Driving assistance device, driving assistance method, and control program

Abstract

To provide a driver assistance device that can encourage appropriate acceleration from the driver in a merging lane. [Solution] The driver assistance device 1 of the vehicle 2 includes a notification device 20 installed in the passenger compartment 25 of the vehicle 2, and a control device 17 that controls the notification device 20. The control device 17 sets an acceleration start point 108 in the merging lane 103 that merges with the main line 101, prior to the merging start point 107 where it becomes possible to change lanes from the merging lane 103 to the main line 101, and when the vehicle 2 reaches the acceleration start point 108, it causes the notification device 20 to output an acceleration notification prompting the driver to accelerate.

Description

Technical Field

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

Background Art

[0002] In recent years, efforts have been actively made to provide a sustainable transportation system that takes into account people in vulnerable positions among traffic participants. In order to further improve traffic safety and convenience towards this realization, research and development on driving support technologies and autonomous driving technologies have been carried out.

[0003] The merging operation from the merging lane to the main lane on a highway or the like is an operation that easily causes stress to the driver. Patent Document 1 discloses a driving support device that expands the inter-vehicle distance from a following vehicle by correcting in the direction of increasing acceleration when there is a following vehicle after merging into the main lane in a vehicle capable of adaptive cruise control for maintaining the inter-vehicle distance from the preceding vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the driving support device of Patent Document 1, since the speed of the vehicle is controlled by adaptive cruise control, when the set target speed is low, the vehicle will change lanes to the main lane at a low speed, and there is a risk that the lane change will become difficult. The success or failure of the merging operation mainly depends greatly on whether the vehicle has reached a sufficient speed in the merging lane. Therefore, if the driver can be prompted to accelerate appropriately in the merging lane, the merging operation will become relatively easy.

[0006] One aspect of the present invention, in view of the above background, aims to provide a driver assistance device, a driver assistance method, and a control program that can encourage appropriate acceleration from the driver in a merging lane. [Means for solving the problem]

[0007] To solve the above problems, one aspect of the present invention provides a vehicle driving assistance device comprising a notification device installed in the passenger compartment of the vehicle and a control device for controlling a display device, wherein the control device sets an acceleration start point in a merging lane that merges with a main road, prior to the merging start point where lane changes from the merging lane to the main road become possible, and when the vehicle reaches the acceleration start point, it causes the notification device to output an acceleration notification prompting the driver to accelerate.

[0008] Another aspect of the present invention is a computer-driven vehicle driving assistance method, wherein, in a merging lane merging onto a main road, an acceleration start point is set prior to the merging start point where a lane change from the merging lane to the main road becomes possible, and when the vehicle reaches the acceleration start point, an acceleration notification is output from a notification device prompting the driver to accelerate.

[0009] Another aspect of the present invention is a control program for causing a computer to execute a vehicle driving assistance method, wherein, in a merging lane that merges with a main road, an acceleration start point is set prior to the merging start point where a lane change from the merging lane to the main road becomes possible, and when the vehicle reaches the acceleration start point, an acceleration notification prompting the driver to accelerate is output to a notification device. [Effects of the Invention]

[0010] According to the above embodiments, it is possible to provide a driver assistance device, a driver assistance method, and a control program that can encourage the driver to accelerate appropriately in a merging lane. [Brief explanation of the drawing]

[0011] [Figure 1] Configuration diagram of the driving assistance device according to the embodiment [Figure 2] Diagram explaining merging lanes [Figure 3] Perspective view showing the vehicle's passenger compartment. [Figure 4] A flowchart illustrating the procedure for driver assistance control performed by the control unit. [Modes for carrying out the invention]

[0012] The following describes embodiments of the driver assistance device, driver assistance method, and control program with reference to the drawings.

[0013] As shown in Figure 1, the driver assistance device 1 is installed in the vehicle 2. The vehicle 2 may be, for example, a four-wheeled automobile.

[0014] Vehicle 2 has a propulsion system 5, a braking system 6, and a steering system 7. The propulsion system 5 is a device that provides driving force to vehicle 2 and includes, for example, a power source and a transmission. The power source has at least one of an internal combustion engine such as a gasoline engine or a diesel engine and an electric motor. The braking system 6 is a device that provides braking force to vehicle 2 and includes, for example, a brake caliper that presses pads against a brake rotor and an electric cylinder that supplies hydraulic pressure to the brake caliper. The steering system 7 is a device for changing the steering angle of the wheels and includes, for example, a rack and pinion mechanism that steers the wheels and an electric motor that drives the rack and pinion mechanism.

[0015] Vehicle 2 has an external environment recognition device 10. The external environment recognition device 10 is a device that detects objects outside of Vehicle 2. The external environment recognition device 10 is a sensor that detects objects outside the vehicle by capturing electromagnetic waves and light from the surroundings of Vehicle 2. The external environment recognition device 10 includes, for example, a radar 11, a LiDAR 12, and an external camera 13.

[0016] Vehicle 2 has a vehicle sensor 15. The vehicle sensor 15 includes a vehicle speed sensor for detecting the speed of vehicle 2 and an acceleration sensor for detecting acceleration. The vehicle sensor 15 may also include a yaw rate sensor for detecting angular velocity around the vertical axis and an orientation sensor for detecting the orientation of vehicle 2.

[0017] Vehicle 2 includes a control device 17, a communication device 18, a navigation device 19, and a notification device 20 as an HMI (Human Machine Interface). The communication device 18 mediates communication between the control device 17 and the navigation device 19 and surrounding vehicles located outside the vehicle, as well as a server.

[0018] The navigation device 19 is a device that acquires the current position of the vehicle 2 and provides route guidance to the destination. The navigation device 19 may include a GNSS (Global Navigation Satellite System) receiver 21, a map storage unit 22, and a route determination unit 23. The GNSS receiver 21 determines the position (latitude and longitude) of the vehicle 2 based on signals received from artificial satellites (positioning satellites). The map storage unit 22 is composed of a known storage device such as flash memory or a hard disk and stores map information.

[0019] Map information includes road type (such as expressways, toll roads, national roads, and prefectural roads), number of lanes, center position of each lane (3D coordinates including longitude, latitude, and height), shape of road markings such as road markings and lane boundaries, presence or absence of sidewalks, curbs, fences, etc., location of intersections, location of lane merging and branching points, area of ​​emergency parking zones, width of each lane, and road signs. Map information may also include traffic regulation information, address information (address and postal code), facility information, telephone number information, etc.

[0020] In this embodiment, the map information includes information regarding whether the road is the main lines 101 and 102 or the merging lane 103 that merges into the main line 101. As shown in FIG. 2, the merging lane 103 includes a merging preparation section 103A and a mergeable section 103B. The mergeable section 103B extends parallel to the main line 101. The vehicle 2 can change lanes to the main line 101 in the mergeable section 103B. The merging preparation section 103A is demarcated from the main line 101 by hard noses 104 such as walls and soft noses 105 such as poles. The start end of the mergeable section 103B and the end end of the merging preparation section 103A are defined as the merge start point 107. That is, the mergeable section 103B starts from the merge start point 107, and the vehicle 2 can change lanes to the main line 101. The merge start point 107 is preferably set at the end of the soft nose 105.

[0021] The merging preparation section 103A is, for example, the rampway of a highway. The start end of the merging preparation section 103A is an arbitrarily set point. The start end of the merging preparation section 103A is preferably, for example, at the start of the rampway, the tollgate, or the branching point after passing through the tollgate in the merging lane 103 of a highway.

[0022] The map information regarding the merging lane 103 preferably includes whether the merging lane 103 is the merging preparation section 103A or the mergeable section 103B, the position of the start end of the merging preparation section 103A, the position of the merge start point 107 (the position of the end end of the merging preparation section 103A), the length of the merging preparation section 103A, the gradient at each point of the merging preparation section 103A, the radius of curvature or the radius (R) of the curve of the merging preparation section 103A.

[0023] The notification device 20 notifies various information to the occupant by display or voice. The notification device 20 is provided inside the passenger compartment 25 of the vehicle 2. As shown in FIG. 1, the notification device 20 preferably includes a display 26 including liquid crystal or organic EL, a display device 27, and a speaker 28.

[0024] The display device 27 is an optical device that visually transmits information to the driver. The display device 27 may be formed by a light-emitting element (light source) such as an LED or a liquid crystal display. The display device 27 may be so-called ambient light. As shown in Figure 3, the display device 27 is installed in the passenger compartment 25 of the vehicle 2 and extends in a predetermined direction.

[0025] In this embodiment, the display device 27 has a first part 27A and a second part 27B. The first part 27A is provided on a door 29 that constitutes the side of the passenger compartment 25 and extends in the front-rear direction. The door 29 is located to the side of the driver's seat 31. The second part 27B is provided on an instrument panel 32 that constitutes the front of the passenger compartment 25 and extends to the left and right. The front end of the first part 27A and the right end of one end of the second part 27B are located close together. As a result, the second part 27B extends to the left from the front end of the first part 27A. The first part 27A and the second part 27B may extend continuously in a linear manner.

[0026] The first part 27A may extend front to back along the upper part of the door lining 34 provided on the door 29. The second part 27B may be provided along the upper edge of the meter panel 35 provided on the instrument panel 32. The left end of the second part 27B may be positioned above the center of the meter panel 35.

[0027] The display device 27 can change its display mode. The display mode includes the light-emitting area, the light-emitting color, and the light-emitting period. For example, the display device 27 can be set to have the light-emitting area move from the rear to the front. The display device 27 can also change the speed at which the light-emitting area moves.

[0028] The display device 27 may be provided on the left side of the passenger compartment 25. The left-side display device 27 may be formed to be symmetrical to the right-side display device 27. Alternatively, the display device 27 may be provided on the instrument panel 32.

[0029] The display 26 may be a touch panel display. The display 26 may be located on the instrument panel 32. Alternatively, the display 26 may be located within the meter panel 35.

[0030] As shown in Figure 1, the control device 17 is a computer having a processor 41 and a memory 42 that is communicatively connected to the processor 41. The processor 41 may include at least one of the following as its core: a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a RISC (Reduced Instruction Set Computer). The memory 42 stores control programs executed by the processor 41 and various data. The memory 42 may include at least one of volatile memory and non-volatile memory. The volatile memory may be, for example, DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory). The non-volatile memory may be an SSD (Solid State Drive), flash memory, magnetic disk storage device, or optical disk storage device. At least a part of the control device 17 may be implemented by hardware such as an LSI (Large Scale Integration), ASIC (application specific integrated circuit), or FPGA (field-programmable gate array), or by a combination of software and hardware. The control device 17 may be composed of a single piece of hardware, or it may be composed of multiple pieces of hardware that can communicate with each other. Part of the control device 17 may be composed of an external server located outside the vehicle 2.

[0031] The processor 41 implements various applications by executing control programs stored in memory 42. The control programs may be stored on removable recordable media such as DVDs or CD-ROMs, and installed in memory 42 when the recordable media is read by a reader. Alternatively, the control programs may be downloaded to and installed in memory 42 via a communication network such as the Internet.

[0032] The driver assistance system 1 is a vehicle system and includes at least a control device 17 and a notification device 20 as components. The driver assistance system 1 may also include an external environment recognition device 10, a vehicle sensor 15, and a navigation device 19 as components.

[0033] The control device 17 controls the display device 27 and the speaker 28. The processor 41 functions as the surrounding environment recognition unit 45, the vehicle position recognition unit 46, and the notification unit 47 by executing the control program stored in the memory 42.

[0034] The surrounding environment recognition unit 45 recognizes the environment surrounding the vehicle 2. Based on the detection results of the external environment recognition device 10, the surrounding environment recognition unit 45 recognizes the surrounding environment (external world), including obstacles located around the vehicle 2, the shape of the road, lanes, the presence or absence of sidewalks, road markings, etc. Obstacles include, for example, guardrails, utility poles, surrounding vehicles, and people such as pedestrians. The surrounding environment recognition unit 45 can acquire the status of surrounding vehicles, such as their position, speed, and acceleration, from the detection results of the external environment recognition device 10.

[0035] The vehicle position recognition unit 46 recognizes the position of vehicle 2 (the vehicle itself). The vehicle position recognition unit 46 preferably recognizes the position of vehicle 2 based on the GNSS signal received by the GNSS receiver unit 21.

[0036] The notification unit 47 of the control device 17 controls the notification device 20 based on the driving assistance method. The notification unit 47 executes driving assistance control when the vehicle 2 is located in the merging preparation section 103A of the merging lane 103. The notification unit 47 determines whether or not the vehicle 2 is located in the merging preparation section 103A of the merging lane 103 based on the position of the vehicle 2 acquired by the vehicle position recognition unit 46 and map information.

[0037] The notification unit 47 of the control device 17 sets an acceleration start point 108 in the driving assistance control on the merging lane 103 that merges with the main line 101, prior to the merging start point 107 where it becomes possible to change lanes from the merging lane 103 to the main line 101. The merging start point 107 may be stored in the map information in advance. The notification unit 47 may also set the position of the tip of the soft nose 105 stored in the map information as the merging start point 107. Alternatively, the notification unit 47 may set the position of the tip of the soft nose 105 recognized by the surrounding environment recognition unit 45 as the merging start point 107.

[0038] The notification unit 47 may set the acceleration start point 108 at a position shifted by a predetermined offset distance LO from the merging start point 107 along the merging lane 103, that is, towards the starting end of the merging lane 103. The offset distance LO is the distance between the acceleration start point 108 and the merging start point 107. The offset distance LO may be a predetermined value set in advance, or it may be set based on the status information of the vehicle 2, the driver's characteristics information, and the merging lane information. The area from the acceleration start point 108 to the merging start point 107 may be called the acceleration section.

[0039] The notification unit 47 may set the offset distance LO based on the vehicle speed as status information of the vehicle 2. The notification unit 47 may set the offset distance LO to be larger the smaller the speed of the vehicle 2 is compared to a predetermined target speed. The target speed may be a value based on the legal speed limit in the merging preparation section 103A or the main line 101, for example. For example, the target speed may be the same value as the legal speed limit, or a value obtained by subtracting 10 km / h from the legal speed limit. The target speed may be obtained from map information, or it may be obtained by the external recognition unit recognizing signs. The notification unit 47 may obtain the offset distance LO based on the difference between the speed of the vehicle 2 and the target speed using a map that defines the relationship between the difference between the speed of the vehicle 2 and the target speed and the offset distance LO. As a result, the notification unit 47 sets the acceleration start point 108 such that the distance between the acceleration start point 108 and the merging start point 107 is larger the smaller the speed of the vehicle 2 is compared to a predetermined target speed.

[0040] Driver characteristic information may include, for example, the driver's driving characteristics and age. Driving characteristics may include, for example, information on the driver's driving speed and acceleration. For example, driving characteristics may be represented by a score, where a higher score indicates a tendency towards higher vehicle speed, and a lower score indicates a tendency towards lower vehicle speed. The notification unit 47 may set a larger offset distance LO the lower the driving characteristic score. The notification unit 47 may obtain the offset distance LO based on the driving characteristic score using a map that defines the relationship between the driving characteristic score and the offset distance LO. As a result, the notification unit 47 sets the acceleration start point 108 based on the driver's characteristic information. The driver's characteristic information may be stored in memory 42. The driver's characteristic information may be created from data from past driving. The notification unit 47 may also set a larger offset distance LO the older the driver is.

[0041] The merging lane information may include at least one of the radius of curvature and gradient of the merging lane 103. The radius of curvature and gradient of the merging lane 103 may be included in the map information. The notification unit 47 may set the offset distance LO to be larger the smaller the radius of curvature of the merging lane 103. Also, the notification unit 47 may set the offset distance LO to be larger the greater the uphill gradient of the merging lane 103. The notification unit 47 may obtain the offset distance LO based on the merging lane information using a map that defines the relationship between the merging lane information and the offset distance LO. As a result, the notification unit 47 sets the acceleration start point 108 based on the merging lane information which includes at least one of the radius of curvature and gradient of the merging lane 103.

[0042] In other embodiments, the notification unit 47 may set the position of the tip of the hard nose 104 as the acceleration start point 108.

[0043] The notification unit 47 of the control device 17 causes the notification device 20 to output an acceleration notification prompting the driver to accelerate when the vehicle 2 reaches the acceleration start point 108. The notification unit 47 may control the speaker 28 to output an acceleration notification using sound effects or voice. The acceleration notification output by the speaker 28 may be, for example, a voice output of "Please accelerate." The notification unit 47 may control the display 26 to output an acceleration notification using images, videos, or text on the display 26. The acceleration notification may be, for example, an icon of the vehicle 2 accelerating or an icon of the accelerator pedal being pressed. The notification unit 47 may control the display device 27 to output an acceleration notification using light emission on the display device 27. The acceleration notification output by the display device 27 may be, for example, the movement of the light emission area of ​​the display device 27 forward or the flashing of the light emission area.

[0044] The notification unit 47 of the control device 17 causes the notification device 20 to output a notification prompting the driver to increase the following distance when vehicle 2 is located before the acceleration start point 108 in the merging lane 103 and the distance between vehicle 2 and the vehicle 109 in front of vehicle 2 is less than the first target following distance. The notification unit 47 also causes the notification device 20 to output a notification prompting the driver to increase the following distance when vehicle 2 is located between the acceleration start point 108 and the merging start point 107 in the merging lane 103 and the distance between vehicle 2 and the vehicle 109 in front of vehicle 2 is less than the second target following distance. The first target following distance is set to be longer than the second target following distance.

[0045] The surrounding environment recognition unit 45 recognizes the preceding vehicle 109 traveling in front of vehicle 2 and acquires the distance between the vehicle and the preceding vehicle 109. The notification unit 47 acquires the distance between the vehicle and the preceding vehicle 109 from the surrounding environment recognition unit 45. The first target distance and the second target distance may be preset values.

[0046] The notification unit 47 may control the speaker 28 to output a sound effect or voice notification of increasing distance between vehicles. The notification of increasing distance between vehicles output by the speaker 28 may be, for example, a voice output such as "Please increase the distance between vehicles." The notification unit 47 may control the display 26 to output a notification of increasing distance between vehicles using an image, video, or text. The notification of increasing distance between vehicles output by the display 26 may be, for example, an icon of vehicle 2 increasing the distance between vehicles or an icon of vehicle 2 decelerating. The notification unit 47 may control the display device 27 to output a notification of increasing distance between vehicles using light emission. The notification of increasing distance between vehicles output by the display device 27 may be, for example, the movement of the light emission area of ​​the display device 27 to the rear or the flashing of the light emission area.

[0047] The notification unit 47 of the control device 17 may output a preparation notification to the notification device 20 prompting the driver to prepare for acceleration when the distance between the vehicle 2 and the acceleration start point 108 falls below a predetermined judgment value. The notification unit 47 obtains the distance between the vehicle 2 and the acceleration start point 108 based on the position of the vehicle 2 and the acceleration start point 108 obtained by the vehicle position recognition unit 46. The judgment value is a preset value, for example, 50m.

[0048] The notification unit 47 may control the speaker 28 to output a preparatory notification using sound effects or voice. The preparatory notification output by the speaker 28 may be, for example, a voice output such as "The merging point is approaching." The notification unit 47 may also control the display 26 to output a preparatory notification using images, videos, or text. The preparatory notification output by the display 26 may be, for example, a text output such as "The merging point is approaching."

[0049] The following describes the control procedure for the driver assistance control performed by the control device 17. The control device 17 starts driver assistance control when the vehicle 2 enters the merging preparation section 103A. Based on the position of the vehicle 2 acquired by the vehicle position recognition unit 46 and map information, the control device 17 determines whether or not the vehicle 2 is located in the merging preparation section 103A.

[0050] As shown in Figure 4, first the control device 17 sets the acceleration start point 108 (ST1). The control device 17 may obtain the merging start point 107 from the map information and set the acceleration start point 108 based on the merging start point 107. For example, the control device 17 may obtain the vehicle speed, obtain the offset distance LO based on the vehicle speed, and set the acceleration start point 108 based on the merging start point 107 and the offset distance LO. Alternatively, as described above, the control device 17 may set the acceleration start point 108 based on driver characteristic information or merging lane information.

[0051] Next, the control device 17 sets the target inter-vehicle distance to a first target inter-vehicle distance (ST2). Subsequently, the control device 17 determines whether the inter-vehicle distance between vehicle 2 and the preceding vehicle 109 is equal to or greater than the first target inter-vehicle distance (ST3). If the inter-vehicle distance between vehicle 2 and the preceding vehicle 109 is less than the first target inter-vehicle distance (ST3: No), the control device 17 controls the notification device 20 to cause the notification device 20 to perform an inter-vehicle distance increase notification (ST4).

[0052] If the distance between vehicle 2 and the preceding vehicle 109 is equal to or greater than the first target distance (ST3: Yes) or if the process in step ST4 is executed, the control device 17 then determines whether or not vehicle 2 has reached the acceleration start point 108 (ST5). The position of vehicle 2 may be obtained by the vehicle position recognition unit 46.

[0053] If vehicle 2 has not reached the acceleration start point 108 (ST5: No), the process returns to step ST3, and the control device 17 repeats the process from steps ST3 to ST5.

[0054] When vehicle 2 reaches the acceleration start point 108 (ST5: Yes), the control device 17 sets the second target distance as the target inter-vehicle distance (ST6). Next, the control device 17 determines whether the distance between vehicle 2 and the preceding vehicle 109 is equal to or greater than the second target distance (ST7). If the distance between vehicle 2 and the preceding vehicle 109 is less than the second target distance (ST7: No), the control device 17 controls the notification device 20 to cause the notification device 20 to issue an inter-vehicle distance increase notification (ST8).

[0055] If the distance between vehicle 2 and the preceding vehicle 109 is greater than or equal to the second target distance (ST7: Yes), the control device 17 determines whether the vehicle speed is less than or equal to the speed limit of the main road 101 (ST9). The control device 17 may obtain the vehicle speed from the vehicle sensor 15 and the speed limit of the main road 101 from the map information. If the vehicle speed is less than or equal to the speed limit of the main road 101 (ST9: Yes), the control device 17 controls the notification device 20 to output an acceleration notification (ST10).

[0056] If the process in step ST8 or step ST10 is executed, or if the vehicle speed is higher than the speed limit on the main line 101 (ST9: No), the control device 17 determines whether or not vehicle 2 has reached the merging start point 107 (ST11). If vehicle 2 has not reached the merging start point 107 (ST11: No), the process returns to step ST7, and the control device 17 repeats the processes in steps ST7 to ST10. If vehicle 2 has reached the merging start point 107 (ST11: Yes), the control device 17 terminates the driver assistance control.

[0057] According to the embodiment, a driver assistance device 1 can be provided that can prompt the driver to accelerate appropriately in the merging lane 103. The driver can perform acceleration operations at the appropriate timing based on acceleration notifications in the merging lane 103. The control device 17 uses at least one of the display 26, display device 27, and speaker 28 to provide acceleration notifications and prompt the driver to accelerate at a position before the merging start point 107.

[0058] Since the acceleration start point 108 is set before the merging start point 107, the driver accelerates based on the acceleration notification at a relatively early stage. As a result, the vehicle 2 driven by the driver accelerates earlier than the following vehicle. Consequently, the driver can take advantage of the following vehicle's delayed reaction to widen the distance between their vehicle 2 and the following vehicle. Furthermore, by accelerating before the merging start point 107, the vehicle 2 can reach a sufficient speed when changing lanes.

[0059] Since the control device 17 issues a notification of increasing the following distance in the region before the acceleration start point 108, based on the first target following distance which is also long as the second target following distance, the driver can operate to widen the distance to the vehicle in front 109 based on the notification of increasing the following distance. As a result, vehicle 2 can secure a sufficient distance to the vehicle in front 109 at the acceleration start point 108. This allows the driver to accelerate at the acceleration start point 108 without worrying about the vehicle in front 109.

[0060] The acceleration start point 108 may be changed based on the speed of vehicle 2, driver characteristics information, and merging lane information. This allows, for example, an acceleration notification to be given earlier if the vehicle speed of vehicle 2 is low, providing the driver with sufficient time to perform the acceleration operation. Also, an acceleration notification is given earlier for drivers who are not good at accelerating. Furthermore, an acceleration notification is given earlier if the merging lane 103 is on an uphill slope or has a small radius of curvature.

[0061] Once vehicle 2 reaches a merging position, the control device 17 prevents the notification device 20 from issuing acceleration notifications or notifications of increased distance between vehicles, allowing the driver to concentrate on changing lanes onto the main line 101.

[0062] The embodiments are not limited to the above configuration and can be broadly modified. For example, the offset distance LO may be configured to be selectable by the driver. A selection switch for selecting the offset distance LO may be provided on the instrument panel 32 or the like.

[0063] The control device 17 may perform adaptive cruise control, also known as follow control, by controlling the propulsion system 5 and braking system 6 so that the distance to the preceding vehicle 109 becomes the target distance, based on the target vehicle speed and target distance between vehicles. In this case, the above-mentioned driver assistance control may be performed simultaneously with the follow control. If a notification of increased distance between vehicles is given based on the driver assistance control while the follow control is being performed, the driver may operate a switch to increase the target distance between vehicles for the follow control. The control device 17 may also set the first target distance between vehicles or the second target distance set in the driver assistance control as the target distance between vehicles for the follow control. As a result, the follow control performed by the control device 17 maintains the distance between vehicles at the first target distance before the acceleration start point 108, and maintains the distance between vehicles at the second target distance between the acceleration start point 108 and the merging start point 107.

[0064] If acceleration is announced based on driver assistance control while follow control is being performed, the driver may override the follow control by pressing the accelerator pedal to accelerate vehicle 2. When the accelerator pedal is pressed during follow control, the control device 17 may override the follow control and control the propulsion system 5 based on the amount the accelerator pedal is pressed. Alternatively, when the acceleration start point is reached, the control device 17 may change the target vehicle speed in the follow control to a predetermined merging vehicle speed and accelerate vehicle 2 by follow control. The merging vehicle speed may be, for example, a value 10 to 30 km / h lower than the speed limit of the main line 101.

[0065] The above embodiments may also be described as follows:

[0066] One embodiment is a driver assistance device 1 for a vehicle 2, comprising a notification device 20 provided in the passenger compartment 25 of the vehicle 2, and a control device 17 that controls the notification device 20, wherein the control device 17 sets an acceleration start point 108 in a merging lane 103 that merges with the main line 101, prior to the merging start point 107 where it becomes possible to change lanes from the merging lane 103 to the main line 101, and when the vehicle 2 reaches the acceleration start point 108, it causes the notification device 20 to output an acceleration notification prompting the driver to accelerate.

[0067] According to this embodiment, a driver assistance device 1 can be provided that can prompt the driver to accelerate appropriately in the merging lane 103. The driver can perform acceleration operations at the appropriate timing based on acceleration notifications in the merging lane 103. Furthermore, since the acceleration start point 108 is set earlier than the merging start point 107, the driver can perform acceleration operations based on acceleration notifications at a relatively early timing. As a result, the vehicle 2 driven by the driver will accelerate earlier than the following vehicle. Consequently, the vehicle 2 driven by the driver can take advantage of the reaction delay of the following vehicle to increase the distance between the vehicle 2 driven by the driver and the following vehicle.

[0068] In the above embodiment, the control device 17 causes the notification device 20 to output a notification prompting the driver to increase the following distance when the vehicle 2 is located in the merging lane 103 before the acceleration start point 108 and the distance between the vehicle 2 and the vehicle 109 in front of the vehicle 2 is smaller than the first target following distance, and the notification device 20 also outputs the notification prompting the driver to increase the following distance when the vehicle 2 is located in the merging lane 103 between the acceleration start point 108 and the merging start point 107 and the distance between the vehicle 2 and the vehicle 109 in front of it is smaller than the second target following distance, and the first target following distance may be set to be longer than the second target following distance.

[0069] In this embodiment, before vehicle 2 reaches the acceleration start point 108, the driver can increase the distance between vehicle 2 and the vehicle in front 109 based on the notification of increased distance between vehicles. As a result, vehicle 2 can secure a sufficient distance between vehicle 2 and the vehicle in front 109 at the acceleration start point 108. This allows the driver to accelerate at the acceleration start point 108 without worrying about the vehicle in front 109.

[0070] In the above embodiment, the control device 17 may set the acceleration start point 108 such that the distance between the acceleration start point 108 and the merging start point 107 increases as the speed of the vehicle 2 decreases relative to a predetermined target speed.

[0071] According to this embodiment, when the vehicle speed of vehicle 2 is low, acceleration notification is given earlier, so that the driver has enough time to perform acceleration operations.

[0072] In the above embodiment, the control device 17 may set the acceleration start point 108 based on the driver's characteristic information.

[0073] In this configuration, acceleration warnings are issued at an appropriate timing according to the driver's characteristics.

[0074] In the above embodiment, the control device 17 may set the acceleration start point 108 based on merging lane information that includes at least one of the radius of curvature and gradient of the merging lane 103.

[0075] According to this embodiment, acceleration notification is given at an appropriate timing in accordance with at least one of the radius of curvature and gradient of the merging lane 103.

[0076] In the above embodiment, the control device 17 may cause the notification device 20 to output a preparation notification prompting the driver to prepare for acceleration when the distance between the vehicle 2 and the acceleration start point 108 falls below a predetermined determination value.

[0077] According to this embodiment, the driver can prepare for acceleration based on the preparation notification.

[0078] Another embodiment is a computer-operated driving assistance system 1 method for a vehicle 2, wherein in a merging lane 103 that merges with a main line 101, an acceleration start point 108 is set before the merging start point 107 where a lane change from the merging lane 103 to the main line 101 becomes possible, and when the vehicle 2 reaches the acceleration start point 108, an acceleration notification is output to a notification device 20 prompting the driver to accelerate.

[0079] According to this embodiment, a driver assistance method can be provided that can encourage the driver to accelerate appropriately in the merging lane 103.

[0080] Another embodiment is a control program for causing a computer to execute a driving assistance device 1 method for a vehicle 2, wherein in a merging lane 103 that merges with the main line 101, an acceleration start point 108 is set before the merging start point 107 where it becomes possible to change lanes from the merging lane 103 to the main line 101, and when the vehicle 2 reaches the acceleration start point 108, an acceleration notification prompting the driver to accelerate is output to the notification device 20.

[0081] According to this embodiment, it is possible to provide a control program that causes a computer to execute a driving assistance method that can encourage the driver to accelerate appropriately in the merging lane 103. [Explanation of Symbols]

[0082] 1: Driving assistance system 2: Vehicles 10: External world recognition device 15: Vehicle Sensors 17: Control device 19: Navigation device 20: Notification device 26: Display 27:Display device 28: Speaker 41: Processor 42: Memory 51: Surrounding Environment Recognition Unit 52: Vehicle position recognition unit 53: Hochi Department 101: Main Line 103: Merging lane 103A: Merging preparation section 103B: Section where merging is possible 104: Hard Nose 105: Soft Nose 107: Merging start point 108: Acceleration start point 109: Preceding vehicle

Claims

1. A vehicle driving assistance system, An alarm device installed inside the passenger compartment of the aforementioned vehicle, It has a control device that controls the aforementioned notification device, The control device is In a merging lane that merges with the main line, the acceleration start point is set prior to the merging start point where it becomes possible to change lanes from the merging lane to the main line. A driver assistance device that causes the notification device to output an acceleration notification prompting the driver to perform an acceleration operation when the vehicle reaches the acceleration start point.

2. The control device is When the vehicle is located in the merging lane before the acceleration start point, and the distance between the vehicle and the vehicle in front of it is less than the first target distance, the notification device outputs a notification prompting the driver to increase the distance between vehicles. When the vehicle is located in the merging lane between the acceleration start point and the merging start point, and the distance between the vehicle and the vehicle in front of it is less than the second target distance, the notification device is made to output the distance increase notification. The driving assistance device according to claim 1, wherein the first target distance between vehicles is set to be longer than the second target distance between vehicles.

3. The driving assistance device according to claim 1, wherein the control device sets the acceleration start point such that the distance between the acceleration start point and the merging start point increases as the vehicle speed decreases relative to a predetermined target speed.

4. The control device sets the acceleration start point based on the driver's characteristic information, according to claim 1.

5. The driving assistance device according to claim 1, wherein the control device sets the acceleration start point based on merging lane information including at least one of the radius of curvature and gradient of the merging lane.

6. The driving assistance device according to claim 1, wherein the control device causes the notification device to output a preparation notification prompting the driver to prepare for acceleration when the distance between the vehicle and the acceleration start point falls below a predetermined determination value.

7. A method of assisting the driving of a vehicle, which is performed by a computer, In a merging lane that merges with the main line, the acceleration start point is set prior to the merging start point where it becomes possible to change lanes from the merging lane to the main line. A driving assistance method that causes a notification device to output an acceleration notification prompting the driver to perform an acceleration operation when the vehicle reaches the acceleration start point.

8. A control program that causes a computer to perform a vehicle driving assistance method, In a merging lane that merges with the main line, the acceleration start point is set prior to the merging start point where it becomes possible to change lanes from the merging lane to the main line. A control program that causes a notification device to output an acceleration notification prompting the driver to perform acceleration when the vehicle reaches the acceleration start point.

Images