 (particularly to the steering wheels of the vehicle 100). The steering device 30 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the steering force applied to the vehicle 100 by controlling the operation of the steering device 30. In other words, the vehicle driving assistance device 10 can steer the vehicle 100 by controlling the operation of the steering device 30.

[0037] The surrounding monitoring device 40 is a device for detecting information about the surroundings of the vehicle 100. In this example, the surrounding monitoring device 40 is equipped with a plurality of electromagnetic wave sensors 41 and a plurality of image sensors 42. The electromagnetic wave sensors 41 and image sensors 42 are electrically connected to the ECU 90. The electromagnetic wave sensors 41 are, for example, radar sensors such as millimeter-wave radar. The vehicle driving support device 10 acquires information about targets (target information IO) present in the vicinity of the vehicle 100 as surrounding information ISR using the electromagnetic wave sensors 41. The image sensors 42 are, for example, camera sensors. The vehicle driving support device 10 acquires image information ICs related to the vicinity of the vehicle 100 as surrounding information ISR using the image sensors 42. The vehicle driving support device 10 also acquires target information IOs from the image information ICs as surrounding information ISR.

[0038] <Operation of vehicle driver assistance system> Next, the operation of the vehicle driving support system 10 will be explained. As shown in Figure 2, if the target vehicle 200 enters the vehicle's lane LN1 while the vehicle 100 is passing (overtaking) the target vehicle 200, the target vehicle 200 may collide with the side of the vehicle 100. The vehicle driving support system 10 performs collision avoidance control to avoid such a collision between the target vehicle 200 and the vehicle 100. More specifically, the vehicle driving support system 10 executes the routine shown in Figure 3 at predetermined time intervals, and when predetermined conditions are met, it performs the collision avoidance control described above.

[0039] Target vehicle 200 is another vehicle located in the adjacent lane LN2, which is adjacent to the current lane LN1, and is the vehicle that the current vehicle 100 is attempting to overtake. The direction in which target vehicle 200 is traveling is the same as the direction in which the current vehicle 100 is traveling. Furthermore, target vehicle 200 is detected based on surrounding information ISR. Also, the current lane LN1 is the lane in which the current vehicle 100 is traveling, i.e., the lane in which the current vehicle 100 is traveling.

[0040] When a predetermined timing occurs, the vehicle driving support system 10 starts processing from step S300 of the routine shown in Figure 3. Then, the vehicle driving support system 10 proceeds to step S305 and determines whether or not the predictive condition C1 has been met.

[0041] Prediction condition C1 is the condition that the target vehicle 200 may enter the vehicle's lane LN1 in front of the vehicle 100.

[0042] As shown in Figure 4, when the target vehicle 200 is stationary, the vehicle driving support system 10 determines that the warning condition C1 is met if the first entry condition C11 is met before the vehicle 100 reaches the side of the target vehicle 200. Furthermore, as shown in Figure 5, when the target vehicle 200 is moving, the vehicle driving support system 10 determines that the warning condition C1 is met if the second entry condition C12 is met before the vehicle 100 reaches the side of the target vehicle 200.

[0043] If the vehicle driving support system 10 determines, based on the first movement direction information IM1 and the departure information IST, that there is a possibility that the target vehicle 200 will start moving and enter its own lane LN1 in front of its own vehicle 100, then it determines that the first entry condition C11 has been met.

[0044] The first movement direction information IM1 is information regarding the direction of movement of the target vehicle 200. In this example, the first movement direction information IM1 is information regarding the operation status of the turn signals of the target vehicle 200 and information regarding the direction of the steering wheels of the target vehicle 200. In particular, when the target vehicle 200 is in the adjacent lane LN2 to the left of its own lane LN1, the first movement direction information IM1 is information regarding whether the right turn signal of the target vehicle 200 is activated and whether the steering wheels of the target vehicle 200 are pointing to the front right. On the other hand, when the target vehicle 200 is in the adjacent lane LN2 to the right of its own lane LN1, the first movement direction information IM1 is information regarding whether the left turn signal of the target vehicle 200 is activated and whether the steering wheels of the target vehicle 200 are pointing to the front left.

[0045] Furthermore, the turn signals of vehicle 200 are devices used to inform people outside of vehicle 200 of the direction of its movement. When the right turn signal of vehicle 200 is activated (i.e., flashing), it indicates that vehicle 200 is moving to the right. On the other hand, when the left turn signal of vehicle 200 is activated (i.e., flashing), it indicates that vehicle 200 is moving to the left. Therefore, if the right turn signal of a stationary vehicle 200 is flashing, it can be presumed that vehicle 200 may be moving laterally to the right. On the other hand, if the left turn signal of a stationary vehicle 200 is flashing, it can be presumed that vehicle 200 may be moving laterally to the left.

[0046] The departure information IST is information regarding the departure of the target vehicle 200. In this example, the departure information IST is information regarding the operating status of the brake lights of the target vehicle 200. In particular, the departure information IST is information regarding whether or not the brake lights of the target vehicle 200 have changed from an activated state to an activated state.

[0047] The brake lights of vehicle 200 are devices that inform people outside vehicle 200 that the brake pedal of vehicle 200 has been pressed. When the brake lights of vehicle 200 are activated (i.e., illuminated), they indicate that the brake pedal of vehicle 200 is pressed. On the other hand, when the brake lights of vehicle 200 are not activated (i.e., illuminated), they indicate that the brake pedal of vehicle 200 is not pressed and is released. Therefore, when a stationary vehicle 200 starts moving, the brake pedal of vehicle 200 that was pressed is released, and the illuminated brake lights of vehicle 200 turn off. Thus, if the brake lights of a stationary vehicle 200 change from illuminated to unilluminated, it can be presumed that vehicle 200 may be about to start moving.

[0048] Therefore, in this example, the vehicle driving support device 10 determines that the first entry condition C11 is met if (1) the turn signal of the target vehicle 200 is activated, (2) the direction indicated by the turn signal is the direction of the vehicle's own lane LN1, and (3) the brake lights of the target vehicle 200 change from illuminated to unlit.

[0049] Furthermore, in this example, the vehicle driving support device 10 determines that the first entry condition C11 is met when (1) the steering wheels of the target vehicle 200 are oriented to direct the target vehicle 200 toward its own lane LN1 and (2) the brake lights of the target vehicle 200 change from illuminated to unlit.

[0050] Furthermore, whether or not the first entry condition C11 is met is determined based on the surrounding information ISR.

[0051] On the other hand, if the vehicle driving support system 10 determines, based on the second movement direction information IM2 and the driving speed information IV, that there is a possibility that the target vehicle 200 will enter its own lane LN1 in front of its own vehicle 100, then it determines that the second entry condition C12 has been met.

[0052] The second movement direction information IM2 is information regarding the direction of movement of the target vehicle 200. In this example, the second movement direction information IM2 is information regarding the operating status of the turn signal of the target vehicle 200. In particular, the second movement direction information IM2 is information regarding whether or not the turn signal of the target vehicle 200 is operating, and whether or not the direction indicated by the turn signal is the direction of the vehicle's own lane LN1.

[0053] Furthermore, the driving speed information IV is information regarding the driving speed V2 of the target vehicle 200. Specifically, the driving speed information IV is information regarding whether the driving speed V2 of the target vehicle 200 is slower than the vehicle's own speed V1.

[0054] In this example, the vehicle driving support system 10 determines that the second entry condition C12 is met if (1) the turn signal of the target vehicle 200 is activated, (2) the direction indicated by the turn signal is in the direction of the vehicle's own lane LN1, and (3) the driving speed V2 of the target vehicle 200 is slower than the vehicle's own speed V1.

[0055] Alternatively, the vehicle driving support device 10 may be configured to determine that the second entry condition C12 has been met if it determines, based on the second movement direction information IM2, the driving speed information IV, and the warning lamp information IL, that there is a possibility that the target vehicle 200 will enter the vehicle's lane LN1 in front of the vehicle 100.

[0056] In this example, the warning lamp information IL is information regarding the operating status of the blind spot monitor lamp of the target vehicle 200. In particular, the warning lamp information IL is information regarding whether or not the blind spot monitor lamp of the target vehicle 200 is illuminated. The blind spot monitor lamps are provided on the left and right side mirrors of the target vehicle 200. The blind spot monitor lamps are warning lamps that inform the driver of the target vehicle 200 that their own vehicle 100 is located in the blind spot area AD for the driver of the target vehicle 200.

[0057] The blind spot area AD is the area outside and behind the target vehicle 200 that is a blind spot for the driver of the target vehicle 200. More specifically, the blind spot area AD consists of the right rear blind spot area AD_R and the left rear blind spot area AD_L. The right rear blind spot area AD_R is the area outside and to the right rear of the target vehicle 200 that is a blind spot for the driver of the target vehicle 200. The left rear blind spot area AD_L is the area outside and to the left rear of the target vehicle 200 that is a blind spot for the driver of the target vehicle 200. If the vehicle 100 is located in the right rear blind spot area AD_R, the blind spot monitor lamp on the right side mirror of the target vehicle 200 will illuminate. On the other hand, if the vehicle 100 is located in the left rear blind spot area AD_L, the blind spot monitor lamp on the left side mirror of the target vehicle 200 will illuminate.

[0058] In this case, the vehicle driving support device 10 determines that the second entry condition C12 is met if (1) the turn signal of the target vehicle 200 is activated, (2) the direction indicated by the turn signal is in the direction of the vehicle's own lane LN1, (3) the driving speed V2 of the target vehicle 200 is slower than the vehicle's own speed V1, and (4) the blind spot monitor lamp installed on the vehicle's own lane LN1 side of the target vehicle 200 is not illuminated.

[0059] Furthermore, whether or not the second entry condition C12 is met is determined based on the surrounding information (ISR).

[0060] If the vehicle driving support system 10 determines "Yes" in step S305, it proceeds to step S310 to determine whether the driving position condition C2 is met.

[0061] The driving position condition C2 is that, at the point before the vehicle 100 approaches the target vehicle 200, the vehicle 100 is traveling in a position close to the adjacent lane LN2 in which the target vehicle 200 is traveling. In other words, the driving position condition C2 is that, at the point before the front end of the vehicle 100 is aligned with the rear end of the target vehicle 200, the vehicle 100 is traveling in a position close to the adjacent lane LN2 in which the target vehicle 200 is traveling.

[0062] More specifically, the driving position condition C2 is the condition that, before the front end of the vehicle 100 aligns with the rear end of the target vehicle 200, the longitudinal center line CL1 of the vehicle 100 is located closer to the target vehicle 200 than the center line CL2 of the vehicle's lane LN1. As shown in Figure 6, the longitudinal center line CL1 of the vehicle 100 is a line that passes through the center of the vehicle 100's width and extends horizontally in the longitudinal direction of the vehicle 100. Also, as shown in Figure 6, the center line CL2 of the vehicle's lane LN1 is a line that passes through the center of the vehicle's lane LN1 and extends horizontally along the vehicle's lane LN1.

[0063] Alternatively, the driving position condition C2 may be the condition that, at the time before the front end of the vehicle 100 is aligned with the rear end of the target vehicle 200, (1) the front-to-rear center line CL1 of the vehicle 100 is located closer to the target vehicle 200 than the center line CL2 of the vehicle's lane LN1, and (2) the distance D between the front-to-rear center line CL1 and the center line CL2 is greater than or equal to a predetermined threshold distance Dth. The predetermined threshold distance Dth may be set to a larger value as the width of the vehicle's lane LN1 increases.

[0064] Whether or not the driving position condition C2 is met is determined based on the surrounding information ISR.

[0065] If the vehicle driving support system 10 determines "Yes" in step S310, it proceeds to step S315 and executes steering control to separate the vehicle from the vehicle. Next, the vehicle driving support system 10 proceeds to step S320.

[0066] As shown in Figure 7, the separation steering control is a control method in which the vehicle 100 autonomously steers itself so that it moves away from the adjacent lane LN2 where the target vehicle 200 is located. In this way, the vehicle driving support device 10 executes the separation steering control when the warning condition C1 is met.

[0067] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S305 or step S310, it proceeds directly to step S320.

[0068] The process in step S310 may be omitted. In this case, if the vehicle driving assistance device 10 determines "Yes" in step S305, it proceeds directly to step S315.

[0069] Alternatively, the processing in steps S305 to S315 may be omitted.

[0070] When the vehicle driving support system 10 proceeds to step S320, it determines whether or not the collision prediction condition C3 has been met.

[0071] Collision prediction condition C3 is the condition that, while vehicle 100 is passing alongside vehicle 200 in order to overtake it, it is predicted that vehicle 200 will enter the vehicle's lane LN1 and collide with the side of vehicle 100.

[0072] In this example, the vehicle driving support system 10 acquires the behavior of the target vehicle 200 based on target information IO regarding targets to the side and rear of the vehicle 100 acquired by the surrounding monitoring device 40, and acquires a lateral movement-related value P, which is a value related to the lateral movement of the target vehicle 200, based on the acquired behavior of the target vehicle 200. The vehicle driving support system 10 then determines that the collision prediction condition C3 is met if (1) the target vehicle 200 is located to the side of the vehicle 100, (2) the target vehicle 200 is moving toward the vehicle lane LN1, and (3) the lateral movement-related value P is equal to or greater than a predetermined threshold Pth.

[0073] More specifically, as shown in Figures 8 and 9, the vehicle driving support system 10 determines that collision prediction condition C3 is met if (1) a target vehicle 200 is located to the side of its own vehicle 100, (2) the target vehicle 200 is moving toward its own lane LN1, and (3) the lateral velocity Vy of the target vehicle 200 is equal to or greater than a predetermined threshold lateral velocity Vy_th. In this case, the lateral velocity Vy of the target vehicle 200 is the lateral movement-related value P.

[0074] Alternatively, the vehicle driving support system 10 may determine that collision prediction condition C3 is met if (1) the target vehicle 200 is located to the side of the vehicle 100, (2) the target vehicle 200 is moving toward the vehicle lane LN1, (3) the lateral velocity Vy of the target vehicle 200 is equal to or greater than a predetermined threshold lateral velocity Vy_th, and (4) the lateral acceleration Gy of the target vehicle 200 is equal to or greater than a predetermined threshold lateral acceleration Gy_th. In this case, the lateral velocity Vy and the lateral acceleration Gy of the target vehicle 200 are lateral movement-related values ​​P.

[0075] Furthermore, the lateral velocity Vy of the vehicle 200 is the speed at which the vehicle 200 moves in its width direction. Also, the lateral acceleration Gy of the vehicle 200 is the acceleration when the vehicle 200 moves in its width direction.

[0076] Furthermore, whether or not collision prediction condition C3 is met is determined based on surrounding information ISR.

[0077] If the vehicle driving assistance system 10 determines "Yes" in step S320, it proceeds to step S325 to determine whether or not the side collision condition C4 is met.

[0078] Side collision condition C4 is a condition in which the collision occurs in which the target vehicle 200 collides with the side of the vehicle 100 other than the rear side. The collision is in which the target vehicle 200 collides with the side of the vehicle 100.

[0079] Furthermore, whether or not side collision condition C4 is met is determined based on surrounding information ISR.

[0080] If the vehicle driving support system 10 determines "Yes" in step S325, it proceeds to step S330 to determine whether the first obstacle condition C51 is met.

[0081] The first obstacle condition C51 is the condition that an obstacle 300 exists in the area where the vehicle 100 is attempting to move away from the target vehicle 200, as shown in Figure 10. In particular, in this example, the first obstacle condition C51 is the condition that an obstacle 300 exists in avoidance area A. Avoidance area A is the area where the vehicle 100 is attempting to move away from the target vehicle 200.

[0082] Furthermore, whether or not the first obstacle condition C51 is met is determined based on the surrounding information ISR.

[0083] If the vehicle driving support system 10 determines "No" in step S330, it proceeds to step S335 and executes steering avoidance control. Next, the vehicle driving support system 10 proceeds to step S395 and terminates the processing of this routine.

[0084] Steering avoidance control is a control that autonomously steers the vehicle 100 so that it moves away from the target vehicle 200, as shown in Figure 12. In other words, if the collision is such that the target vehicle 200 collides with a side of the vehicle 100 other than the rear side, the vehicle driving support device 10 executes steering avoidance control as collision avoidance control, autonomously steering the vehicle 100 so that it moves away from the target vehicle 200.

[0085] The process in step S330 may be omitted. In this case, if the vehicle driving assistance device 10 determines "Yes" in step S325, it proceeds directly to step S335.

[0086] On the other hand, if the vehicle driving support system 10 determines "Yes" in step S330, it proceeds directly to step S395 and terminates the processing of this routine. In other words, if the collision is such that the target vehicle 200 collides with a side of the vehicle 100 other than the rear side, and an obstacle 300 exists in the area where the vehicle 100 is trying to move away from the target vehicle 200, the vehicle driving support system 10 does not perform steering avoidance control.

[0087] Furthermore, if the vehicle driving support device 10 determines "No" in step S325, it proceeds to step S340 to determine whether the second obstacle condition C52 is met.

[0088] The second obstacle condition C52, as shown in Figure 11, is the condition that an obstacle 350 exists in front of the vehicle 100 and within the vehicle's lane LN1. The obstacle 350 is, for example, a preceding vehicle. The preceding vehicle is another vehicle traveling in the vehicle's lane LN1 directly in front of the vehicle 100. More specifically, the preceding vehicle is another vehicle traveling in the vehicle's lane LN1 within a predetermined distance in front of the vehicle 100.

[0089] Furthermore, whether or not the second obstacle condition C52 is met is determined based on the surrounding information ISR.

[0090] If the vehicle driving support system 10 determines "No" in step S340, it proceeds to step S345 and executes acceleration avoidance control. Next, the vehicle driving support system 10 proceeds to step S395 and terminates the processing of this routine.

[0091] Acceleration avoidance control is a control method that autonomously accelerates the vehicle 100, as shown in Figure 13. Specifically, if the collision is such that the target vehicle 200 collides with the rear side of the vehicle 100, the vehicle driving support device 10 executes acceleration avoidance control as collision avoidance control, which autonomously accelerates the vehicle 100.

[0092] The process in step S340 may be omitted. In this case, if the vehicle driving assistance device 10 determines "No" in step S325, it proceeds directly to step S345.

[0093] On the other hand, if the vehicle driving support system 10 determines "Yes" in step S340, it proceeds directly to step S395 and terminates the processing of this routine. In other words, the vehicle driving support system 10 does not perform acceleration avoidance control when the collision is such that the target vehicle 200 collides with the rear side of the vehicle 100, and the obstacle 350 is located in front of the vehicle 100 and within the vehicle's lane LN1.

[0094] Furthermore, if the vehicle driving assistance device 10 determines "No" in step S320, it proceeds directly to step S395 and terminates the processing of this routine.

[0095] Thus, when collision prediction condition C3 is met, the vehicle driving support system 10 executes either steering avoidance control or acceleration avoidance control, depending on whether the predicted collision pattern of the target vehicle 200 to the side of the vehicle 100 is such that the target vehicle 200 collides with the rear side of the vehicle 100, or whether the collision pattern is such that the target vehicle 200 collides with a side other than the rear side of the vehicle 100. In other words, when the vehicle driving support system 10 determines that collision prediction condition C3 is met, it executes collision avoidance control to prevent the target vehicle 200 from colliding with the side of the vehicle 100 in a manner corresponding to the predicted collision pattern of the target vehicle 200 to the side of the vehicle 100.

[0096] The above describes the operation of the vehicle driving support system 10. According to the vehicle driving support system 10, when it is predicted that the target vehicle 200 will collide with the side of the vehicle 100 as the vehicle 100 overtakes the target vehicle 200, steering avoidance control or acceleration avoidance control is executed as collision avoidance control in a manner corresponding to the predicted collision. As a result, the collision of the target vehicle 200 with the side of the vehicle 100 can be appropriately avoided.

[0097] 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]

[0098] 10...Vehicle driving assistance system, 20...Drive system, 30...Steering system, 40...Surroundings monitoring system, 41...Electromagnetic wave sensor, 42...Image sensor, 90...ECU, 100...Own vehicle, 200...Target vehicle, 300...Obstacle, 350...Obstacle

Claims

1. A vehicle driving assistance system that avoids collisions with other vehicles to the side of one's own vehicle, A vehicle driving assistance system comprising a control device that, when a collision prediction condition is met such that it is predicted that another vehicle located in an adjacent lane adjacent to the vehicle's driving lane will enter the vehicle's driving lane and collide with the side of the vehicle while the vehicle is passing alongside the other vehicle in order to overtake it, the control device performs collision avoidance control to avoid a collision with the side of the vehicle by the other vehicle in a manner corresponding to the predicted manner of collision with the side of the vehicle.

2. In the vehicle driving support device according to claim 1, The control device is When the collision prediction conditions are met, and the collision is such that the other vehicle collides with the rear side of the vehicle itself, the collision avoidance control is performed to autonomously accelerate the vehicle. When the collision prediction conditions are met, and the collision is such that the other vehicle collides with a side of the vehicle other than the rear side, the collision avoidance control is performed by autonomously steering the vehicle to move away from the other vehicle. It is structured in such a way. Vehicle driving assistance system.

3. In the vehicle driving support device according to claim 2, The control device is configured such that, when the collision occurs in a manner in which the other vehicle collides with the rear side of the vehicle, and an obstacle is present in front of the vehicle and within the vehicle's lane, it does not execute the acceleration avoidance control even if the collision prediction condition is met. Vehicle driving assistance system.

4. In the vehicle driving support device according to claim 2, The control device is configured such that, when the collision occurs in a manner in which the other vehicle collides with a side of the vehicle other than the rear side, and an obstacle exists in the area in which the vehicle intends to move away from the other vehicle, it does not execute the steering avoidance control even if the collision prediction condition is met. Vehicle driving assistance system.

5. In the vehicle driving support device according to claim 1, The control device is Based on target information regarding targets to the sides and rear of the vehicle, acquired by the surrounding monitoring device mounted on the vehicle, the behavior of other vehicles is acquired. Based on the behavior of the other vehicle obtained, a lateral movement-related value, which is a value relating to the lateral movement of the other vehicle, is obtained. If the aforementioned other vehicle is located to the side of the vehicle in question, and the other vehicle is moving toward the lane in which the vehicle is traveling, and the lateral movement related value is greater than or equal to a predetermined threshold, then it is determined that the collision prediction condition has been met. It is structured in such a way. Vehicle driving assistance system.

6. In the vehicle driving support device according to claim 1, The control device is configured to perform divergence steering control, which autonomously steers the vehicle so that it moves within its own lane in a direction away from the adjacent lane, when a warning condition is met that there is a possibility that another vehicle in the adjacent lane may enter the vehicle's lane in front of it. Vehicle driving assistance system.

7. In the vehicle driving support device according to claim 6, The control device is When the other vehicle is stopped, the pre-entry condition is determined to be met if the first entry condition is met before the vehicle reaches the side of the other vehicle. When the aforementioned other vehicle is in motion, the aforementioned warning condition is determined to have been met if the second entry condition is met before the vehicle itself reaches the side of the other vehicle. It is configured in such a way, The control device is If, based on the first direction of movement information, which is information regarding the direction of movement of the other vehicle, and the departure information, which is information regarding the departure of the other vehicle, it is determined that the other vehicle may start moving and enter the driving lane of the vehicle in front of the vehicle, then it is determined that the first entry condition has been met. If, based on the second direction of movement information, which is information regarding the direction of movement of the other vehicle, and the driving speed information, which is information regarding the driving speed of the other vehicle, it is determined that the other vehicle may enter the driving lane of the vehicle in front of the vehicle, then it is determined that the second entry condition has been met. It is structured in such a way. Vehicle driving assistance system.

8. In the vehicle driving support device according to claim 7, The control device is configured to determine that the second entry condition has been met when it determines, based on the second direction of movement information, the driving speed information, and the warning lamp information regarding the operating status of the warning lamp of the other vehicle, that there is a possibility that the other vehicle may enter the driving lane of the vehicle in front of the vehicle. The aforementioned warning lamp is a lamp that informs the operator of the other vehicle that the vehicle in question is located outside and behind the other vehicle, in an area that is a blind spot for the operator of the other vehicle. Vehicle driving assistance system.

9. A vehicle driving assistance method for avoiding collisions between one's own vehicle and another vehicle to the side, A vehicle driving assistance method that, when a collision prediction condition is met such that it is predicted that another vehicle located in an adjacent lane adjacent to the vehicle's driving lane will enter the vehicle's driving lane and collide with the side of the vehicle while the vehicle is passing alongside the other vehicle in order to overtake it, performs collision avoidance control to avoid a collision with the side of the vehicle of the vehicle in a manner corresponding to the predicted manner of collision of the other vehicle with the side of the vehicle.

10. A vehicle driving assistance program that avoids collisions with other vehicles to the side of one's own vehicle, A vehicle driving assistance program configured to execute collision avoidance control in a manner corresponding to the predicted manner of collision of the other vehicle with the side of the vehicle when a collision prediction condition is met, such that the other vehicle, which is located in an adjacent lane adjacent to the vehicle's driving lane, is predicted to enter the vehicle's driving lane and collide with the side of the vehicle while the vehicle is passing alongside the other vehicle in order to overtake it.

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