Following Vehicle Approach Detection Program and Following Vehicle Approach Detection System

Abstract

This invention provides a following vehicle proximity detection program and a following vehicle proximity detection system that can accurately determine excessive closeness of a following vehicle, which is equivalent to aggressive driving. [Solution] The following vehicle approach detection program causes a computer to perform information processing that includes a determination regarding the approach of a following vehicle to the vehicle itself. The computer determines that an excessive approach situation occurs if the condition for affirming excessive approach is met (Yes in ST4) and the condition for denying excessive approach is not met (No in ST3), and determines that an excessive approach situation does not occur if the condition for affirming excessive approach is not met (No in ST4) or the condition for denying excessive approach is met (Yes in ST3). The condition for denying excessive approach includes the computer recognizing that at least one of the vehicle itself and the following vehicle has changed lanes.

Description

[Technical Field]

[0001] The present invention relates to a following vehicle approach determination program and a following vehicle approach determination system that cause a computer to determine the state of a following vehicle. [Background Art]

[0002] In recent years, efforts to provide access to sustainable transportation systems that also take into account vulnerable people among road traffic participants have become active. Toward the realization of this goal, research and development focused on further improving traffic safety and convenience through research and development related to driving support technology has been promoted.

[0003] In recent years, so-called aggressive driving (driving performed for the purpose of obstructing the passage of other vehicles) has become a problem. One form of aggressive driving is failure to maintain a safe inter-vehicle distance. For example, Patent Document 1 discloses a method for determining whether or not driving corresponds to aggressive driving based on the inter-vehicle distance and the duration of a state in which the inter-vehicle distance is abnormally short.

[0004] Furthermore, an automatic lane change function is known as one type of driving support technology. For example, Patent Document 2 discloses a proactive automatic lane change function in which a driving support control device proposes a lane change to a driver, and when the driver consents to the proposed lane change, the driving support control device automatically performs the lane change. [Prior Art Documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Unexamined Patent Publication No. 2023-86576 [Patent Document 2] Japanese Unexamined Patent Publication No. 2016-71513 [Summary of the Invention] [Problem to be Solved by the Invention]

[0006] However, immediately after changing lanes, depending on the relative positions of the vehicle that changed lanes with the preceding and following vehicles, it may be difficult to maintain an appropriate following distance. In the invention described in Patent Document 1, there was a risk that such cases would be judged as aggressive driving. In particular, when a vehicle equipped with a suggestion-type automatic lane change function made a false judgment of aggressive driving, the driver would feel annoyed if they realized it was a false judgment, or if they did not realize it was a false judgment, they would cause the vehicle to make an unnecessary lane change.

[0007] The present invention aims to solve these problems and, in order to contribute to the development of a sustainable transportation system, to provide a following vehicle proximity detection program and a following vehicle proximity detection system that can accurately determine excessive proximity of a following vehicle, which corresponds to aggressive driving. [Means for solving the problem]

[0008] To solve the above problems, one aspect of the present invention is a following vehicle approach determination program that causes a computer to perform information processing including determination of the approach of a following vehicle to its own vehicle, wherein the information processing includes a following vehicle determination step in which the computer causes the computer to determine whether or not there is a following vehicle traveling in the same lane as the own vehicle, and, if a following vehicle exists, a proximity state determination step in which the computer causes the computer to determine whether or not the following vehicle is in an excessive proximity state, based on proximity determination information including the distance between the own vehicle and the following vehicle, wherein the computer determines if the condition for affirming excessive proximity is met, The following vehicle proximity determination step includes determining that the excessive proximity state applies if the excessive proximity denial condition is not met, and determining that the excessive proximity state does not apply if the excessive proximity affirmation condition is not met or if the excessive proximity denial condition is met; and notifying the computer to notify the driver of the vehicle that the excessive proximity state applies, wherein the excessive proximity affirmation condition includes that the following vehicle distance is below or less than a threshold, and the excessive proximity denial condition includes that the computer recognizes that at least one of the vehicle itself and the following vehicle has changed lanes. The following vehicle proximity determination program may be stored in a non-temporary storage medium readable by the computer.

[0009] To solve the above problems, one aspect of the present invention provides a following vehicle approach determination system that performs information processing regarding the approach of a following vehicle to the vehicle, comprising: an external environment recognition device that detects objects present around the vehicle; a vehicle control device that performs the information processing regarding the following vehicle based on the detection results of the external environment recognition device; and a notification device that notifies the driver of the vehicle of the information, wherein the vehicle control device determines whether or not there is a following vehicle traveling in the same lane as the vehicle based on the detection results of the external environment recognition device, and if it determines that there is a following vehicle, it determines that the following vehicle is approaching the vehicle excessively based on approach determination information including the distance between the vehicle and the following vehicle The control device is configured to determine whether or not the vehicle is in an excessive proximity state, and if it is determined that the vehicle is in an excessive proximity state, it is configured to notify the driver of the vehicle that the vehicle is in an excessive proximity state via the notification device. The control device is configured to determine that the vehicle is in an excessive proximity state if the condition for affirming the excessive proximity state is met and the condition for denying the excessive proximity state is not met, and to determine that the vehicle is not in an excessive proximity state if the condition for affirming the excessive proximity state is not met or the condition for denying the excessive proximity state is met. The condition for denying the excessive proximity state includes the vehicle control device recognizing that at least one of the vehicle and the following vehicle has changed lanes. [Effects of the Invention]

[0010] According to the above embodiment, it is possible to provide a following vehicle proximity detection program and a following vehicle proximity detection system that can accurately determine excessive approach by a following vehicle, which corresponds to aggressive driving. [Brief explanation of the drawing]

[0011] [Figure 1] A block diagram showing the configuration of the following vehicle approach detection system according to the embodiment. [Figure 2] Flowchart showing the processing flow affected by lane changes in information processing according to the embodiment. [Figure 3] A flowchart illustrating the processing flow in the information processing according to the embodiment, where lane changes are not involved. [Figure 4] An explanatory diagram showing the vehicle and its surroundings where information processing according to the embodiment is performed. [Figure 5] An explanatory diagram illustrating an image displayed on the display device in the following vehicle approach detection system according to the embodiment. [Modes for carrying out the invention]

[0012] Embodiments of the present invention will be described below with reference to the drawings. Figure 1 is a block diagram showing the configuration of a following vehicle approach detection system 90 according to an embodiment. Each component included in the following vehicle approach detection system 90 will be described with reference to Figure 1.

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

[0014] The vehicle 2 has a propulsion system 3, a braking system 4, and a steering system 5. The propulsion system 3 is a device that provides driving force to the 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 4 is a device that provides braking force to the 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 5 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. The propulsion system 3, the braking system 4, and the steering system 5 are controlled by the vehicle control device 1.

[0015] The vehicle 2 has turn signals 6. The turn signals 6 include lamps located on the left and right sides of the front and rear of the vehicle 2. The lamps of the left and right turn signals 6 on the direction of travel flash when the driver operates a turn signal lever (not shown) or when the vehicle control device 1 controls the vehicle.

[0016] The host vehicle 2 includes an external environment recognition device 7. The external environment recognition device 7 is a device that detects objects and the like outside the vehicle. The external environment recognition device 7 is a sensor that detects objects outside the vehicle by capturing electromagnetic waves and light from the surroundings of the host vehicle 2. The external environment recognition device 7 includes, for example, a radar 8, a lidar 9 (LiDAR), and an external camera 10.

[0017] The host vehicle 2 includes vehicle sensors 12. The vehicle sensors 12 include a vehicle speed sensor 13 that detects the speed of the host vehicle 2, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around a vertical axis, an orientation sensor that detects the direction of the host vehicle 2, and the like.

[0018] The host vehicle 2 includes a driving operation device 17. The driving operation device 17 accepts input operations performed by an occupant (driver) to control the host vehicle 2. The driving operation device 17 includes a steering wheel 21, an accelerator pedal 22, and a brake pedal 23. Further, the driving operation device 17 may also include a shift lever, a parking brake lever, and the like. A sensor that detects an operation amount is attached to each component of the driving operation device 17. The driving operation device 17 outputs a signal indicating the operation amount to the vehicle control device 1.

[0019] The host vehicle 2 includes an HMI 19. The HMI 19 notifies an occupant of various types of information via display and audio, and accepts input operations performed by the occupant. The HMI 19 includes a display device 31 and a speaker 32. The display device 31 may be a touch panel display including liquid crystal or organic EL. The display device 31 may also serve as a navigation interface. The display device 31 and the speaker 32 function as notification devices for notifying the occupant via images and audio. Here, the image may be a moving image including a plurality of consecutive frames.

[0020] The vehicle control device 1 is a computer including a processor 41 and a memory 42 communicably connected to the processor 41. The processor 41 may preferably include, as a core, at least one of, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a RISC (Reduced Instruction Set Computer). The memory 42 stores a control program executed by the processor 41 and various types of data. The memory 42 may preferably include at least one of a volatile memory and a non-volatile memory. The volatile memory may be, for example, a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory). The non-volatile memory may be an SSD (Solid State Drive), a flash memory, a magnetic disk storage device, or an optical disk storage device. At least a part of the vehicle control device 1 may be implemented by hardware such as an LSI (Large Scale Integration), an ASIC (application specific integrated circuit), or an FPGA (field-programmable gate array), or may be implemented by a combination of software and hardware. The vehicle control device 1 may be configured by a single piece of hardware, or may be configured by a plurality of pieces of hardware capable of communicating with each other. A part of the vehicle control device 1 may be configured by an external server provided outside the host vehicle 2.

[0021] The processor 41 implements various applications by executing the control program stored in the memory 42. The control program may be stored in a removable recordable medium such as a DVD or a CD-ROM, and may be installed in the memory 42 when the recordable medium is read by a reading device. Further, the control program may be downloaded to the memory 42 and installed via a communication network such as the Internet.

[0022] The processor 41 functions as the surrounding situation recognition unit 51, the driving control unit 52, and the notification unit 53 by executing the control program stored in the memory 42. As the processor 41 executes the control program, the vehicle control device 1, which is a computer, executes the vehicle control method.

[0023] The surrounding environment recognition unit 51 recognizes the surrounding environment of the vehicle 2. Based on the detection results of the external environment recognition device 7, the surrounding environment recognition unit 51 recognizes the surrounding environment (external world), including obstacles located around the vehicle 2, the shape of the road, the presence or absence of sidewalks, road markings, etc. Obstacles include, for example, guardrails, utility poles, surrounding vehicles, and people such as pedestrians. From the detection results of the external environment recognition device 7, the surrounding environment recognition unit 51 can acquire the status of surrounding vehicles, such as their position, speed, and acceleration.

[0024] The driving control unit 52 is configured to control the acceleration and deceleration of the vehicle 2 according to the driving mode. In addition to controlling the acceleration and deceleration of the vehicle 2, the driving control unit 52 may also be configured to control the steering of the vehicle 2. The driving control unit 52 performs driving assistance control, including adaptive cruise control (hereinafter referred to as ACC) and lane keeping assist control (hereinafter referred to as LKAS). ACC is an example of vehicle speed control that controls the vehicle speed of the vehicle 2 by controlling the acceleration and deceleration of the vehicle 2. The driving control unit 52 controls the acceleration and deceleration of the vehicle 2 by controlling the propulsion unit 3 and the braking unit 4, thereby assisting the driver's driving. In addition, LKAS is an example of steering control that controls the steering of the vehicle 2 by controlling the steering unit 5. The driving control unit 52 controls the trajectory of the vehicle 2 by controlling the steering unit 5, thereby assisting the driver's driving.

[0025] The notification unit 53 causes the driver to receive information based on the detection results of the external environment recognition device 7 via the display device 31 and / or speaker 32.

[0026] Next, with reference to Figures 1 to 5, an example of the procedure performed by the following vehicle approach detection system 90 will be described. In the following description, when "physical quantity A is less than or equal to a predetermined value" and "physical quantity A is greater than or equal to a predetermined value," the latter "greater than" corresponds to the former "less than or equal to," and the latter "greater than" corresponds to the former "less than."

[0027] As shown in Figure 4, vehicle 2 changes lanes from lane 1 61 to lane 2 62. Lane 1 61 and lane 2 62 are adjacent to each other, and their boundary is defined by lane markings 63. After vehicle 2 changes lanes, another vehicle that was traveling behind vehicle 64 in lane 1 61 changes lanes from lane 1 61 to lane 2 62 and becomes following vehicle 65, traveling behind vehicle 2 in lane 2 62. Following vehicle 65 only needs to be traveling behind vehicle 2 in lane 2 62, which is the lane after the lane change; in lane 1 61, which is the lane before the lane change, it may be traveling in front of or behind vehicle 2. The vehicle control device 1 determines that the vehicle is in an excessive proximity state (a state in which it is presumed that the driver of the following vehicle 65 is engaging in aggressive driving by not maintaining a safe distance) if the condition for affirming excessive proximity is met and the condition for denying excessive proximity is not met, and determines that the vehicle is not in an excessive proximity state if the condition for affirming excessive proximity is not met or the condition for denying excessive proximity is met.

[0028] As shown in Figures 1, 2, and 4, the vehicle control device 1 determines whether the external environment recognition device 7 has detected a following vehicle 65 in the second lane 62 after the vehicle 2 has completed changing lanes to the second lane 62 (ST1). Completion of the lane change means, for example, when the lateral speed of the target vehicle becomes approximately 0, or when the entire target vehicle crosses the lane marking 63. If no following vehicle 65 is detected in the second lane 62 (No. in ST1), the vehicle control device 1 performs the normal processing (ST6) described later.

[0029] If a following vehicle 65 is detected in the second lane 62 (Yes in ST1), the vehicle control device 1 determines, based on the detection history of the external environment recognition device 7, whether the following vehicle 65 is a vehicle that changed lanes into the second lane 62 within a predetermined time (second predetermined time, longer than the first predetermined time described later) after the vehicle 2 changed lanes (ST2). If the following vehicle 65 is not a vehicle that changed lanes (No in ST2), the vehicle control device 1 performs the normal processing (ST6) described later.

[0030] If the following vehicle 65 is the vehicle that has changed lanes (Yes in ST2), the vehicle control device 1 determines whether the condition for denying excessive proximity is met (ST3). The condition for denying excessive proximity includes that the elapsed time from when the vehicle 2 changed lanes until the present is less than or equal to the first predetermined time.

[0031] If the condition for denying excessive proximity is not met (No. in ST3), the vehicle control device 1 determines whether or not the condition for affirming excessive proximity is met (ST4). The condition for affirming excessive proximity includes the fact that the distance between the following vehicle 65 and the own vehicle 2 is less than or equal to a first threshold. The first threshold may be a constant or a variable. Preferably, the first threshold is a variable that decreases as the speed of the own vehicle 2 or the following vehicle 65 increases. The first threshold may also change depending on the elapsed time since the completion of the lane change by the own vehicle 2, for example, it may be a variable that increases as the elapsed time increases. If the condition for affirming excessive proximity is not met (No. in ST4), the vehicle control device 1 determines that the following vehicle 65 is not in an excessively close position to the own vehicle 2, and therefore terminates processing. If the condition for denying excessive proximity is not met (No in ST3) and the condition for affirming excessive proximity is met (Yes in ST4), the relationship between the following vehicle 65 and the vehicle 2 is determined to be in an excessive proximity state, and the vehicle control device 1 notifies the driver of the vehicle 2 that the following vehicle 65 is approaching using the display device 31 or speaker 32 (ST5). Figure 5 shows an example of notification using the display device 31.

[0032] As shown in Figures 1 to 4, if the following vehicle 65 is not the vehicle that changed lanes (ST2 No.), the normal process (ST6) is performed. In the normal process, there is no condition to deny excessive proximity (the condition to deny excessive proximity is always determined not to be met), and the conditions to affirm excessive proximity include that the acceleration of the following vehicle 65 is greater than the acceleration of the own vehicle 2 (ST61) and that the distance between the following vehicle 65 and the own vehicle 2 is less than or equal to the second threshold (ST62). The second threshold may be a constant or a variable, and may be the same as or different from the first threshold. Preferably, the second threshold is a variable that decreases as the speed of the own vehicle 2 or the following vehicle 65 increases.

[0033] If both of these conditions are met (Yes in ST61, Yes in ST62), the vehicle control device 1 determines that the following vehicle 65 is in an excessively close proximity state with respect to the vehicle 2, and uses the display device 31 or speaker 32 to notify the driver of the vehicle 2 that the following vehicle 65 is approaching (ST63; see Figure 5). If at least one of these two conditions is not met (No in ST61, No in ST62), the vehicle control device 1 determines that the following vehicle 65 is not in an excessively close proximity state with respect to the vehicle 2, and terminates the process.

[0034] If the condition for denying excessive proximity is met (Yes in ST3), the vehicle control device 1 determines whether the elapsed time since the vehicle 2 changed lanes is less than or equal to the second predetermined time (ST7). The second predetermined time is longer than the first predetermined time. If the elapsed time since the vehicle 2 changed lanes is greater than or equal to the second predetermined time (No in ST7), the vehicle control device 1 performs normal processing (ST6). If the elapsed time since the vehicle 2 changed lanes is less than or equal to the second predetermined time (Yes in ST7), the vehicle control device 1 performs modified normal processing (ST8). The modified normal processing differs from normal processing (ST6) in that the condition for affirming excessive proximity does not include the acceleration condition (ST61), but is otherwise the same as normal processing (ST6). This is because, within the specified time after the first specified time has elapsed since the lane change, even if the driver of the following vehicle 65 had the intention to drive aggressively, the following vehicle 65 is already approaching vehicle 2, and there is a high probability that the acceleration of the following vehicle 65 is low.

[0035] Furthermore, if the vehicle 2 makes multiple lane changes and the following vehicle 65 follows the vehicle 2 and makes multiple lane changes, preferably the vehicle control device 1 (i) measures a first predetermined time from the completion of each lane change of the vehicle 2, and shortens the first predetermined time as the number of lane changes of the vehicle 2 and the other vehicle increases, or (ii) measures the first predetermined time in the condition of denying excessive proximity after the second and subsequent lane changes from the completion of the first lane change of the vehicle 2.

[0036] Preferably, the vehicle control device 1 has a suggestion-type automatic lane change function. A suggestion for a lane change based on the suggestion-type automatic lane change function (see Figure 5) is made, for example, when the relationship between the vehicle 2 and the following vehicle 65 corresponds to an excessively close condition. The vehicle control device 1 suppresses the suggestion of a lane change for a third predetermined time period after the completion of the lane change by the vehicle 2, even if the relationship between the vehicle 2 and the following vehicle 65 corresponds to an excessively close condition. Methods for suppressing the suggestion of a lane change include, for example, not making a suggestion, or, as is normal, notifying the suggestion with both the display device 31 and the speaker 32, but when suppressing a suggestion, notifying the suggestion with only the display device 31. If the condition for suggesting a lane change has not been resolved after the third predetermined time period has elapsed, the vehicle control device 1 makes a suggestion of a lane change in the usual way.

[0037] The effects of the embodiment will now be explained. If a following vehicle 65 is approaching vehicle 2 excessively closely, the driver of vehicle 2 will be notified of this, allowing the driver of vehicle 2 to take action to resolve the situation (such as changing lanes or accelerating vehicle 2). On the other hand, immediately after a lane change, even if the driver of the following vehicle 65 does not intend to tailgate the driver of vehicle 2, the distance between vehicle 2 and the following vehicle 65 may become narrow. In particular, if the following vehicle 65 changes lanes to follow vehicle 2 in order to overtake the preceding vehicle 64, the distance between vehicle 2 and the following vehicle 65 is likely to become narrow. If the driver of the following vehicle 65 does not intend to tailgate, it is presumed that the following vehicle 65 will move away from vehicle 2 over time, and the distance between the vehicles will increase. Therefore, if the vehicle control device 1 recognizes a lane change and it occurs within a first predetermined time after the completion of the lane change, the vehicle control device 1 will not determine that the vehicle is in an excessively close position, which is presumed to be aggressive driving due to failure to maintain a safe distance between vehicles. This allows for accurate determination of excessive proximity by the following vehicle 65, which corresponds to aggressive driving. As a result, unnecessary notifications to the driver of the vehicle 2 are suppressed, and the annoyance of the driver of the vehicle 2 is reduced.

[0038] If the acceleration of the following vehicle 65 is greater than the acceleration of the vehicle 2, it can be presumed that the driver of the following vehicle 65 intends to tailgate the driver of the vehicle 2. In the normal process (ST6), the condition for confirming excessive proximity is that the acceleration of the following vehicle 65 is greater than the acceleration of the vehicle 2, so the vehicle control device 1 can accurately determine if the following vehicle 65 is tailgating. On the other hand, after the first predetermined time has elapsed since the completion of the lane change, if the driver of the following vehicle 65 intends to tailgate, the following vehicle 65 is already close to the vehicle 2, and it is highly likely that the acceleration of the following vehicle 65 is approximately the same as the acceleration of the vehicle 2. Therefore, after the first predetermined time has elapsed since the completion of the lane change, by removing the acceleration condition from the condition for confirming excessive proximity, that is, by implementing the modified normal process (ST8), the vehicle control device 1 can accurately determine if the following vehicle 65 is tailgating.

[0039] One example of a situation in which a lane change is suggested by the suggestion-type lane change support function is when a following vehicle 65 is approaching vehicle 2, such as in an excessively close proximity situation. If the driver of the following vehicle 65 changes lanes to tailgate vehicle 2, immediately after the driver of vehicle 2 accepts the suggestion and vehicle 2 changes lanes, the vehicle control device 1 will suggest another lane change, causing annoyance to the driver of vehicle 2. The vehicle control device 1 can reduce the annoyance to the driver of vehicle 2 by suppressing new lane change suggestions until a third predetermined time has elapsed after the completion of a lane change based on the suggestion-type lane change support function.

[0040] The embodiments are not limited to the above configuration and can be broadly modified and implemented. For example, the information processing in the above embodiment may be applied when only one of the following vehicle 65 or the vehicle itself changes lanes, and if the following vehicle 65 changes lanes, the first predetermined time may be measured from the time the following vehicle 65 completes the lane change. Furthermore, if the vehicle control device 1 recognizes that the preceding vehicle 64 or the following vehicle 65 has changed lanes based on the detection results of the external environment recognition device 7 or the vehicle sensor 12, the vehicle control device 1 may determine that the excessive proximity denial condition is met, regardless of the elapsed time since the completion of the lane change, by adding other conditions as necessary (for example, if the relative speed of the following vehicle 65 with respect to the vehicle itself is negative). An excessive proximity denial condition may be provided in normal processing.

[0041] The above embodiments may also be described as follows:

[0042] One embodiment is a following vehicle proximity determination program that causes a computer (vehicle control device 1) to perform information processing including a determination regarding a following vehicle 65 of the vehicle 2, wherein the information processing includes a following vehicle determination step in which the computer (vehicle control device 1) determines whether or not there is a following vehicle 65 traveling in the same lane as the vehicle 2, and a proximity state determination step in which, if the following vehicle 65 is present, the computer (vehicle control device 1) determines whether or not the following vehicle 65 is excessively close to the vehicle 2 based on proximity determination information including the distance between the vehicle 2 and the following vehicle 65, wherein the computer (vehicle control device 1) determines whether or not the excessive proximity affirmation condition is met The proximity state determination step includes determining that the excessive proximity state applies if the excessive proximity denial condition does not apply, and determining that the excessive proximity state does not apply if the excessive proximity affirmation condition does not apply or if the excessive proximity denial condition applies; and a notification step includes causing the computer (vehicle control device 1) to notify the driver of the vehicle 2 that the excessive proximity state applies, wherein the excessive proximity affirmation condition includes that the distance between vehicles is less than or equal to a threshold (first threshold), and the excessive proximity denial condition includes that the computer (vehicle control device 1) recognizes that at least one of the vehicle 2 and the following vehicle 65 has changed lanes.

[0043] With this configuration, if the vehicle control device 1 recognizes a lane change and it occurs within a first predetermined time after the completion of the lane change, the vehicle control device 1 does not determine that it is in a state of excessive proximity which is presumed to be aggressive driving due to failure to maintain a safe distance between vehicles. Therefore, it is possible to accurately determine if the following vehicle 65 is approaching too closely, which corresponds to aggressive driving, and unnecessary notifications to the driver of the vehicle 2 are suppressed, thereby reducing the annoyance for the driver of the vehicle 2.

[0044] In the above configuration, preferably, the condition for denying excessive proximity further includes the fact that the elapsed time since at least one of the vehicle itself and the following vehicle changed lanes is less than or equal to the first predetermined time.

[0045] This configuration allows for more accurate determination of whether the following vehicle 65 is approaching too closely, which corresponds to aggressive driving, by limiting the condition for denying excessive approach to within a first predetermined time, thereby further reducing the inconvenience for the driver of vehicle 2. This is because if the condition for affirming excessive approach is still met after the first predetermined time has elapsed, it is presumed that the driver of the following vehicle 65 has the intention to drive aggressively.

[0046] In the above configuration, preferably, in the case of a follow-up lane change state in which, after the vehicle 2 changes lanes, the following vehicle 65 changes lanes into the lane (second lane 62) that the vehicle 2 travels in after changing lanes (second lane 62) within a second predetermined time, the excessive approach denial condition further includes that the elapsed time since the completion of the lane change by the vehicle 2 is less than or equal to the first predetermined time.

[0047] With this configuration, when both vehicle 2 and following vehicle 65 change lanes, the detection of excessive approach by following vehicle 65, which constitutes aggressive driving, can be performed with greater accuracy, further reducing the inconvenience for the driver of vehicle 2.

[0048] In the above configuration, preferably, if neither the own vehicle 2 nor the following vehicle 65 has changed lanes, or if the elapsed time since the completion of the lane change is greater than the second predetermined time which is greater than the first predetermined time, the proximity determination information further includes the acceleration of the following vehicle 65 and the acceleration of the own vehicle 2, and the excessive proximity affirmation condition further includes that the acceleration of the following vehicle 65 is greater than the acceleration of the own vehicle 2.

[0049] This configuration uses acceleration to determine if an excessively close proximity is occurring, allowing for more accurate detection of excessive proximity by the following vehicle 65, which is equivalent to aggressive driving, and further reducing the annoyance experienced by the driver of vehicle 2. This is because if the acceleration of the following vehicle 65 is greater than that of vehicle 2, there is a high probability that the driver of the following vehicle 65 has the intention to drive aggressively.

[0050] In the above configuration, preferably, in the state after the following lane change, if the elapsed time since the completion of the lane change of the own vehicle 2 is greater than or equal to the first predetermined time, and less than or equal to the second predetermined time, and if the distance between the following vehicle 65 and the own vehicle 2 is less than or equal to the threshold (first threshold), the computer (vehicle control device 1) is instructed to determine that the excessive proximity affirmation condition is met, regardless of the acceleration of the following vehicle 65 and the acceleration of the own vehicle 2.

[0051] With this configuration, even if the driver of the following vehicle 65 has the intention of tailgating, when the acceleration of the following vehicle 65 is approximately the same as the acceleration of the vehicle 2, the acceleration becomes irrelevant to the condition for affirming excessive proximity. Therefore, the determination of excessive proximity by the following vehicle 65, which corresponds to tailgating, can be made with greater accuracy, and the annoyance of the driver of the vehicle 2 is further reduced.

[0052] In the above configuration, preferably, if the vehicle 2 makes multiple lane changes and the following vehicle 65 follows the vehicle 2 and makes multiple lane changes, the computer (vehicle control device 1) (i) measures the first predetermined time from the completion of each lane change of the vehicle 2, and shortens the first predetermined time as the number of lane changes of the vehicle and the following vehicle increases, or (ii) measures the first predetermined time in the excessive proximity denial condition after the second and subsequent lane changes from the completion of the first lane change of the vehicle.

[0053] With this configuration, after the second lane change, it becomes easier to determine that the vehicle is approaching too closely, allowing for more accurate detection of the following vehicle 65's excessive approach, which is equivalent to aggressive driving, and further reducing the annoyance for the driver of vehicle 2. This is because if the following vehicle 65 continues to follow vehicle 2 despite multiple lane changes, it is highly likely that the driver of the following vehicle 65 has the intention to drive aggressively.

[0054] In the above configuration, preferably, the information processing further includes a proposal-type lane change support execution step in which the computer (vehicle control device 1) proposes a lane change for the vehicle 2 to the driver of the vehicle 2, and if the driver of the vehicle 2 agrees, the computer (vehicle control device 1) executes the lane change for the vehicle 2. If the elapsed time after the completion of the lane change based on the proposal-type lane change support execution step is less than or equal to the third predetermined time, the proposal for a lane change in the proposal-type lane change support execution step is suppressed.

[0055] With this configuration, during the third predetermined time after a lane change based on the suggested lane change assistance, suggestions for lane changes are suppressed. This reduces the likelihood of frequent lane change suggestions being made by the following vehicle 65 due to aggressive driving, thereby reducing the annoyance for the driver of vehicle 2.

[0056] One embodiment is a following vehicle proximity determination system 90 that processes information regarding the approach of a following vehicle 65 to the vehicle 2, comprising: an external environment recognition device 7 that detects objects present in the vicinity of the vehicle 2; a vehicle control device 1 that performs the information processing regarding the following vehicle 65 based on the detection results of the external environment recognition device 7; and a notification device (HMI 19) that notifies the driver of the vehicle 2 of the information, wherein the vehicle control device 1 determines whether or not there is a following vehicle 65 traveling in the same lane as the vehicle 2 based on the detection results of the external environment recognition device 7, and if it determines that a following vehicle 65 is present, it determines that the following vehicle 65 is approaching the vehicle 2 excessively based on proximity determination information including the distance between the vehicle 2 and the following vehicle 65. The vehicle control device 1 is configured to determine whether or not the vehicle is in an excessive proximity state, and if it is determined that the vehicle is in an excessive proximity state, it is configured to notify the driver of the vehicle 2 of the excessive proximity state via the notification device (HMI19). The vehicle control device 1 is configured to determine that the vehicle is in an excessive proximity state if the condition for affirming the excessive proximity is met and the condition for denying the excessive proximity is not met, and to determine that the vehicle is not in an excessive proximity state if the condition for affirming the excessive proximity is not met or the condition for denying the excessive proximity is met. The condition for denying the excessive proximity includes the vehicle control device 1 recognizing that at least one of the vehicle 2 and the following vehicle 65 has changed lanes.

[0057] With this configuration, if the vehicle control device 1 recognizes a lane change and it occurs within a first predetermined time after the completion of the lane change, the vehicle control device 1 does not determine that it is in a state of excessive proximity which is presumed to be aggressive driving due to failure to maintain a safe distance between vehicles. Therefore, it is possible to accurately determine if the following vehicle 65 is approaching too closely, which corresponds to aggressive driving, and unnecessary notifications to the driver of the vehicle 2 are suppressed, thereby reducing the annoyance for the driver of the vehicle 2. [Explanation of Symbols]

[0058] 1: Vehicle control system (computer) 2: Own vehicle 7: External world recognition device 19: HMI (Human-Machine Interface) 31:Display device 32: Speaker 61: First lane 62: Second lane 65: Following vehicle 90: Following vehicle approach detection system

Claims

1. A following vehicle approach detection program that causes a computer to perform information processing including determination of the approach of a following vehicle to its own vehicle, The aforementioned information processing is, A following vehicle determination step in which the computer is instructed to determine whether or not there is a following vehicle traveling in the same lane as the vehicle itself, A proximity state determination step in which, if a following vehicle exists, the computer determines whether the following vehicle is excessively close to the self-propelled vehicle, based on proximity determination information including the distance between the self-propelled vehicle and the following vehicle, wherein the computer determines that the situation is excessively close if the conditions for affirming excessive closeness are met and the conditions for denying excessive closeness are not met, and determines that the situation is not excessively close if the conditions for affirming excessive closeness are not met or the conditions for denying excessive closeness are met. If the excessive proximity condition is met, the notification step includes causing the computer to notify the driver of the vehicle that the excessive proximity condition is occurring, The condition for confirming excessive proximity includes the following distance being less than or equal to a threshold, The condition for denying excessive proximity includes a following vehicle proximity determination program in which the computer recognizes that at least one of the vehicle itself and the following vehicle has changed lanes.

2. The following vehicle proximity determination program according to claim 1, wherein the condition for denying excessive proximity further includes that the elapsed time since at least one of the self-propelled vehicle and the following vehicle changed lanes is less than or equal to a first predetermined time.

3. The following vehicle proximity determination program according to claim 1, wherein, after the vehicle changes lanes, the following vehicle changes lanes into the lane that the vehicle is traveling in after the lane change within a second predetermined time, and the excessive proximity denial condition further includes that the elapsed time since the vehicle's lane change was completed is less than or equal to the first predetermined time.

4. The following vehicle approach determination program according to claim 3, wherein if neither the self-propelled vehicle nor the following vehicle has changed lanes, or if the elapsed time since the completion of the lane change is greater than or equal to the second predetermined time which is greater than or equal to the first predetermined time, the approach determination information further includes the acceleration of the following vehicle and the acceleration of the self-propelled vehicle, and the excessive approach affirmation condition further includes that the acceleration of the following vehicle is greater than the acceleration of the self-propelled vehicle.

5. The following vehicle proximity determination program according to claim 4, in the case of the state after the following lane change, if the elapsed time since the completion of the lane change by the own vehicle is greater than or equal to the first predetermined time and less than or equal to the second predetermined time, and if the distance between the following vehicle and the own vehicle is less than or equal to the threshold, the computer is instructed to determine that the excessive proximity affirmation condition is met regardless of the acceleration of the following vehicle and the acceleration of the own vehicle.

6. The following vehicle proximity determination program according to claim 3, wherein, when the vehicle itself makes multiple lane changes and the following vehicle follows the vehicle and makes multiple lane changes, the computer (i) measures the first predetermined time from the completion of each lane change of the vehicle itself, and shortens the first predetermined time as the number of lane changes of the vehicle itself and the following vehicle increases, or (ii) measures the first predetermined time in the excessive proximity denial condition after the second and subsequent lane changes from the completion of the first lane change of the vehicle itself.

7. The information processing further includes a suggestion-type lane change support execution step in which the computer is instructed to propose a lane change for the vehicle to the driver of the vehicle, and if the driver of the vehicle agrees, the computer is instructed to perform the lane change for the vehicle. A following vehicle approach determination program according to any one of claims 1 to 6, wherein if the elapsed time after the completion of a lane change based on the proposed lane change support execution step is less than or equal to the third predetermined time, the proposal for a lane change in the proposed lane change support execution step is suppressed.

8. A system for determining the approach of a following vehicle, which processes information regarding the approach of a following vehicle to the vehicle itself, An external environment recognition device that detects objects present in the vicinity of the vehicle, A vehicle control device that performs the information processing regarding the following vehicle based on the detection result of the external environment recognition device, The vehicle includes a notification device that informs the driver of the vehicle of information, The aforementioned vehicle control device is Based on the detection results of the external environment recognition device, it is determined whether or not there is a following vehicle traveling in the same lane as the vehicle itself. If it is determined that the following vehicle exists, it is determined, based on proximity determination information including the distance between the vehicle itself and the following vehicle, whether or not the following vehicle is in an excessively close proximity state, and, If it is determined that the above-mentioned excessive proximity condition is met, the system is configured to notify the driver of the vehicle that the excessive proximity condition is occurring via the notification device. The vehicle control device is configured to determine that the vehicle is in an excessive proximity state if the condition for affirming excessive proximity is met and the condition for denying excessive proximity is not met, and to determine that the vehicle is not in an excessive proximity state if the condition for affirming excessive proximity is not met or the condition for denying excessive proximity is met. The following vehicle proximity determination system includes a condition for denying excessive proximity in which the vehicle control device recognizes that at least one of the vehicle itself and the following vehicle has changed lanes.

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