Driving assistance system, vehicle, recording medium having computer program recorded thereon, and driving assistance method

Abstract

A management server 20 is a device that can highly accurately avoid a collision with a monitoring target vehicle and can provide safer driving assistance even when a route and the like of the monitoring target cannot fully be recognized. The management server 20 provides information for causing driving assistance control to be executed in a target area which is an area including a plurality of installation points each at which an observation system 30 is installed and in which a plurality of travel routes from a first installation point to a second installation point exist. In particular, the management server 20 executes a process of collecting, in advance, the route and the like of each vehicle from the observation systems 30 as reference information and acquires a past passage frequency (frequency information) of each vehicle between two points on the basis of this reference information. Then, on the basis of the acquired frequency information and tendency of each tendency prediction target vehicle M2, the management server 20 executes a collision possibility estimation process that estimates a possibility of collision between a driving assistance target vehicle M1 and each tendency prediction target vehicle M2.

Description

[Technical field]

[0001] The present disclosure relates to a driving assistance system, a vehicle, a recording medium having a computer program recorded thereon, and a driving assistance method. [Background technology]

[0002] In recent years, research and development of automated driving technology and driving support technology has been progressing with the aim of preventing and reducing accidents and reducing the burden on drivers. It is desirable for automated driving technology and driving support technology to provide driving results that drivers can feel safe with.

[0003] Furthermore, in order to contribute to road safety, safety support technologies have been proposed that notify drivers of automobiles of a risk of a collision accident or the like in advance.

[0004] There are a variety of safety support technologies available, and new technologies are emerging that not only prevent collisions between automobiles, but also between automobiles and other moving objects such as bicycles and pedestrians.

[0005] For example, a typical system that employs such technology is an obstacle collision prevention system in which observation sensors, such as surveillance cameras, are installed on roads at intersections and other locations to observe vehicle movements, and the information about each vehicle provided by the observation sensors is used.

[0006] Specifically, this obstacle collision prevention system is configured to provide each vehicle with information regarding the movements of other vehicles from observation sensors, and based on that information, issue warnings or perform automatic control to avoid collisions with other vehicles (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2001-126196 A Summary of the Invention [Problem to be solved by the invention]

[0008] However, the system described in Patent Document 1 has difficulty in linking with other vehicles that do not have an inter-vehicle communication function or a road-to-vehicle communication function such as an on-board communication device such as a data communication module. For this reason, the system described in Patent Document 1 cannot even be used at intersections or other locations where there are no observation sensors.

[0009] The present disclosure has been made in consideration of the above problems, and aims to provide a driving assistance system etc. that can improve the accuracy of predicting the movements of a vehicle to be monitored, avoid a collision with the monitored vehicle with high accuracy, and provide safer driving assistance even when the route of the monitored vehicle, etc. cannot be fully recognized. [Means for solving the problem]

[0010] In order to solve the above problem, a driving assistance system according to a first aspect of the present disclosure includes: In a driving assistance system that assists driving of a vehicle, one or more processors; and one or more memories communicatively coupled to the one or more processors; The processor, When providing driving assistance to the vehicle in a predetermined area including a plurality of installation points at which observation sensors are respectively installed, and a plurality of driving routes exist from a first installation point to a second installation point different from the first installation point among the plurality of installation points, executing an information acquisition process for acquiring frequency information indicating a frequency with which a passing vehicle that has passed through the first installation point passes through the second installation point for each combination of the first installation point and the second installation point; Based on the acquired frequency information for each combination of installation points, ofThe system is configured to execute an estimation process to estimate the possibility of a collision between a vehicle capable of recognizing a planned driving route within the area and another vehicle that is not equipped with a road-to-vehicle communication function for communicating with the observation sensor.

[0011] A vehicle according to a second aspect of the present disclosure includes: In a vehicle equipped with a driving assistance device that assists in driving the vehicle, The driving assistance device, When providing driving assistance to the vehicle in a predetermined area including a plurality of installation points at which observation sensors are respectively installed, and a plurality of driving routes exist from a first installation point to a second installation point different from the first installation point among the plurality of installation points, executing an information acquisition process for acquiring frequency information indicating a frequency with which a passing vehicle that has passed through the first installation point passes through the second installation point for each combination of the first installation point and the second installation point; Based on the acquired frequency information for each combination of installation points, of The system is configured to execute an estimation process to estimate the possibility of a collision between a vehicle capable of recognizing a planned driving route within the area and another vehicle that is not equipped with a road-to-vehicle communication function for communicating with the observation sensor.

[0012] A recording medium having a computer program according to a third aspect of the present disclosure recorded thereon includes: A recording medium having a computer program applied to a driving assistance device that assists driving of a vehicle, On the computer, When providing driving assistance to the vehicle in a predetermined area including a plurality of installation points at which observation sensors are respectively installed, and a plurality of driving routes exist from a first installation point to a second installation point different from the first installation point among the plurality of installation points, executing an information acquisition process for acquiring frequency information indicating a frequency with which a passing vehicle that has passed through the first installation point passes through the second installation point for each combination of the first installation point and the second installation point; Based on the acquired frequency information for each combination of installation points, of The system is configured to execute an estimation process to estimate the possibility of a collision between a vehicle capable of recognizing a planned driving route within the area and another vehicle that is not equipped with a road-to-vehicle communication function for communicating with the observation sensor.

[0013] A driving assistance method according to a fourth aspect of the present disclosure includes: A driving assistance method for assisting driving of a vehicle, comprising: The processor: When providing driving assistance to the vehicle in a predetermined area including a plurality of installation points at which observation sensors are respectively installed, and a plurality of driving routes exist from a first installation point among the plurality of installation points to a second installation point different from the first installation point, executing an information acquisition process for acquiring frequency information indicating a frequency with which a passing vehicle that has passed through the first installation point passes through the second installation point for each combination of the first installation point and the second installation point; Based on the acquired frequency information for each combination of installation points, of The system is configured to execute an estimation process to estimate the possibility of a collision between a vehicle capable of recognizing a planned driving route within the area and another vehicle that is not equipped with a road-to-vehicle communication function for communicating with the observation sensor. Effect of the Invention

[0014] The driving assistance system disclosed herein can avoid collisions between vehicles that are the target of driving assistance, such as the vehicle itself, and vehicles whose movements are difficult to detect, such as vehicles that are not equipped with road-to-vehicle communication functions, thereby providing safer driving assistance. [Brief description of the drawings]

[0015] [Figure 1] 1 is a system configuration diagram showing a configuration of a driving assistance network system according to a first embodiment of the present disclosure. [Diagram 2] 1 is a schematic diagram showing a configuration example of a driving assistance target vehicle according to a first embodiment; [Diagram 3] 1 is an example of a system configuration diagram showing a configuration of a driving assistance system mounted on a driving assistance target vehicle according to a first embodiment. [Figure 4] 2 is a block diagram showing an example of a configuration of a management server according to the first embodiment. FIG. [Diagram 5] FIG. 1 is a diagram illustrating an example of the configuration of an observation system according to a first embodiment. [Figure 6] 4 is a diagram for explaining a driving support information providing process executed by the management server of the first embodiment. FIG. [Figure 7] FIG. 2 is a diagram for explaining a point combination and a point combination route in the first embodiment. [Figure 8] 4A to 4C are diagrams for explaining a collision likelihood estimation process executed by the management server of the first embodiment. [Figure 9] 4A to 4C are diagrams for explaining a collision likelihood estimation process executed by the management server of the first embodiment. [Figure 10] 13 is a flowchart showing an operation of a frequency information acquisition process executed by the management server of the first embodiment. [Figure 11] 5 is a flowchart showing the operation of a driving support information providing process executed by a management server according to the first embodiment. [Figure 12] 5 is a flowchart showing the operation of a driving support information providing process executed by a management server according to the first embodiment. [Figure 13] FIG. 4 is a system configuration diagram showing a configuration of a driving assistance network system according to a second embodiment of the present disclosure. [Figure 14] FIG. 11 is a diagram for explaining a parked vehicle information acquisition process executed by the management server of the second embodiment. [Figure 15]FIG. 11 is a diagram for explaining a collision estimation process executed by the management server of the second embodiment. [Figure 16] 13 is a flowchart showing the operation of a driving support information providing process executed by a management server according to a second embodiment. [Figure 17] 13 is a flowchart showing the operation of a driving support information providing process executed by a management server according to a second embodiment. [Figure 18] 13 is a flowchart showing the operation of a driving support information providing process executed by a management server according to a second embodiment. [Figure 19] 13 is a flowchart showing the operation of a driving support information providing process executed by a management server according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] [A] Features of the embodiments of the present disclosure (1) The present disclosure relates to an embodiment of the present invention. In a driving assistance system that assists driving of a vehicle, one or more processors; and one or more memories communicatively coupled to the one or more processors; The processor, When providing driving assistance to the vehicle in a predetermined area including a plurality of installation points at which observation sensors are respectively installed, and a plurality of driving routes exist from a first installation point to a second installation point different from the first installation point among the plurality of installation points, executing an information acquisition process for acquiring frequency information indicating a frequency with which a passing vehicle that has passed through the first installation point passes through the second installation point for each combination of the first installation point and the second installation point; The system is configured to execute an estimation process to estimate the possibility of a collision between a vehicle capable of recognizing a planned driving route within the specified area and another vehicle that is not equipped with a road-to-vehicle communication function for communicating with the observation sensor, based on the frequency information for each combination of installation points acquired.

[0017] In addition, the embodiments of the present disclosure can also be realized by a vehicle having a driving assistance system that executes each of the above-mentioned processes, a recording medium having a computer program for executing each of the above-mentioned processes recorded thereon, or a driving assistance method that executes each of the above-mentioned processes.

[0018] With this configuration, the driving assistance system disclosed herein can use data collected from actual vehicle movements to predict with high accuracy the movements of undetectable vehicles whose current positions or routes on the road, including vehicles that are not equipped with road-to-vehicle communication capabilities, cannot be detected.

[0019] Therefore, the driving assistance system disclosed herein can avoid collisions between vehicles that are the target of driving assistance, such as the vehicle itself, and vehicles whose movements are difficult to detect, such as vehicles that are not equipped with road-to-vehicle communication functions, thereby providing safer driving assistance.

[0020] The "installation point" is preferably a point where multiple roads intersect, such as an intersection, but may be a point within an area through which vehicles, including the vehicle itself, pass, such as a point on a single road.

[0021] The term "observation sensor" refers to an imaging camera that captures images of vehicles passing through an installation point. However, the observation sensor may also be a LiDAR or radar sensor fixed at a predetermined position, an ultrasonic camera, or any other device capable of object recognition.

[0022] The term "first installation point" refers to a point where each observation sensor is installed in a given area, and the term "second installation point" refers to a point among multiple installation points for each first installation point. However, it is preferable that the second installation point is any other point different from the corresponding first installation point.

[0023] The "frequency information" is information indicating the respective probability (proportion) of vehicles that pass through the second installation point among vehicles that pass through the first installation point.

[0024] The "information acquisition process" refers not only to acquiring frequency information transmitted from an external source via a network or the like, but also to reading out the frequency information from a storage means such as a memory provided within the driving assistance system.

[0025] The "combination of acquired installation points" includes a combination of a first installation point and a single second installation point, as well as a combination including two or more different second installation points. In particular, in a combination including two or more different second installation points, if the order of the second installation points through which the vehicle passes is different, it is preferable to treat each combination as a different combination.

[0026] "Other vehicles not equipped with road-to-vehicle communication functionality" refers to vehicles that are unable to grasp the planned driving route within a specified area, for example, because they are not equipped with road-to-vehicle communication functionality for transmitting and receiving data with observation sensors.

[0027] (2) In addition, the embodiment of the present disclosure is The processor, A collection process is executed to collect information detected by the plurality of observation sensors, the information being related to the passing vehicles that have passed through each of the installation points, as vehicle detection information; The information acquisition process includes a calculation process for calculating the frequency for each combination of the installation points based on the vehicle detection information of each passing vehicle.

[0028] With this configuration, the driving assistance system disclosed herein can use actual data of passing vehicles in the area, and can therefore accurately predict the routes of vehicles that are not equipped with road-to-vehicle or other communication functions.

[0029] Therefore, the driving assistance system disclosed herein can use data that reflects actual conditions when predicting a collision between the vehicle and a vehicle that is not equipped with road-to-vehicle or other communication functions, thereby enabling highly accurate predictions and, as a result, providing safer driving assistance.

[0030] In addition, the "vehicle detection information" includes information about vehicles, such as the attributes of vehicles that pass each installation point (such as license plate number, vehicle model, type, color, or manufacturer), direction of movement, and speed of movement, including the position and shooting direction of the observation sensor.

[0031] (3) Furthermore, the embodiment of the present disclosure is The processor, acquires host vehicle travel information indicating a position of the host vehicle and information on a planned travel route of the host vehicle within the specified area, and travel route information indicating information on a travel route of the passing vehicle including the first installation point and the second installation point; The estimation process includes: Identifying an intersection point where the planned driving route and the driving route intersect based on the host vehicle driving information and the driving route information; estimating an arrival time of the host vehicle at the intersection based on the host vehicle travel information; When a vehicle other than the host vehicle is detected by any one of the observation sensors installed on the travel route, vehicle detection information regarding the vehicle detected by the observation sensor is acquired; estimating an arrival time of the other vehicle at the intersection based on the vehicle detection information and the frequency information; calculating a time difference between an expected arrival time of the vehicle and an expected arrival time of the other vehicle at the intersection; The possibility of a collision between the host vehicle and the other vehicle is estimated based on information about the calculated time difference.

[0032] With this configuration, the driving assistance system disclosed herein can, for example, calculate the probability that a vehicle not equipped with road-to-vehicle or other communication functions will travel along each estimated route based on frequency information, and estimate the possibility of a collision with the vehicle itself, thereby making it possible to make highly accurate predictions of collisions with vehicles not equipped with road-to-vehicle or other communication functions.

[0033] (4) Furthermore, the embodiment of the present disclosure is The processor, The vehicle collision prevention device is configured to execute a notification process for notifying the host vehicle of the possibility of a collision with the other vehicle.

[0034] With this configuration, the driving assistance system disclosed herein can visually or audibly warn the driver of the vehicle about a collision with a vehicle that is not equipped with road-to-vehicle communication functions, and can provide driving assistance accordingly.

[0035] Therefore, the driving assistance system of the present disclosure can accurately avoid a collision even when the possibility of a collision is high, thereby increasing the safety awareness of the driver.

[0036] In addition, the "notification process" may be a process of notifying the driver of the possibility of a collision in order to warn the driver, or a process of notifying the driver of the possibility of a collision in order to execute automatic driving control of the vehicle.

[0037] (5) Furthermore, the embodiment of the present disclosure is The processor, execute a parking / stopping information acquisition process for acquiring information on parking / stopping positions of specific vehicles within the predetermined area as parking / stopping position information, among the passing vehicles; When a vehicle other than the own vehicle is detected by any of the observation sensors installed on the driving route, a determination process is executed based on the acquired parking position information to determine whether the other vehicle is the specific vehicle, and the possibility of a collision between the own vehicle and the specific vehicle is estimated based on the result of the determination process.

[0038] With this configuration, the driving assistance system of the present disclosure can predict the movements of undetectable vehicles, including the parking situation within the area, with high accuracy.

[0039] In other words, the driving assistance system disclosed herein can estimate a collision between a vehicle whose movements are difficult to detect and a vehicle that is the target of driving assistance, including when the vehicle is parked or stopped.

[0040] (6) Furthermore, the embodiment of the present disclosure is The processor, In the estimation process, when the other vehicle is the specific vehicle, a route of the specific vehicle is identified based on a parking position of the corresponding parking / stopping position information; The system is configured to estimate the possibility of a collision between the host vehicle and the specified vehicle based on the specified route.

[0041] With this configuration, the driving assistance system of the present disclosure can estimate a collision between a vehicle whose movements are difficult to detect and a vehicle that is the target of driving assistance, including when the vehicle is parked or stopped.

[0042] [B] Details of the embodiments of the present disclosure Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and redundant description will be omitted.

[0043] [B.1] First embodiment [B1.1] Overview of Driver Assistance Network System First, an overview of a driving assistance network system S1 according to the first embodiment will be described with reference to FIG.

[0044] FIG. 1 is a system configuration diagram showing the configuration of a driving assistance network system S1 according to this embodiment.

[0045] As shown in FIG. 1, the driving assistance network system S1 of this embodiment is composed of a driving assistance control system 10 that is mounted on each driving assistance target vehicle M1 and performs various controls related to driving assistance, and a management server 20 that provides information for driving assistance of the driving assistance target vehicle M1.

[0046] The driving assistance network system S1 of this embodiment also has a plurality of observation sensor systems (hereinafter referred to as "observation systems") 30 that are installed on roads at intersections and the like and observe the movement of each vehicle.

[0047] In particular, the driving assistance network system S1 works in conjunction with the observation system 30, is not equipped with road-to-vehicle communication functions or vehicle-to-vehicle communication functions, and is configured to predict the movements of a vehicle 2 (hereinafter referred to as the "vehicle to be predicted for movement prediction") whose current position or route, etc., should be predicted.

[0048] The driving assistance network system S1 of this embodiment has a configuration that links the driving assistance control system 10 and the management server 20 to execute driving assistance control processing that provides driving assistance to avoid a collision between the driving assistance target vehicle M1 and the trend prediction target vehicle M2.

[0049] In other words, the driving assistance network system S1 is configured to predict the movements of the trend prediction target vehicle M2, which is difficult to detect in terms of movements on the road, based on information detected by each observation system 30, and to provide driving assistance to the driving assistance target vehicle M1.

[0050] In this embodiment, the management server 20 is described as constituting the driving support system.

[0051] The driving assistance control system 10 is a system installed at least in the driving assistance target vehicle M1, and is connected to the management server 20 via the network N and the base station BS by establishing wireless and wired communication lines, and performs the transmission and reception of various types of data.

[0052] In particular, the driving assistance control system 10 of this embodiment is configured to execute driving assistance control processing based on information for driving assistance of the driving assistance target vehicle M1 provided by the management server 20 (hereinafter referred to as "driving assistance information").

[0053] In addition, the driving assistance control system 10 of this embodiment is configured to directly exchange surrounding environment data with each observation system 30 via road-to-vehicle communication, in addition to the above-mentioned driving assistance control processing, and to provide driving assistance to the driving assistance target vehicle (host vehicle) 1 based on the received surrounding environment data.

[0054] The driving assistance control system 10 of this embodiment is similarly configured to directly exchange surrounding environment data with other vehicles equipped with driving assistance control systems 10 via vehicle-to-vehicle communication, and to provide driving assistance to the driving assistance target vehicle (host vehicle) 1 based on the surrounding environment data.

[0055] The management server 20 is a device that is communicably connected to the driving assistance control system 10 and each observation system 30 mounted on the driving assistance target vehicle (host vehicle) 1 via a network N using cloud computing technology.

[0056] In particular, the management server 20 has one or more processors such as CPUs, and is configured to realize the driving support information provision process by the one or more processors such as CPUs executing a computer program.

[0057] Specifically, the management server 20 is configured to acquire, from each observation system 30, information on each vehicle that has passed through the location where each observation system 30 is installed (hereinafter referred to as the "installation location").

[0058] The management server 20 has a configuration for predicting the movement of the movement prediction target vehicle M2, whose current position on the road, route, speed, and the like are difficult to grasp, using a statistical calculation method.

[0059] In particular, the management server 20 is configured to execute a collision possibility estimation process that estimates the possibility of a collision between the driving assistance target vehicle M1 and the trend prediction target vehicle M2 based on the results of a process that predicts the trend of the trend prediction target vehicle M2.

[0060] The management server 20 is configured to provide the result of the collision likelihood estimation process as driving assistance information to the corresponding driving assistance target vehicle M1.

[0061] That is, the management server 20 of this embodiment has a configuration for executing a process for providing driving assistance information to the driving assistance target vehicle M1 (hereinafter, referred to as a "driving assistance information providing process").

[0062] Incidentally, a part or the whole of the management server 20 may be configured with updatable firmware or the like, or may be a program module or the like executed by instructions from a CPU or the like.

[0063] The computer program may be recorded on a recording medium that functions as a storage unit (memory) 240 provided in the management server 20, or may be recorded on a recording medium built into the management server 20 or any recording medium that can be externally attached to the management server 20.

[0064] The management server 20 also has various databases (broadly speaking, storage devices, memories) that store various information used for driving support for each driver, including the collision probability estimation process.

[0065] Furthermore, the management server 20 of this embodiment may access a database (broadly speaking, a storage device, memory) connected via the network N, or, for example, another server device (not shown) that manages a database (broadly speaking, a storage device, memory).

[0066] The observation system 30 is placed at a predetermined point on a road, such as an intersection (i.e., an installation point), and communicates directly with each driving assistance target vehicle M1 via short-range wireless or the like, while being connected to the management server 20 via a network N, such as the Internet, and a base station BS.

[0067] For example, the observation system 30 is preferably placed at an installation point such as an intersection where multiple roads intersect, but it may also be placed at a point where each vehicle passes within an area, such as a point on a single road.

[0068] Each observation system 30 has, for example, an imaging camera function, captures an image of a predetermined shooting range at each predetermined timing to generate image data, and executes a moving object recognition process for recognizing moving objects such as vehicles and pedestrians by processing the captured image. For example, each observation system 30 generates image data at every 30 frame rate as the predetermined timing.

[0069] When each observation system 30 detects a moving object such as a vehicle or a pedestrian, it uses a predetermined calculation to calculate the moving direction and moving speed of the moving object based on the change in the position of the detected moving object over time.

[0070] In particular, each observation system 30 transmits attributes of the moving object, including the detected vehicle, such as the type and number, the movement direction and movement speed of each moving object, and the position and shooting direction of the observation system 30 on the map data to the driving assistance control system 10 as moving object detection information.

[0071] In addition, each observation system 30 transmits information regarding the vehicle, such as attributes, direction of movement, and speed of movement, including the position and shooting direction of the observation system 30 on the map data, from the moving object detection information to the management server 20 as reference information (hereinafter referred to as ``vehicle detection information'').

[0072] Furthermore, in this embodiment, an imaging camera is used as the observation sensor 30, but this is not limited to this, and any sensor capable of recognizing an object (i.e., a moving body), such as a LiDAR, a radar sensor, or an ultrasonic camera, can be used.

[0073] FIG. 1 shows an example of a driving assistance network system S1 for providing driving assistance to a vehicle that is a driving assistance target (hereinafter, referred to as a "driving assistance target vehicle") M1.

[0074] In particular, in order to prevent the drawing from becoming complicated, only the driving assistance target vehicle M1, the movement prediction target vehicle M2, and a part of the observation system 30 are shown in FIG.

[0075] That is, in an actual driving assistance network system S1, there are many more driving assistance target vehicles M1 and trend prediction target vehicles M2 (hereinafter collectively referred to as "vehicles") and observation systems 30 than are shown in FIG. 1.

[0076] Further, in this embodiment, each vehicle is a four-wheeled automobile, a motorcycle, or any other vehicle that can be driven by a driver, and is not particularly limited as long as it is an object that can move at a predetermined moving speed.

[0077] [B1.2] Vehicles eligible for driving assistance First, the driving assistance target vehicle M1 of this embodiment will be described with reference to Fig. 2. Fig. 2 is a schematic diagram showing an example of the configuration of the driving assistance target vehicle M1 of this embodiment.

[0078] (Vehicles eligible for driving assistance) As shown in FIG. 2, the driving assistance target vehicle M1 has a driving force source 9 that generates a driving torque for the driving assistance target vehicle M1, and is configured to transmit the driving torque output from the driving force source 9 to the wheels 3.

[0079] In particular, the driving assistance target vehicle M1 is configured as a four-wheel drive vehicle that transmits drive torque to a left front wheel 3LF, a right front wheel 3RF, a left rear wheel 3LR, and a right rear wheel 3RR.

[0080] The driving force source 9 may be an internal combustion engine such as a gasoline engine or a diesel engine, may be a driving motor, or may be equipped with both an internal combustion engine and a driving motor.

[0081] The driving assistance target vehicle M1 may be, for example, an electric vehicle equipped with two drive motors, a front-wheel drive motor and a rear-wheel drive motor, or may be an electric vehicle equipped with drive motors corresponding to each of the wheels 3.

[0082] In addition, when the vehicle M1 to be assisted with driving is an electric vehicle or a hybrid electric vehicle, the vehicle M1 to be assisted with driving is equipped with a secondary battery that stores electricity to be supplied to the drive motor, or a generator such as a motor or a fuel cell that generates electricity to charge the battery.

[0083] The driving assistance target vehicle M1 is equipped with a driving force source 9, an electric steering device 15, and brake devices 17LF, 17RF, 17LR, and 17RR (hereinafter collectively referred to as "brake devices 17" unless a distinction is required) as equipment used to control the driving of the vehicle.

[0084] The drive power source 9 outputs a drive torque that is transmitted to the front drive shaft 5F and the rear drive shaft 5R via a transmission, not shown, and the front wheel differential mechanism 7F and the rear wheel differential mechanism 7R.

[0085] The drive of the drive power source 9 and the transmission is controlled by a vehicle drive control section 40 that includes one or more electronic control units (ECUs: Electronic Control Units).

[0086] An electric steering device 15 including an electric motor and a gear mechanism (not shown) is provided on the front wheel drive shaft 5F, and the electric steering device 15 is controlled by the vehicle drive control unit 40 to adjust the steering angle of the left front wheel 3LF and the right front wheel 3RF.

[0087] During manual driving, the vehicle drive control unit 40 controls the electric steering device 15 based on the steering angle of the steering wheel 13 by the driver, and during automatic driving control, controls the electric steering device 15 based on a set driving trajectory.

[0088] The brake devices 17LF, 17RF, 17LR, and 17RR apply braking forces to the front, rear, left, and right driving wheels 3LF, 3RF, 3LR, and 3RR, respectively.

[0089] The brake devices 17 are configured as hydraulic brake devices, for example, and the hydraulic pressure supplied to each brake device 17 is controlled by the vehicle drive control unit 40 to generate a predetermined braking force.

[0090] In addition, when the driving assistance target vehicle M1 is an electric vehicle or a hybrid electric vehicle, the brake device 17 is used in combination with a regenerative brake using a drive motor.

[0091] The vehicle drive control unit 40 includes one or more electronic control devices that control the drive of the drive power source 9, the electric steering device 15, and the brake device 17, and has the function of controlling the drive of the transmission that changes the speed of the output from the drive power source 9 and transmits it to the wheels 3 as necessary.

[0092] The vehicle drive control unit 40 is configured to be able to acquire information transmitted from the driving assistance control system 10, and is configured to be able to execute automatic driving control of the driving assistance target vehicle M1.

[0093] (Driver Assistance Control System) The driving assistance control system 10 is a system for automatically driving the driving assistance target vehicle M1 in an automatic driving mode, or for providing driving assistance by assisting the driver in driving the driving assistance target vehicle M1 while the driver is driving the driving assistance target vehicle M1 in a manual driving mode.

[0094] The driving assistance control system 10 functions as a device for assisting the driving of the driving assistance target vehicle M1 by executing a computer program using one or more processors such as a CPU, and has a configuration for realizing various processes described below.

[0095] In particular, the driving assistance control system 10 of this embodiment executes driving assistance control processing to provide driving assistance such as warning processing for the driver or automatic driving control based on information regarding driving assistance for the vehicle (hereinafter referred to as "driving assistance information") transmitted from the management server 20.

[0096] In addition, the driving assistance control system 10 in this embodiment is not limited to an apparatus mounted on the driving assistance target vehicle M1, but may also be an information terminal device such as a smartphone or wearable device that can be linked to the driving assistance target vehicle M1 and communicate with the management server 20.

[0097] In addition, the driving assistance control system 10 is connected directly or via a communication means such as CAN (Controller Area Network) or LIN (Local Inter Net) to a vehicle operation / behavior sensor 35 and an outside camera 31 that constitutes a surrounding environment sensor.

[0098] Furthermore, the driving assistance control system 10 is connected to a map data storage unit 33, a Global Navigation Satellite System (GNSS) antenna 37, a vehicle drive control unit 40, and an HMI (Human Machine Interface) 43 via communication means.

[0099] In the driving assistance target vehicle M1, the vehicle operation / behavior sensor 35, the GNSS antenna 37, the map data storage unit 33, the HMI 43, and the vehicle drive control unit 40 are each directly connected to the driving assistance control system 10. However, these may be indirectly connected to the driving assistance control system 10 via communication means such as CAN or LIN.

[0100] The configuration and functions of the driving assistance control system 10 in this embodiment will be described in detail later.

[0101] (Ambient environment sensor) The surrounding environment sensor is an exterior camera 31 for acquiring information on the surrounding environment of the driving assistance target vehicle M1, and is composed of front photographing cameras 31LF, 31RF and a rear photographing camera 31R.

[0102] In particular, the front photographing cameras 31LF, 31RF and the rear photographing camera 31R are equipped with imaging elements such as Charged-Coupled Devices (CCD) or Complementary Metal-Oxide-Semiconductor (CMOS).

[0103] The front photographing cameras 31LF, 31RF and the rear photographing camera 31R photograph the front or rear of the driving assistance target vehicle M1, generate image data, and provide the generated image data to the driving assistance control system 10.

[0104] The front photographing cameras 31LF, 31RF are configured as stereo cameras including a pair of left and right cameras, and the rear photographing camera 31R is configured as a so-called monocular camera, but each may be either a stereo camera or a monocular camera.

[0105] Further, instead of or in addition to the front photographing cameras 31LF, 31RF and the rear photographing camera 31R, for example, cameras provided on the side mirrors 11L, 11R for photographing the left rear or right rear may be provided.

[0106] Furthermore, the surrounding environment sensor of this embodiment may include one or more of a LiDAR (Light Detection And Ranging) sensor, a radar sensor such as a millimeter wave radar, and an ultrasonic sensor.

[0107] (Vehicle operation / behavior sensor) The vehicle operation / behavior sensor 35 has a driving mode changeover switch, detects setting information for an automatic driving mode or a manual driving mode that provides driving assistance, and transmits a sensor signal including the detected information to the driving assistance control system 10.

[0108] The vehicle operation / behavior sensor 35 is composed of at least one sensor that detects the operation state and behavior of the vehicle.

[0109] For example, the vehicle operation / behavior sensor 35 has at least one of a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor, and detects information on the behavior of the vehicle, such as the vehicle speed, longitudinal acceleration, lateral acceleration, and yaw rate.

[0110] Furthermore, for example, the vehicle operation / behavior sensor 35 has at least one of an accelerator position sensor, a brake stroke sensor, a brake pressure sensor, a steering angle sensor, an engine speed sensor, a brake lamp switch, and a blinker switch.

[0111] The vehicle operation / behavior sensor 35 detects information on the vehicle operation state, such as the steering angle of the steering wheel or steering wheels, the accelerator opening, the amount of brake operation, the on / off state of the brake lamp switch, and the on / off state of the blinker switch.

[0112] (GNSS antenna) The GNSS antenna 37 receives satellite signals from satellites such as GPS (Global Positioning System) satellites, and transmits to the driving assistance control system 10 position information on map data of the driving assistance target vehicle M1 that is included in the received satellite signals.

[0113] Instead of the GNSS antenna 37, an antenna for receiving satellite signals from other satellite systems for identifying the position of the vehicle may be provided.

[0114] (Map data storage unit) The map data storage unit 33 is configured as a storage device such as a memory element, a magnetic disk, an optical disk, or a flash memory, and is a storage medium in which map data is stored.

[0115] For example, the memory element may be a random access memory (RAM) or a read only memory (ROM). The magnetic disk may be a hard disk drive (HDD). The optical disk may be a compact disk (CD) or a digital versatile disk (DVD). The flash memory may be a solid state drive (SSD) or a universal serial bus (USB) memory.

[0116] The map data storage unit 33 in this embodiment may be a storage medium that stores map data of a navigation system (not shown) that provides driving assistance to the driver and guides the driving assistance target vehicle M1 to a predetermined destination.

[0117] (HMI) The HMI 43 is driven by the driving assistance control system 10 and has the function of notifying the driver of various information by means of image display or audio output, for example, a display device and speaker (not shown) provided in the instrument panel.

[0118] The display device may be a display device of a navigation system, or may be a HUD (head-up display) that displays an image on the front window superimposed on the scenery around the vehicle.

[0119] (Vehicle drive control unit) The vehicle drive control unit 40 has at least one control system that controls the drive of the driving assistance target vehicle M1.

[0120] The vehicle drive control unit 40 includes an engine control system or a motor control system that controls the driving force of the vehicle, a steering wheel, an electric steering system that controls the steering angle of the steering wheels, or a brake system that controls the braking force of the vehicle.

[0121] The vehicle drive control unit 40 may have a transmission system that changes the speed of the output from the engine or drive motor and transmits it to the drive wheels.

[0122] In addition, when driving conditions are set by the driving assistance control system 10 during the autonomous driving mode, the vehicle drive control unit 40 executes control for driving assistance during autonomous driving based on the set driving conditions.

[0123] Specifically, the vehicle drive control unit 40 controls, based on the set driving conditions, an engine control system or a motor control system, a steering wheel, an electric steering system that controls the steering angle of the steering wheels, or a brake system that controls the braking force of the vehicle.

[0124] [B1.3] Driver assistance control systems First, the driving assistance control system 10 mounted on the driving assistance target vehicle M1 of this embodiment will be described in detail with reference to FIG.

[0125] FIG. 3 is an example of a system configuration diagram showing the configuration of the driving assistance control system 10 mounted on the driving assistance target vehicle M1 of this embodiment.

[0126] 3, the driving assistance control system 10 includes a processing unit 110, an operation input unit 120, a storage unit 140, an information storage medium 150, and a communication unit 170. However, the driving assistance control system 10 may be configured to omit some of these units. Some or all of the driving assistance control system 10 may be configured with updatable components such as firmware, or may be a program module executed by commands from a CPU or the like.

[0127] The processing unit 110 executes each process of this embodiment by driving hardware such as various processors (CPU, DSP, etc.) based on an application program (hereinafter also referred to as an “app”) stored in the information storage medium 150.

[0128] It should be noted that the type of application to be stored in the information storage medium 150 is arbitrary. In addition, the processing unit 110 of the present embodiment may read out a program or data stored in the information storage medium 150, temporarily store the read out program or data in the storage unit 140, and perform each process based on the program or data.

[0129] Furthermore, the processing unit 110 executes various processes using the main memory unit in the storage unit 140 as a work area, or realizes these processes by application programs.

[0130] Specifically, the processing unit 110 is composed of a communication control unit 111, an operation reception processing unit 112, a driving assistance control processing unit 113, and a driving-related information providing unit 114. However, the processing unit 110 may be configured to omit some of these units.

[0131] The communication control unit 111 controls the communication unit 170, and establishes a communication line with the management server 20 via a network such as a mobile communication network or the Internet, and executes transmission and reception of data (predetermined digitalized information).

[0132] In addition, the communication control unit 111 controls the communication unit 170, and establishes communication lines with other driving assistance target vehicles M1 and devices outside the driving assistance vehicle, including the observation system 30, via V2X communication such as vehicle-to-vehicle communication or road-to-vehicle communication, to transmit and receive data.

[0133] The operation reception processing unit 112 recognizes input information input by the driver from the operation input unit 120 , and outputs the recognized information to the driving assistance control processing unit 113 .

[0134] During autonomous driving control, the driving assistance control processing unit 113 sets the route, vehicle speed, etc. based on information from a surrounding environment sensor (exterior vehicle camera 31) not shown, the vehicle's position information, or detection information of each moving object provided by the observation system 30.

[0135] Then, the driving assistance control processing unit 113 transmits control commands to the vehicle drive control unit 40 for controlling the set route, vehicle speed, and the like.

[0136] In addition, during driving assistance control while the driver is driving, the driving assistance control processing unit 113 similarly provides predetermined data to the HMI 43 to display warnings to the driver, such as collision predictions, based on information from the surrounding environment sensors, etc.

[0137] Furthermore, the driving assistance control processing unit 113 determines the content of the driving assistance for allowing the driver to enjoy the corresponding driving assistance based on the driving assistance information transmitted from the management server 20, and executes various driving assistance control processes based on the determined driving assistance content.

[0138] In particular, the driving assistance control processing unit 113 receives, as driving assistance information transmitted from the management server 20, information regarding the collision when a collision is predicted between the vehicle itself, which is the driving assistance target vehicle M1, and the trend prediction target vehicle M2 (hereinafter referred to as ``collision prediction information'').

[0139] In addition, based on the received collision prediction information, the driving assistance control processing unit 113 transmits a control command (a control command for driving assistance control processing) to the vehicle drive control unit 40 or the HMI 43 when performing warning processing or vehicle driving control related to automatic driving or assisting the driver's driving.

[0140] The driving-related information providing unit 114 provides the management server 20 with the current position of the vehicle and the driving route to the destination (including intermediate destinations) that is set when executing the driving assistance control process, as driving route information.

[0141] In addition, the driving-related information providing unit 114 may provide the management server 20 with the route that is planned to be traveled from the current position of the driving assistance target vehicle M1 at the time when driving assistance is requested (hereinafter referred to as the "planned driving route") as driving route information.

[0142] In addition, the driving route information includes, for example, the travel speed of the corresponding driving assistance target vehicle M1, traffic conditions on the current planned driving route, and scheduled time identification information for identifying the scheduled passing time of the driving assistance target vehicle M1 at any point, such as the passing time of key points on the driving route.

[0143] The operation input unit 120 is a device used when given information is input by the driver, and has a configuration for outputting the information input by the driver (hereinafter referred to as “input information”) to the processing unit 110.

[0144] For example, the operation input unit 120 is configured with a lever, a button, a dial-type operation device, a microphone, a touch panel display, a keyboard, a camera for receiving input by a mouse or gestures, and the like.

[0145] Furthermore, the operation input unit 120 includes a detection unit (not shown) that detects input information (input signal) from the driver.

[0146] In particular, when the operation input unit 120 is configured with a microphone, the detection unit constitutes a voice recognition device that accepts input from the voice of a passenger such as a driver, etc. Also, when the operation input unit 120 is configured with a camera, the detection unit constitutes an image recognition device that accepts input of a gesture captured by the camera.

[0147] Furthermore, the operation input unit 120 accepts, as input information, an input of the destination of the vehicle itself, or the destination and intermediate points, and an input of an instruction for specifying a route to the destination.

[0148] The storage unit 140 serves as a work area for the processing unit 110 and the like, and its function is realized by hardware such as a RAM (VRAM).

[0149] The storage unit 140 of this embodiment includes a main storage unit 141 used as a work area, and a data storage unit 142 in which computer programs used when executing each process and table data, etc. However, the storage unit 140 may be configured to omit some of these.

[0150] The information storage medium 150 is computer-readable, and may store various types of data including an ID corresponding to each driving assistance control system 10, in addition to various applications and an OS (operating system).

[0151] That is, the information storage medium 150 stores applications for causing a computer to function as each part of this embodiment (applications for causing a computer to execute the processing of each part), an ID for communicating with each driving assistance control system 10, and the like.

[0152] For example, the information storage medium 150 may be a memory element or a storage device such as a magnetic disk, an optical disk, or a flash memory.

[0153] [B1.4] Management Server Next, an example of the configuration of the management server 20 according to this embodiment will be described with reference to Fig. 4. Fig. 4 is a block diagram showing an example of the configuration of the management server 20 according to this embodiment.

[0154] 4, the management server 20 includes a processing unit 210, a storage unit 240, an information storage medium 250, and a communication unit 270. Note that the management server 20 may be configured to omit some of these components.

[0155] The processing unit 210 includes a communication control unit 211, a data acquisition unit 212, a data analysis unit 213, a collision estimation processing unit 214, a driving support information providing unit 218, and a timer management unit 219. Note that the processing unit 210 may be configured to omit some of these units.

[0156] The communication control unit 211 cooperates with the communication unit 270 to perform processing for transmitting and receiving data to and from each driving assistance control system 10 or each observation system 30 via the network N.

[0157] In particular, the communication control unit 211 receives data transmitted from each driving assistance control system 10 or each observation system 30 in order to provide driving assistance to the driving assistance target vehicle M1.

[0158] In addition, the communication control unit 211 transmits various data such as calculation results calculated based on the received data to each driving assistance control system 10.

[0159] The data acquisition unit 212 executes a process of collecting information (i.e., reference information) such as the attributes, moving direction, and moving speed of each vehicle transmitted from each observation system 30 (hereinafter referred to as a “reference information collection process”).

[0160] In addition, when a route to a destination or a route currently being driven is set in each driving assistance target vehicle M1, the data acquisition unit 212 acquires driving route information, which specifies the current position and driving route of the driving assistance target vehicle M1, from the corresponding driving assistance target vehicle M1.

[0161] In addition, the data acquisition unit 212 acquires driving route information at a predetermined timing, such as when an instruction input for identifying a destination or a route currently being driven is received based on the driver's instructions in each driving assistance target vehicle.

[0162] The data analysis unit 213 executes a given calculation process based on the collected reference information, and executes a frequency information acquisition process to acquire the frequency at which a passing vehicle that has passed through a first installation point in the observation system 30 passes through a second installation point as frequency information.

[0163] In addition, the data analysis unit 213 performs a predetermined calculation based on the acquired frequency information, and executes a vehicle trend prediction process to calculate each reference information (frequency described below) that identifies the trend of the trend prediction target vehicle M2, which does not have a road-to-vehicle communication function or an inter-vehicle communication function.

[0164] The collision estimation processing unit 214 estimates the possibility of a collision between the driving assistance target vehicle M1 and the trend prediction target vehicle M2 on the route of the driving assistance target vehicle M1 based on the reference information calculated by the data analysis unit 213 and the driving route information of the trend prediction target vehicle M2.

[0165] In particular, the collision estimation processing unit 214 executes a collision possibility estimation process that predicts the movement of the movement prediction target vehicle M2 and estimates the possibility of a collision with the movement prediction target vehicle M2.

[0166] The driving assistance information providing unit 218 provides various types of information related to driving assistance to the driving assistance control system 10 via the communication unit 270 under the control of the communication control unit 211 .

[0167] In particular, when the driving assistance information providing unit 218 of this embodiment estimates through collision estimation processing that there is a possibility of a collision between the driving assistance target vehicle M1 and the trend prediction target vehicle M2, it provides the result of the estimation as information to the driving assistance control system 10 of the corresponding driving assistance target vehicle M1.

[0168] The timer management unit 219 has a function of measuring from the current date and time or a specified timing, and outputs the current time or the measurement result when the specified timing arrives or when a specified request is received.

[0169] The storage unit 240 serves as a work area for the processing unit 210 and the like, and its function is realized by hardware such as a RAM (VRAM).

[0170] In particular, the storage unit 240 has a main storage unit 241 as a work area, a data storage unit 242 in which data used for each process is stored, a frequency information storage unit 243 in which frequency information is stored, and a vehicle detection information storage unit 244 in which collected vehicle detection information is stored. However, the storage unit 240 of this embodiment may be configured to omit some of these components.

[0171] Specifically, the data storage unit 242 stores computer programs for executing each process, table data, and data serving as a reference for each process.

[0172] The data storage unit 242 stores information (hereinafter referred to as "point combination route information") that specifies, for each first installation point, a route (hereinafter referred to as a "point combination route") that combines the first installation point with one or more second installation points for each target area.

[0173] The frequency information storage unit 243 stores, for each first installation point, the frequency of each combination with each second installation point, and information relating to the frequency (hereinafter referred to as "frequency information").

[0174] The vehicle detection information storage unit 244 stores vehicle detection information detected by each observation system 30 for each observation system 30 (that is, for each first installation point).

[0175] The information storage medium 250 is computer-readable, and may store various types of data including an ID corresponding to each driving assistance control system 10, in addition to various applications and an OS (operating system).

[0176] That is, the information storage medium 250 stores applications for causing a computer to function as each part of this embodiment (applications for causing a computer to execute the processing of each part), an ID for communicating with each driving assistance control system 10, and the like.

[0177] For example, the information storage medium 250 may be a memory element or a storage device such as a magnetic disk, an optical disk, or a flash memory.

[0178] The communication unit 270 performs various controls to communicate with the outside (e.g., each driving assistance control system 10), and its functions are composed of hardware such as various processors or communication ASICs, computer programs, etc.

[0179] [B1.5] Observation System Next, the observation system 30 of this embodiment will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of the configuration of the observation system 30 of this embodiment.

[0180] As shown in Figure 5, the observation system 30 is composed of an imaging camera 310 that captures an image of a predetermined shooting range and generates image data, and a sensor management device 320 that performs predetermined image processing on the captured image and communication control processing with the vehicle, etc.

[0181] The imaging camera 310 includes an imaging element such as a CCD or CMOS, and captures an image of a predetermined shooting range at each predetermined timing to generate image data.

[0182] The sensor management device 320 has one or more processors such as a CPU or an MPU (Micro Processing Unit).

[0183] In addition, a part or the whole of the sensor management device 320 may be configured with updatable firmware or the like, or may be a program module or the like executed by instructions from a CPU or the like.

[0184] The sensor management device 320 executes a computer program to control the operation of the imaging camera 310, process image data captured by the imaging camera 310, and control communications with the management server 20 or the driving assistance target vehicle M1.

[0185] 5, the sensor management device 320 includes a sensor communication unit 321, a sensor processing unit 322, and a sensor storage unit 323. Note that the sensor management device 320 may be configured to omit some of these units.

[0186] The sensor communication unit 321 performs various controls for communication with the management server 20 or the vehicle M1 that is the target of driving assistance, and is an interface for performing data communication with the management server 20 via the network N, or directly with the vehicle M1 that is the target of driving assistance.

[0187] In particular, the sensor communication unit 321 is configured by hardware such as various processors or communication ASICs, or computer programs, and executes various communications based on the control of the sensor processing unit 322.

[0188] The sensor processing unit 322 reads out and executes an application stored in the sensor storage unit 323, thereby executing various processes such as operational control of the imaging camera 310.

[0189] Furthermore, the sensor processing unit 322 performs various processes using a part of the sensor storage unit 323 as a work area. The functions of the sensor processing unit 322 are realized by hardware such as various processors (CPU, DSP, etc.) or an application.

[0190] Specifically, the sensor processing unit 322 is composed of a communication control unit 325, a camera control unit 326, an image processing unit 327, and a timer management unit 329. Note that the sensor processing unit 322 may be configured to omit some of these units.

[0191] The communication control unit 325 controls the sensor communication unit 321 to establish a network line with the management server 20, or connect to the driving assistance target vehicle M1 via road-to-vehicle communication, and performs processing for transmitting and receiving various types of data.

[0192] In particular, the communication control unit 325 connects to the management server 20 via the network N, or directly connects to the driving assistance target vehicle M1, and transmits each piece of information detected by image processing to the management server 20 or the driving assistance target vehicle M1.

[0193] The camera control unit 326 executes, at each preset timing, operation control for causing the imaging camera 310 to capture an image of a predetermined imaging range, and image generation control for generating an image of the imaging range.

[0194] The image processor 327 executes predetermined image processing on the image data output from the imaging camera 310, and detects moving objects such as vehicles, bicycles, and pedestrians imaged in the image data.

[0195] In particular, when the image processing unit 327 detects a moving object from the image data, it identifies the identification information such as the number of the detected moving object, attributes including the type, and the moving direction and moving speed.

[0196] Then, the image processing unit 327 provides each piece of information on the attributes, movement direction, and movement speed of the identified moving object as moving object detection information to the management server 20 or the driving assistance target vehicle M1, together with information on the installation position and shooting direction of the imaging camera 310.

[0197] In particular, the image processing unit 327 transmits vehicle detection information of each vehicle as reference information to the management server 20, and provides all moving object detection information, including not only each vehicle but also pedestrians and bicycles, to each driving assistance target vehicle M1.

[0198] The sensor storage unit 323 serves as a work area for the sensor processing unit 322 and the like, and the function thereof is realized by hardware such as a RAM (VRAM).

[0199] The sensor storage unit 323 also stores information for identifying the installation location of the imaging camera 310, such as coordinates on the map data with the east longitude and north latitude as the x and y axes, and the imaging direction of the imaging camera 310, such as the north direction or the southeast direction.

[0200] The timer management unit 329 has a function of measuring the current date and time or from a specified timing, and outputs the current time or the measurement result when the specified timing arrives or when a specified request is received.

[0201] In particular, the timer management unit 329 has a function of measuring from the current date and time or a specified timing, and outputs the current time or the measurement result when the specified timing arrives or when a specified request is received.

[0202] [B1.6] Method of this embodiment (driving assistance information provision processing) [B1.6.1] Overview of driving support information provision processing Next, the driving support information providing process executed by the management server 20 of this embodiment will be described with reference to FIG.

[0203] FIG. 6 is a diagram for explaining the driving support information providing process executed by the management server 20 of this embodiment.

[0204] The management server 20 of this embodiment is configured to execute driving assistance control processing in the driving assistance target vehicle M1, thereby determining the possibility of a collision with the trend prediction target vehicle M2, and providing the determination result to the driving assistance target vehicle M1.

[0205] In particular, the management server 20 is configured to provide information for executing driving assistance control within a target area which includes multiple installation points at which observation systems 30 are each installed, and in which multiple driving routes exist from a first installation point to a second installation point.

[0206] In addition, the management server 20 is configured to execute a reference information collection process that collects in advance the route of each vehicle from the observation system 30 as reference information, and executes a frequency information acquisition process that acquires the past passing frequency (frequency information) of each vehicle between two points based on the reference information.

[0207] The management server 20 is configured to execute a collision possibility estimation process to estimate the possibility of a collision between the driving assistance target vehicle M1 and each trend prediction target vehicle M2 based on the acquired frequency information and the trends of each trend prediction target vehicle M2.

[0208] In other words, the management server 20 is configured to learn the driving history of each vehicle within the target area and estimate the possibility of a collision between the driving assistance target vehicle M1 and each trend prediction target vehicle M2 based on the route of the driving assistance target vehicle M1 and the predicted trends of each trend prediction target vehicle M2.

[0209] The management server 20 has a configuration for providing the result of estimating the possibility of a collision with the trend prediction target vehicle M2 (hereinafter referred to as the "estimation result") to the corresponding driving assistance target vehicle M1 as driving assistance information.

[0210] In addition, the driving assistance control system 10 in question has a configuration for executing driving assistance control processing such as warning the driver about a collision with the vehicle M2 whose movements are predicted, or automatic driving control, based on the driving assistance information provided by the management server 20.

[0211] Specifically, the management server 20 is configured to execute a frequency information acquisition process for each first installation location, which acquires frequency information of vehicles that have passed through the first installation location for each combination of the first installation location and the second installation location (hereinafter referred to as a "location combination").

[0212] In particular, as shown in FIG. 6, the management server 20 executes a reference information collection process to collect vehicle detection information on each vehicle that has passed each observation system 30 from each observation system 30 as reference information.

[0213] In addition, as shown in FIG. 6, the management server 20 is configured to acquire frequency information for each combination of a first installation location with another installation location (i.e., a second installation location) using a statistical calculation method based on the collected vehicle detection information.

[0214] The management server 20 is configured to execute a collision possibility estimation process to estimate the possibility of a collision between a driving assistance target vehicle M1, whose planned driving route within a specified area can be recognized, and a trend prediction target vehicle M2, based on frequency information for each combination of points, as shown in Figure 6.

[0215] In particular, as shown in FIG. 6, the management server 20 is configured to identify, based on pre-stored data, a point combination route that intersects with the planned driving route along which the driving assistance target vehicle M1 is scheduled to travel from the current position of the driving assistance target vehicle M1, as an intersecting route.

[0216] In addition, as shown in Figure 6, when the management server 20 detects a trend prediction target vehicle M2 traveling on an identified intersection route and satisfying specified conditions based on each frequency information, the management server 20 is configured to determine that there is a possibility of a collision with the trend prediction target vehicle M2 as a collision possibility estimation process.

[0217] In addition, as shown in Figure 6, when the management server 20 determines through the collision possibility estimation process that there is a possibility of a collision between the driving assistance target vehicle M1 and the trend prediction target vehicle M2, the management server 20 is configured to provide driving assistance information including said content to the corresponding driving assistance target vehicle M1.

[0218] The driving assistance control system 10 of the corresponding driving assistance target vehicle M1 has a configuration for executing notification control such as notification to the driver, automatic driving control, or both, based on the provided driving assistance information.

[0219] Furthermore, when the management server 20 acquires frequency information, it may register the acquired frequency information internally as shown in FIG. 6, and execute the collision likelihood estimation process by referring to the registered frequency information.

[0220] With this configuration, the management server 20 of this embodiment can use data collected on actual vehicle movements to predict with high accuracy the movements of undetectable vehicles whose current positions and routes on the road are undetectable, including vehicles that are not equipped with road-to-vehicle communication functions.

[0221] Furthermore, the management server 20 of this embodiment can avoid a collision between the driving assistance target vehicle M1 and the movement prediction target vehicle M2, such as a vehicle not equipped with road-to-vehicle communication function, thereby providing safer driving assistance.

[0222] [B1.6.2] Point combinations and point combination routes Next, combinations of the first installation points and the second installation points in this embodiment and point combination routes, which are routes for each combination of the points, will be described with reference to FIG.

[0223] FIG. 7 is a diagram for explaining the location combinations and the location combination routes in this embodiment.

[0224] (Location combination) In the driving assistance control process of this embodiment, in order to collect frequency information as reference information, a location combination based on a combination of the first installation location and the second installation location is specified in advance for each first installation location.

[0225] Specifically, a location combination is an area including multiple installation locations where observation systems 30 are each installed, and is a combination of two or more locations defined within a target area in which there are multiple driving routes from a first installation location to a second installation location.

[0226] Each location combination is a combination of a first installation location with a plurality of other installation locations defined for each first installation location, and is composed of one or more second installation locations that are passed by each vehicle that has passed the first installation location.

[0227] In particular, the second installation point for each point combination is an installation point other than the corresponding first installation point, and is an installation point that the vehicle passes through after passing the first installation point, on the shortest route from the first installation point, without making a detour.

[0228] In addition, for each combination of locations, one installation location may be specified as the second installation location, or two or more installation locations may be specified, and in the case of a combination of three or more installation locations, the combination is specified as a different combination if the installation locations are the same but in a different order.

[0229] Furthermore, even if there are multiple routes that lead from each installation point of each combination of points to outside the target area, as long as the combination of installation points is the same (including the order), the multiple routes will be treated as the same route.

[0230] Note that the frequency information in this embodiment is calculated for each first installation point and for each identified combination of points, and is stored in the frequency information storage unit 243, as described above.

[0231] For example, in a target area in which observation systems 30 are installed at installation points A, B, C, and D as shown in Figure 7, if installation point A is the first installation point, installation points B, C, and D are second installation points.

[0232] In other words, in the above case, if installation point A is the first installation point, the combinations of each point are installation point A-installation point B, installation point A-installation point C, installation point A-installation point D, installation point A-installation point B-installation point D, and installation point A-installation point C-installation point D.

[0233] In the example of Figure 7, it is assumed that the installation points are the shortest route and are passed through without detours, and that in the case of a combination of three or more installation points, the combination is different if the installation points are the same but in a different order.

[0234] 7, there are multiple routes leading to outside the target area at each of the installation points B, C, and D, but as described above, in this embodiment, the routes at each installation point are treated as one route without distinction. For example, at the installation point C shown in FIG 7, there are routes leading to the upper, right, and lower sides of the drawing, but among these, the routes leading to the upper and right sides are routes leading to outside the target area, so these routes are treated as one route.

[0235] (Point combination route) The point combination route is a route defined by each point combination, and is identified for each first installation point and for each identified point combination.

[0236] In particular, the point combination route corresponding to a point combination is not limited to a single route, and multiple routes may be defined depending on the target area, the installation status of the observation system 30, or both.

[0237] For example, in a target area in which observation systems 30 are installed at installation points A, B, C, and D shown in Figure 7 above, assume that installation point A is the first installation point, and installation points B, C, and D are the second installation points.

[0238] In this case, for each point combination route, according to the above conditions, installation point A-installation point B is assumed to have one route (including the left and bottom) that heads outside the target area at installation point B, and two routes that, after passing installation point B, head outside the target area without passing through installation point D.

[0239] In addition, between installation point A and installation point C, route 1 is assumed to head outside the target area at installation point C (including the right side and upper side), and route 1 is assumed to head outside the target area after passing through installation point C without passing through installation point D.

[0240] Furthermore, eight routes are assumed between installation point A and installation point D, and one route is assumed each between installation point A, installation point B, installation point D, and installation point A, installation point C, and installation point D.

[0241] In this case, it is assumed that installation point A-installation point B and installation point A-installation point C do not pass through installation point D, and installation point A-installation point D does not pass through installation points B and C.

[0242] In addition, in the above-mentioned point combination route, installation point A-installation point B and installation point A-installation point C each include a route that goes outside the target area without passing through installation point D.

[0243] For example, between installation points A and C, as shown in Figure 7, route 1 is assumed to be a route that passes through installation point C at the bottom of the drawing and goes to the right at the intersection one intersection below installation point C (where observation system 30 is not installed) (a route that heads outside the target area without passing through installation point D).

[0244] In this embodiment, the point combination route identified for each first installation point includes a route that passes only the first installation point and does not pass through installation points B, C, and D other than the above.

[0245] [B1.6.3] Reference information collection process Next, a reference information collection process executed by the management server 20 of this embodiment will be described.

[0246] The data acquisition unit 212 executes a reference information collection process to collect vehicle detection information regarding each vehicle (passing vehicle) that passes through each installation point, which is information about each vehicle detected at a predetermined timing by multiple observation systems 30 installed in the target area.

[0247] That is, the data acquisition unit 212 collects vehicle detection information (reference information) such as vehicle attributes (number and type), movement direction, and movement speed, which is information detected by each of the multiple observation systems 30 at each specified timing.

[0248] In particular, the data acquisition unit 212 may compile each vehicle detection information collected by the reference information collection process for each observation system 30 at regular intervals and output it to the data analysis unit 213, or may store each vehicle detection information in chronological order in the data storage unit 242.

[0249] In this embodiment, each piece of vehicle detection information includes information on the position and shooting direction of the observation system 30 on the map data.

[0250] In addition, the collected vehicle detection information is stored in the vehicle detection information storage unit 244 for each observation system 30.

[0251] [B1.6.4] Frequency information acquisition processing Next, a frequency information acquisition process executed by the management server 20 of this embodiment will be described.

[0252] (Overview of frequency information acquisition process) The data analysis unit 213 executes a frequency information acquisition process that calculates, for each combination of locations, the frequency at which a vehicle that has previously passed a first installation location passes a second installation location based on the collected reference information (vehicle detection information) and acquires frequency information.

[0253] That is, the data analysis unit 213 executes, as a frequency information acquisition process, a calculation process for calculating, for each first installation point, the probability (proportion) of vehicles passing through each second installation point among vehicles that have passed through the first installation point.

[0254] In particular, the data analysis unit 213 acquires reference information collected within a certain period (e.g., one year) stored in the vehicle detection information storage unit 244, and as a frequency information acquisition process, calculates the frequency for each combination of locations based on the acquired reference information.

[0255] In addition, the data analysis unit 213 calculates the frequency of combinations between locations, not only for each combination of each first installation location and a single second installation location, but also for combinations including each first installation location and two or more second installation locations.

[0256] Then, in a combination including two or more different second installation points, the data analysis unit 213 calculates the frequency of each combination including a different order of the second installation points that the vehicle passes through. However, even if there are multiple routes (i.e., location combination routes) in each location combination, the data analysis unit 213 calculates the frequency of 1 in association with the location combination including them, not for each location combination route.

[0257] Specifically, the data analysis unit 213 performs the following for each combination of points: (1) Calculate the total number of vehicles passing through the reference point at the first installation location; (2) Calculate the total number of vehicles passing through the corresponding second installation point; (3) Based on (1) and (2), calculate the frequency of each. (4) Detect additional information.

[0258] The data analysis unit 213 may store the calculated frequency for each combination of points as frequency information together with additional information in each data storage unit 242, or may provide it to the collision estimation processing unit 214 as is.

[0259] In addition, in this embodiment, the first installation point refers to the point at which each observation system 30 is installed in the target area, and the second installation point refers to all other installation points relative to each first installation point.

[0260] Furthermore, in the following description, a point combination route based on a two-point relationship is generally represented as route (i, j).

[0261] In particular, when passing through multiple second installation points, the final second installation point passed through is denoted as (jG) and the other second installation points are denoted as (j1) to (jn), and in this case, the point combination route between the multiple points is denoted as route (i, j1, . . . , jn, jG).

[0262] (1. Calculation of the total number of vehicles passing through the reference point at each first installation point) When the data analysis unit 213 collects each piece of vehicle detection information (reference information) transmitted from each observation system 30 during a predetermined collection period, it sets each installation point as a first installation point (i).

[0263] Then, the data analysis unit 213 counts up, for each first installation point (i), the total number of vehicles that passed through the first installation point (hereinafter referred to as the "reference point passing total number") Z(i).

[0264] For example, the data analysis unit 213 identifies the installation points passed by each vehicle based on the attributes (numbers) included in the vehicle detection information for a certain period of time, and tally up the total number Z(i) of reference points passed by each first installation point (i).

[0265] At this time, the data analysis unit 213 may simply count the total number of vehicles passing through the first installation point, for all directions of travel, such as four directions in the case of a crossroads intersection, or may count the total number of vehicles passing through the first installation point for each predetermined direction of travel.

[0266] (2. Calculation of the total number of vehicles passing through the second installation point) Next, the data analysis unit 213 counts up, for each point combination route, the total number Z(i,j) of vehicles passing through both the corresponding first installation point (i) and second installation point (j).

[0267] (3. Calculation of frequency) Then, the data analysis unit 213 performs the calculation process shown in (Equation 1) based on the total number of reference point passes Z(i) and the total number of inter-point passes Z(i, j) using each first installation point as a reference, and calculates the frequency P(i, j) for each point combination route (i, j).

[0268]

number

[0269] (4. Detection of additional information) When calculating the above frequency, the data analysis unit 213 detects, as additional information, the moving speed of each vehicle used in the aggregation when passing through the first installation point and the time required for each vehicle to pass the corresponding second installation point.

[0270] In particular, the data analysis unit 213 detects the required time for each vehicle based on the first location time when each vehicle passes a first installation location and the second location time when each vehicle passes a corresponding second installation location.

[0271] Then, the data analysis unit 213 identifies the required time corresponding to the travel speed for each point combination route, or identifies an arithmetic formula for identifying the required time, and provides the identified required time or arithmetic formula to the collision probability estimation process as additional information.

[0272] Specifically, the data analysis unit 213 calculates a representative value for each required time, such as the average, mode, or median, for each point combination route and for each specified travel speed, and uses the calculated representative value as additional information on the required time for the travel speed.

[0273] In addition, the data analysis unit 213 performs calculations such as the least squares method based on the travel speed and required time of each vehicle for each point combination route, obtains a function (arithmetic formula) indicating the required time corresponding to the travel speed, and uses the obtained arithmetic formula as additional information.

[0274] (Example of frequency information acquisition process) For example, assume that four observation systems 30 are installed at specific installation points (intersection points) A, B, C, and D in a target area, as shown in FIG.

[0275] When the data analysis unit 213 collects each vehicle detection information (reference information) transmitted from each observation system 30 during a predetermined collection period, it calculates the frequency for each combination of locations, as shown in Table 1.

[0276] In particular, when the data analysis unit 213 sets the point A as the first installation point, it sets the points B, C, and D as the second installation points, respectively, as the shortest route.

[0277] Then, the data analysis unit 213 identifies the total number of reference point passages Z(1) detected by point A and the total number of point-to-point passages Z(i, j) of vehicles that passed through point A and other points B, C, or D.

[0278] For example, depending on the combination of points, there may be multiple routes, excluding detour routes, such as a route that passes through point A and then point D. Even if there are multiple routes, they are identified as the total number of passes between points that pass through the set points.

[0279] Finally, the data analysis unit 213 calculates the frequency of each point combination route based on each specified numerical value Z, as shown in Table 1.

[0280] In particular, as described above, the data analysis unit 213 identifies the total number of vehicles and calculates the frequency for each case in which the route to the first installation point passes through multiple different second installation points B, C, or D.

[0281] [Table 1]

[0282] In addition, the data analysis unit 213 sets the points B, C, and D as the second installation points as the shortest route, and does not set any combinations between two points other than those mentioned above.

[0283] For example, the data analysis unit 213 does not set combinations such as a combination of points that, after passing the first installation point, is a route that passes through point D and then point B, and a combination of points that is a route that passes through point B and then point C.

[0284] 7, for points B, C, and D, the data analysis unit 213 calculates the frequency by restricting the passing direction of the vehicle on the premise that the route is not a detour or is the shortest route. Then, for each of the installation points B, C, and D, if there are multiple routes heading out of the target area after passing the installation point, the data analysis unit 213 treats each route as one route without distinguishing between them, and identifies the number of passing vehicles.

[0285] In other words, for installation points B and C, the data analysis unit 213 limits the routes to two: a route heading outside the target area and a route that remains within the target area, and for installation point D, it identifies the number of vehicles passing by limiting the passing direction to the route heading outside the target area.

[0286] (Provided to the collision estimation processing unit) The data analysis unit 213 may store the frequency information specified by calculation or detection at a predetermined timing in the data storage unit 242, and provide the stored frequency information during the collision likelihood estimation process.

[0287] The data analysis unit 213 provides the collision estimation processing unit 214 with information on the frequency of each point combination route for each first installation point, as well as the frequency information and additional information, as frequency information.

[0288] Specifically, the data analysis unit 213 may directly provide the collision estimation processing unit 214 with frequency information including the calculated frequency information and the detected additional information.

[0289] [B1.6.5] Collision probability estimation process Next, a collision likelihood estimation process executed by the management server 20 of this embodiment will be described with reference to FIGS.

[0290] 8 and 9 are diagrams for explaining the collision likelihood estimation process executed by the management server 20 of this embodiment.

[0291] (Principle of collision probability estimation process) When the collision estimation processing unit 214 receives an instruction to provide driving support information, the collision estimation processing unit 214 executes a collision possibility estimation process based on the frequency information provided from the data analysis unit 213 .

[0292] In particular, the collision estimation processing unit 214 acquires the driving route information provided by the driving assistance target vehicle M1 and the location combination route information stored in the data storage unit 242 in order to execute the collision possibility estimation processing.

[0293] Then, the collision estimation processing unit 214 executes the following processes (1) to (4) to perform a collision possibility estimation process for estimating the possibility of a collision between the driving assistance target vehicle M1 and the movement prediction target vehicle M2.

[0294] (1) First, the collision estimation processing unit 214 identifies a predicted route from among a plurality of point combination routes that intersects with the planned travel route of the driving assistance target vehicle M1 and is predicted as the route of the behavior prediction target vehicle M2.

[0295] (2) In addition, the collision estimation processing unit 214 identifies a point where the planned driving route and the predicted route of the driving assistance target vehicle M1 intersect as a specific intersection point, and estimates the arrival time of the driving assistance target vehicle M1 arriving at the specific intersection point along the planned driving route.

[0296] (3) Then, the collision estimation processing unit 214 detects the movement prediction target vehicle M2 that is assumed to travel along the predicted route, and estimates the arrival time of the movement prediction target vehicle M2 at the specific intersection point.

[0297] (4) Finally, the collision estimation processing unit 214 performs estimation processing to compare the arrival times of the driving assistance target vehicle M1 and the trend prediction target vehicle M2, and estimate the possibility of a collision between the driving assistance target vehicle M1 and the trend prediction target vehicle M2 at each specific intersection.

[0298] The collision estimation processing unit 214 of this embodiment executes the collision possibility estimation processing every time an instruction to provide driving support information is received.

[0299] For example, in the driving assistance target vehicle M1, an instruction to provide driving assistance information is transmitted every time the route to the destination is reset or every time the target area in which driving assistance is performed is changed.

[0300] (1. Identifying the predicted route) First, the collision estimation processing unit 214 specifies a point combination route that satisfies a predetermined condition from among a plurality of point combination routes for each of the first installation points as a predicted route that intersects with the planned driving route of the driving assistance target vehicle M1.

[0301] In particular, when the collision estimation processing unit 214 receives driving route information, it identifies the route that is planned to be traveled from the current position of the driving assistance target vehicle M1 (i.e., the planned driving route) based on the route information of the driving assistance target vehicle M1 contained in the driving route information.

[0302] Then, the collision estimation processing unit 214 compares a plurality of point combination routes for each first evaluation point with the specified planned traveling route, and specifies, as a predicted route, a point combination route that intersects with the specified planned traveling route.

[0303] For example, as shown in Figure 8, assume that a driving assistance target vehicle M1 enters a target area, a planned driving route PR from an entry point α is identified, and a combined route corresponding to each combination of points is set.

[0304] In this case, as shown in Fig. 8, the collision estimation processing unit 214 specifies, as the predicted route, for example, a route in a combination of points A-point C, point A-point C-point D, and point A-point D. That is, as shown in Fig. 8, the collision estimation processing unit 214 specifies, as the predicted route, a combination route having partial route CR1, partial route CR2, and partial route CR3.

[0305] (2. Identifying specific intersections and arrival times of vehicles subject to driving assistance) Next, the collision estimation processing unit 214 determines the arrival time of the driving assistance target vehicle M1 at a specific intersection based on the moving speed of the driving assistance target vehicle M1 at the time when the instruction to provide driving assistance information is received, the current position, and the scheduled time identification information included in the driving route information.

[0306] In particular, the collision estimation processing unit 214 calculates the distance from the current position to the specific intersection based on the current position of the driving assistance target vehicle M1 and the position of the specific intersection, and determines the arrival time at the specific intersection based on the calculated distance and the current travel speed.

[0307] For example, in the example of FIG. 8, the collision estimation processing unit 214 identifies the specific intersection point IS1, the specific intersection point IS2, and the specific intersection point IS3 as specific intersection points.

[0308] For example, the collision estimation processing unit 214 estimates the arrival time T[M1]1 (60 seconds later) of the driving assistance target vehicle M1 at a specific intersection IS1, the arrival time T[M1]2 (210 seconds later) at a specific intersection IS2, and the arrival time T[M1]3 (300 seconds later) at a specific intersection IS3.

[0309] (3. Detection of vehicles to be predicted and estimation of arrival time at specific intersections) The collision estimation processing unit 214 identifies each first installation point of the point combination route identified as the predicted route, and detects the trend prediction target vehicle M2 for each of the first installation points (hereinafter referred to as the "first identified installation point").

[0310] Specifically, the collision estimation processing unit 214 acquires, for each first specific installation point, vehicle detection information provided from the observation system 30 installed at the corresponding first specific installation point.

[0311] Then, the collision estimation processing unit 214 refers to vehicle detection information detected after a predetermined timing for each first specific installation point, and detects a vehicle identified by the vehicle detection information as a trend prediction target vehicle M2.

[0312] At this time, the collision estimation processing unit 214 detects, from among the vehicles identified by the vehicle detection information for each first specific installation point, a vehicle that has traveled from the first installation point toward the specific intersection point after a predetermined timing as a vehicle M2 whose trend is to be predicted.

[0313] In particular, the specified timing in this embodiment refers to the timing when an instruction to provide driving assistance information is received (hereinafter referred to as the "instruction timing"), or a timing prior to the instruction timing that is determined in advance (hereinafter referred to as the "designated timing").

[0314] In addition, for example, if the specific intersection point is closer to the corresponding first installation point than the current position of the driving assistance target vehicle M1 at the time of the instruction timing, vehicle detection after the instruction timing may not be able to detect all vehicles with a high possibility of collision.

[0315] That is, it may be assumed that a vehicle that has not been detected as a target vehicle 2 for trend prediction before the instruction timing passes through the specific intersection at the same time as the driving assistance target vehicle M1.

[0316] For example, if a vehicle M1 to be assisted with driving arrives at a specific intersection 10 seconds after the current time, and a vehicle M2 to be predicted in terms of movement requires 20 seconds to travel from a first specific installation point to the specific intersection, there is a possibility that the vehicle will collide with a vehicle that has passed the first specific installation point before the instruction timing.

[0317] Therefore, when such a possibility exists, the collision estimation processing unit 214 of this embodiment may use a timing that is a predetermined period before the instruction timing as the designated timing.

[0318] On the other hand, when the collision estimation processing unit 214 detects a vehicle M2 whose trend is to be predicted, in addition to the above, it determines the moving speed of the vehicle detected as the vehicle M2 whose trend is to be predicted at the corresponding first specific installation point from the corresponding vehicle detection information.

[0319] Then, for each predicted route, the collision estimation processing unit 214 estimates the arrival time of each trend prediction target vehicle M2 at the specific intersection point based on the distance from the corresponding first installation point to the specific intersection point and the corresponding travel speed.

[0320] For example, in the example shown in Figures 7 and 8, assume that a vehicle M2 whose movements are to be predicted is detected at point A, which is the first specific installation point, and the moving speed in the vehicle detection information is 30 km / h.

[0321] In this case, the collision estimation processing unit 214 estimates the arrival times T[M2]1-T[M2]3 of the trend prediction target vehicle M2 at each of the specific intersection points IS1-IS3 based on the position and moving speed of the first specific installation point, as shown in Figure 9.

[0322] In particular, the collision estimation processor 214 estimates the arrival time T[M2]1 to be 600 seconds, the arrival time T[M2]2 to be 400 seconds, and the arrival time T[M2]3 to be 295 seconds.

[0323] In the example of FIG. 9, the travel speeds in the vehicle detection information are assumed to be the same for the point combination routes including the routes CR1, CR2, and CR3, and there is no difference in arrival time due to differences in these point combination routes.

[0324] (4. Execution of collision possibility determination process) The collision estimation processing unit 214 compares, for each specific intersection point and for each detected trend prediction target vehicle M2, the arrival time of the driving assistance target vehicle M1 (hereinafter referred to as the "judgment reference time") with the arrival time of the corresponding trend prediction target vehicle M2 (hereinafter referred to as the "judgment target time").

[0325] The collision estimation processing unit 214 also refers to frequency information of a combination of points that coincides with each predicted route along which the detected movement prediction target vehicle M2 is predicted to travel, and specifies the frequency of each predicted route.

[0326] Then, the collision estimation processing unit 214 estimates the possibility of a collision between the driving assistance target vehicle M1 and the detected trend prediction target vehicle M2, based on the relationship between the target determination time and the reference determination time, and the frequency of the predicted route.

[0327] Specifically, the collision estimation processing unit 214 determines whether the relationship between the judgment target time and the judgment reference time satisfies a predetermined first condition, determines whether the frequency of the predicted route satisfies a predetermined second condition, and estimates the possibility of the above-mentioned collision based on the two judgment results.

[0328] For example, the collision estimation processing unit 214 estimates the possibility of the above collision based on a first condition that the time to be judged and the reference time have a predetermined time difference (e.g., ±10 seconds) and a second condition that the frequency is a certain value or more (e.g., 0.9 in the above example).

[0329] Then, when both the first condition and the second condition are met, the collision estimation processing unit 214 determines that there is a highest possibility of a collision between the driving assistance target vehicle M1 and the detected movement prediction target vehicle M2.

[0330] In addition, when only the first condition is met, or only the second condition is met, or either the first condition or the second condition is met, the collision estimation processing unit 214 determines that the possibility of a collision between the driving assistance target vehicle M1 and the detected trend prediction target vehicle M2 is medium.

[0331] Furthermore, when neither the first condition nor the second condition is met, the collision estimation processing unit 214 determines that the possibility of a collision between the driving assistance target vehicle M1 and the detected movement prediction target vehicle M2 is low.

[0332] In the examples of Figures 8 and 9, it is assumed that the arrival time of the driving assistance target vehicle M1 at the specific intersection point IS1 is 10 seconds, the arrival time of the trend prediction target vehicle M2 at the specific intersection point IS1 is 600 seconds, and the frequency is 0.03.

[0333] In this case, the collision estimation processing unit 214 determines that the possibility of a collision is low since neither the first condition nor the second condition is met.

[0334] In addition, in the examples of Figures 8 and 9, it is assumed that the arrival time of the driving assistance target vehicle M1 at the specific intersection point IS2 is 210 seconds, the arrival time of the trend prediction target vehicle M2 at the specific intersection point IS2 is 400 seconds, and the frequency is 0.005.

[0335] In this case, the collision estimation processing unit 214 determines that the possibility of a collision is low since neither the first condition nor the second condition is met.

[0336] On the other hand, in the examples of Figures 8 and 9, it is assumed that the arrival time of the driving assistance target vehicle M1 at the specific intersection point IS2 is 300 seconds, the arrival time of the trend prediction target vehicle M2 at the specific intersection point IS2 is 295 seconds, and the frequency is 0.95.

[0337] In this case, since both the first condition and the second condition are met, the collision estimation processing unit 214 determines that the possibility of a collision is high.

[0338] 8 and 9, for example, assume that the arrival time of the driving assistance target vehicle M1 at the specific intersection point IS(x) is 300 seconds, the arrival time of the movement prediction target vehicle M2 at the specific intersection point IS(x) is 290 seconds, and the frequency is 0.1. In this case, the collision estimation processing unit 214 determines that the possibility of a collision is medium because the difference is within ±10 seconds and only the first condition is met.

[0339] [B1.6.6] Providing driver assistance information Next, the provision of driving support information executed by the management server 20 of this embodiment will be described.

[0340] As described above, the driving assistance information providing unit 218 provides the determination result of the collision possibility estimation process executed by the collision estimation processing unit 214 to the driving assistance control system 10 of the corresponding driving assistance target vehicle M1 as estimation result information.

[0341] That is, the driving assistance information providing unit 218 executes a notification process for notifying the relevant driving assistance control system 10 of the possibility of a collision with another vehicle that has the highest possibility of collision, for example.

[0342] In particular, the driving assistance information providing unit 218 provides the corresponding driving assistance control system 10 with staged flag information indicating the possibility of a collision between the driving assistance target vehicle M1 and the corresponding trend prediction target vehicle M2 as estimation result information.

[0343] For example, in the above example, the driving assistance information providing unit 218 provides one of three estimation results, namely, “high probability of collision,” “medium probability of collision,” or “low probability of collision,” as estimation result information to the driving assistance control system 10 of the corresponding driving assistance target vehicle M1.

[0344] In addition, when the driving assistance control system 10 receives the gradual flag information, it executes driving assistance control processing to provide driving assistance such as warning processing for the driver or automatic driving control (changing the vehicle speed or route) based on the type of the flag information.

[0345] For example, when the driving assistance control system 10 obtains an estimation result that "there is a high possibility of a collision," the driving assistance control system 10 executes a warning process to notify the driver that "There is a high possibility of a collision with a vehicle at the intersection of XX."

[0346] In particular, in the examples of Figures 8 and 9 above, when a visual warning is given, the driving assistance control system 10 of the driving assistance target vehicle M1 executes a warning process to notify the driver that "There is a high possibility of a collision with a vehicle at the specific intersection IS2."

[0347] Similarly, for example, when the driving assistance control system 10 obtains an estimation result that "there is a high possibility of a collision," the driving assistance control system 10 executes a process to decelerate the vehicle speed of the driving assistance target M1 (e.g., decelerate by 20%) or changes the planned driving route as an automatic driving control.

[0348] In addition, for example, when the driving assistance control system 10 obtains an estimation result that "the possibility of a collision is medium," the driving assistance control system 10 executes a warning process to notify the driver that "there is a possibility of a collision with a vehicle at the intersection of XX."

[0349] Furthermore, for example, when the driving assistance control system 10 obtains an estimation result that "the possibility of a collision is low," the driving assistance control system 10 executes a warning process to notify the driver that "Be careful of vehicle collisions at the intersection of XX."

[0350] In particular, in the examples of Figures 8 and 9 above, the driving assistance control system 10 of the driving assistance target vehicle M1 executes a process of notifying the driver "Be careful of vehicle collisions at the specific intersection IS1" as a warning process.

[0351] Similarly, for example, when the driving assistance control system 10 obtains an estimation result that "the possibility of a collision is low," the driving assistance control system 10 executes a process for decelerating or accelerating the vehicle speed of the driving assistance target M1 (a process for changing the speed in a direction that shifts the timing) as an automatic driving control.

[0352] [B1.7] Operation of this embodiment [B1.7.1] Operation of frequency information acquisition process Next, the operation of the frequency information acquisition process executed by the management server 20 of this embodiment will be described with reference to FIG.

[0353] FIG. 10 is a flowchart showing the operation of the frequency information acquisition process executed by the management server 20 of this embodiment.

[0354] This operation is executed at a predetermined timing, such as when any vehicle having an inter-vehicle communication function or a road-to-vehicle communication function, such as an on-board communication device such as a data communication module, passes through an installation point of the observation system 30. This operation is executed for each predetermined target area.

[0355] In addition, in this operation, it is assumed that the reference information collection process has already been executed, that vehicle detection information provided from each observation system 30 has already been collected, and that vehicle detection information for a certain period of time has been stored in the vehicle detection information storage unit 244 in correspondence with each observation system 30.

[0356] First, when the data analysis unit 213 detects the start timing of the frequency information acquisition process in a specified target area (step S101), it acquires vehicle detection information for a certain period of time for each observation system 30 that is already stored in the vehicle detection information storage unit 244 (step S102).

[0357] For example, the data analysis unit 213 detects a start timing, such as a pre-scheduled timing or a timing at which an instruction from an administrator is received.

[0358] Next, the data analysis unit 213 refers to the route information for each combination of points in the corresponding target area stored in the data storage unit 242, and analyzes each vehicle detection information detected by each observation system 30 based on the route information (step S103).

[0359] Next, the data analysis unit 213 calculates the total number of vehicles that passed through the reference point at each first installation point (step S104), and calculates the total number of vehicles that passed through each second installation point for each first installation point (step S105).

[0360] Next, the data analysis unit 213 calculates, for each first installation point, the frequency in the route combining each point (step S106).

[0361] Next, the data analysis unit 213 detects additional information such as the vehicle's travel speed for each point combination route at each first installation point, and the time required for the vehicle to pass the first installation point and pass the corresponding second installation point (step S107).

[0362] Instead of the required time, the data analysis unit 213 may detect an arithmetic expression for calculating the required time as additional information.

[0363] Finally, the data analysis unit 213 stores the frequency of each point combination route for each first installation point as frequency information in the frequency information storage unit 243 (step S108), and ends this operation.

[0364] In addition, in the process of step S107, if frequency information of the same point combination route at the same first installation point has already been stored in the frequency information storage unit 243, the data analysis unit 213 updates and registers the frequency information.

[0365] [B1.7.2] Operation of driving support information provision processing Next, the operation of the driving support information providing process executed by the management server 20 of this embodiment will be described with reference to Figs.

[0366] 11 and 12 are flowcharts showing the operation of the driving support information provision process executed by the management server 20 of this embodiment.

[0367] This operation is executed at each predetermined timing, such as the timing of entering a new target area.

[0368] In addition, in this operation, it is assumed that frequency information including additional information has already been stored in the frequency information storage unit 243, and that an instruction to provide driving assistance information has been sent from the driving assistance control system 10 in response to the entry of the vehicle (driving assistance target vehicle) M1 into a new target area.

[0369] First, when the collision estimation processing unit 214 receives an instruction to provide driving assistance information from the driving assistance control system 10 of the driving assistance target vehicle M1 (step S201), it acquires driving route information of the driving assistance target vehicle M1 from the driving assistance control system 10 (step S202).

[0370] Next, the collision estimation processing unit 214 identifies a planned driving route of the driving assistance target vehicle M1 based on the driving route information of the driving assistance target vehicle M1 (step S203).

[0371] Next, the collision estimation processing unit 214 refers to the point combination route information for each of the first installation points stored in the data storage unit 242, and specifies each point combination route that intersects with the planned travel route as a predicted route (step S204).

[0372] At this time, the collision estimation processing unit 214 also identifies a specific intersection point where the planned driving route and the predicted route intersect.

[0373] Next, the collision estimation processing unit 214 determines whether or not one or more predicted routes have been identified (step S205), and if it is determined that one or more predicted routes have been identified, proceeds to processing in step S207, and if it is determined that no predicted route has been identified, ends this operation.

[0374] Next, the collision estimation processing unit 214 refers to the frequency information corresponding to each identified predicted route, and estimates the arrival time of the driving assistance target vehicle M1 at each specific intersection based on the corresponding additional information (such as the travel speed) (step S207).

[0375] Next, the collision estimation processing unit 214 determines whether or not the conditions for terminating this operation, such as whether the driving assistance target vehicle M1 has passed all specific intersection points, are met (step S208), and if it determines that the conditions for terminating this operation are met, it terminates this operation as is.

[0376] In addition to the above, the termination conditions in this embodiment include, for example, a change in the route of the driving assistance target vehicle M1, and a stop of the drive unit of the driving assistance target vehicle M1, such as the stopping of the engine or the turning off of the motor drive power supply.

[0377] On the other hand, if the collision estimation processing unit 214 determines that the termination conditions for this operation are not met, it excludes from the collision estimation processing the specific intersection point that the driving assistance target vehicle M1 has already passed and the predicted route that includes the specific intersection point (step S209).

[0378] Next, the collision estimation processing unit 214 determines whether or not the trend prediction target vehicle M2 has been detected based on the vehicle detection information transmitted from the observation system 30 at the first installation point of each predicted route (step S210).

[0379] At this time, if the collision estimation processing unit 214 determines that the vehicle M2 whose movement is to be predicted has been detected on one or more predicted routes, it proceeds to processing of step S211, and if it determines that the vehicle M2 whose movement is to be predicted has not been detected on any predicted route, it proceeds to processing of step S208.

[0380] Next, when it is determined that the trend-prediction target vehicle M2 has been detected on one or more predicted routes, the collision estimation processing unit 214 estimates the arrival time of the corresponding trend-prediction target vehicle M2 at the specific intersection (step S211).

[0381] At this time, the collision estimation processing unit 214 estimates the arrival time of the corresponding trend prediction target vehicle M2 at the specific intersection point based on the frequency information of the point combination route that coincides with the corresponding predicted route.

[0382] Next, the collision estimation processing unit 214 compares the arrival time of the driving assistance target vehicle M1 at each specific intersection with the arrival time of the corresponding behavior prediction target vehicle M2, and calculates the time difference (step S212).

[0383] Next, the collision estimation processing unit 214 refers to frequency information of a combination of points that coincides with each predicted route along which the detected movement prediction target vehicle M2 is predicted to travel, and identifies the frequency of each predicted route (step S213).

[0384] Next, the collision estimation processing unit 214 gradually estimates the possibility of a collision at each intersection based on the frequency of each predicted route and the time difference at the intersection between the driving assistance target vehicle M1 and the trend prediction target vehicle M2, which is expected to travel along each predicted route (step S214).

[0385] Next, the collision estimation processing unit 214 provides collision possibility flag information, which indicates in stages the possibility of a collision with the trend prediction target vehicle M2, to the corresponding driving assistance control system 10 via the driving assistance information providing unit 218 (step S215), and proceeds to processing of step S208.

[0386] [B1.8] Variations [B1.8.1] Variation 1 In the above embodiment, in order to obtain frequency information, calculations are performed based on a statistical calculation method based on the vehicle detection information obtained from the observation system 30, but the frequency information may also be obtained based on the route information of each vehicle provided from each vehicle to the management server 20.

[0387] In this case, the data analysis unit 213 acquires route information that each vehicle that passed through the target area within a certain period of time actually passed based on each first installation point, and acquires frequency information based on the number of vehicles tallied for each route and the total number of vehicles that acquired the route.

[0388] The data analysis unit 213 may calculate all frequencies for route information that has passed through each first installation point.

[0389] Furthermore, similar to the above embodiment, the data analysis unit 213 may calculate the frequency by dividing the detection target route (e.g., (A,B), (A,C), (A,D), (A,B,D) and (A,C,D)) based on the installation point where the observation system 30 is installed.

[0390] In this case, the data analysis unit 213 also calculates the frequency of a route that passes only the installation point A (for example, (A only)), similarly to the above embodiment.

[0391] On the other hand, in this case, the data analysis unit 213 detects, as additional information, the travel speed of each vehicle for each route when passing through the first installation point and the time required for each vehicle to pass the corresponding second installation point.

[0392] In particular, as for the additional information, as described above, the data analysis unit 213 calculates a representative value for each required time, such as an average value, a mode value, or a median value, for each route and for each specified moving speed, and uses the calculated representative value as the required time for the moving speed as the additional information.

[0393] In this case, the collision estimation processing unit 214 executes the collision possibility estimation process similarly to the present embodiment, based on the frequency information including the additional information thus acquired.

[0394] [B1.8.2] Variation 2 In the collision probability estimation process of the above embodiment, instead of targeting all point combination routes based on each first installation point, it is also possible to identify only the most frequent routes in the frequency information for each first installation point that intersect with the planned travel route.

[0395] In other words, in this case, the collision estimation processing unit 214 identifies the most frequent route among the point combination routes for each first installation point as the predicted route, and identifies the point combination route where the predicted route intersects with the planned driving route of the driving assistance target vehicle M1.

[0396] In this case, the collision estimation processing unit 214 executes the collision possibility estimation process for the thus identified point combination route in the same manner as in this embodiment.

[0397] [B1.8.3] Variation 3 In the above embodiment, vehicle detection information is detected by each observation system 30, but the management server 20 may detect the vehicle detection information based on image data acquired from each observation system 30.

[0398] That is, in this modification, vehicle detection information such as the attributes (number), moving direction, and moving speed of a detected vehicle may be detected by the management server 20 from image data captured by each observation system 30 in the above embodiment.

[0399] [B1.8.4] Variation 4 In the above embodiment, each process is executed by the management server 20, but the driving assistance control system 10 of each driving assistance target vehicle M1 may execute the frequency information acquisition process and collision possibility estimation process.

[0400] In this case, the driving assistance control system 10 constitutes the driving assistance system described above.

[0401] On the other hand, the driving assistance control system 10 of each driving assistance target vehicle M1 may refer to the reference information collected by the management server 20 and execute the collision likelihood estimation process.

[0402] In addition, when the above-mentioned frequency information acquisition process is being executed by the management server 20, the driving assistance control system 10 of each driving assistance target vehicle M1 may execute part of the collision possibility estimation process being executed by the management server 20.

[0403] In this case, the driving assistance network system S1 constituted by the driving assistance control system 10 and the management server 20 constitutes the driving assistance system described above.

[0404] [B.2] Second embodiment [B2.1] Features of this embodiment Next, the features of this embodiment will be described with reference to FIG.

[0405] FIG. 13 is a system configuration diagram showing the configuration of the driving support network system S2 of this embodiment.

[0406] 13, in the same way as in FIG. 1 of the first embodiment, in order to prevent the drawing from becoming complicated, the driving assistance target vehicle M1, the trend prediction target vehicle M2, and a part of the observation system 30 are illustrated.

[0407] The driving assistance network system S2 of this embodiment is characterized in that it provides driving assistance to avoid a collision between a trend prediction target vehicle M2, including a vehicle (hereinafter referred to as a "parked target vehicle") M3 parked within a target area, and a driving assistance target vehicle M1.

[0408] Other features of this embodiment except for those mentioned above are similar to those of the first embodiment, and the same members are denoted by the same reference numerals and the description thereof will be omitted.

[0409] The driving assistance network system S2 of this embodiment is configured from a driving assistance control system 10, a management server 20, and a database server (hereinafter, referred to as a "DB server") 21, as shown in FIG.

[0410] The DB server 21 is a server that has map image data that images various locations within the target area and associates them with map data to allow actual observation of the real space, and provides each map image data so that it can be viewed in the same way as a map.

[0411] In addition to the configuration of the first embodiment, the management server 20 has a configuration for executing a parked vehicle information acquisition process that acquires information on the parking positions of specific vehicles within a specified area among passing vehicles as parking position information, separate from the frequency information acquisition process.

[0412] In other words, the management server 20 works in conjunction with the DB server 21 and is configured to associate the target parking vehicle M3 that may be parked within the target area with identification information such as the number of each vehicle, and store parking position information indicating the location where the vehicle will be parked.

[0413] The management server 20 works in conjunction with the DB server 21, and when it acquires vehicle detection information of the vehicle M2 whose movements are to be predicted, detected by the observation system 30, it is configured to execute a collision possibility estimation process based on the acquired vehicle detection information and parking position information.

[0414] Specifically, when a vehicle M2 for which trends are predicted is detected by any of the observation systems 30, the management server 20 is configured to execute a determination process to determine whether the vehicle M2 for which trends are predicted is a parked vehicle M3 or not based on the acquired parking position information.

[0415] The management server 20 is configured to estimate the possibility of a collision between the driving assistance target vehicle M1 and the parking target vehicle M3 based on the result of the determination process.

[0416] With this configuration, the management server 20 of the present disclosure can predict the movements of undetectable vehicles, including the parking situation within the target area, with high accuracy, and can estimate a collision between the movement prediction target vehicle M2 and the driving assistance target vehicle M1, including whether the vehicle is parked or stopped.

[0417] In addition, the DB server 21 may be a server that has dynamic map data consisting of information that can identify a vehicle at the lane level and additional information to support automatic driving, etc., instead of or in addition to map data, and provides the dynamic map data to vehicles that perform automatic driving, etc.

[0418] In particular, a dynamic map is, for example, a database-like map that adds vehicle or various traffic information to a high-precision three-dimensional map, and has high-precision three-dimensional geospatial information (basic map information) that enables the position of the vehicle on roads and their surroundings to be identified at the lane level.

[0419] In addition, the dynamic map contains various additional map information necessary to support automated driving, such as traffic regulation information including dynamic information such as accident and construction information in addition to static information such as speed limits, in addition to the high-precision 3D geospatial information.

[0420] [B2.2] Management Server Next, the management server 20 of this embodiment will be described with reference to FIG. 14 and FIG.

[0421] Note that Figure 14 is a diagram for explaining the parked vehicle information acquisition processing executed by the management server 20 of the embodiment, and Figure 15 is a diagram for explaining the collision estimation processing executed by the management server 20 of the embodiment.

[0422] The management server 20 of this embodiment has the same configuration as that of the first embodiment, and the data analysis unit 213 and the collision estimation processing unit 214 further have the following functions.

[0423] (Parked vehicle information acquisition process) The data analysis unit 213 executes a parked vehicle information acquisition process at a predetermined timing, in which the data analysis unit 213 refers to image data or dynamic map data stored in the DB server 21 and acquires parked vehicle information to be used when detecting the parked vehicle M3.

[0424] In particular, the data analysis unit 213 detects parking position information indicating locations where parking and stopping is possible within the target area, and information such as the license plate number of the parked vehicle (hereinafter referred to as "parking and stopping identification information") based on image data stored in the DB server 21.

[0425] Furthermore, the data analysis unit 213 uses, for example, the timing at which the trend prediction target vehicle M2 is detected by any one of the observation systems 30 as the predetermined timing.

[0426] For example, the data analysis unit 213 identifies coordinate positions (east longitude and north latitude) on a road at regular intervals within the target area, and refers to 360-degree image data (data with a fixed elevation angle of 0 degrees at the time of imaging) having the identified coordinate positions.

[0427] Then, when the data analysis unit 213 detects a parked vehicle in the image data, as shown in FIG. 14, it executes a parked vehicle information acquisition process to acquire the number (identification information) of the vehicle and acquire it together with its coordinate position as parked vehicle information.

[0428] The data analysis unit 213 detects a vehicle that is present in a parking space on the side of the road or in a site space outside the road as a parked vehicle.

[0429] Then, the data analysis unit 213 associates the detected parking / stopping position information with the parking / stopping identification information, and stores the information in the vehicle detection information storage unit 244 as parked / stopped vehicle information.

[0430] (Parking / Stopping Judgment Processing and Collision Estimation Processing) The collision estimation processing unit 214 refers to the parked vehicle information stored in the vehicle detection information storage unit 244 when detecting the movement prediction target vehicle M2 on one or more predicted routes during execution of the driving support information provision processing.

[0431] Then, the collision estimation processing unit 214 executes a parking / stopping determination process for determining whether or not the detected movement prediction target vehicle M2 is the parked / stopped target vehicle M3, based on the parked / stopped vehicle information.

[0432] In addition, when the collision estimation processing unit 214 determines that the movement prediction target vehicle M2 detected by the parking / stopping determination processing is the parking / stopping target vehicle M3, it executes the collision estimation processing including parking / stopping within the target area.

[0433] In particular, when the detected trend prediction target vehicle M2 is a parked target vehicle M3, the collision estimation processing unit 214 identifies the route from the installation point of the detected observation system 30 to the parking position as the predicted route based on the parking position information as additional information of the corresponding parked vehicle information.

[0434] Then, the collision estimation processing unit 214 determines whether the planned driving route of the driving assistance target vehicle M1 intersects with the predicted route to the parking position, and if it determines that the planned driving route intersects with the predicted route, executes collision estimation processing as in the first embodiment.

[0435] Specifically, as shown in FIG. 15, in the collision estimation process, when the collision estimation processing unit 214 determines that the planned driving route of the driving assistance target vehicle M1 and the predicted route to the parking position intersect, the collision estimation processing unit 214 identifies the intersecting point as the intersection point.

[0436] Then, the collision estimation processing unit 214 identifies the determination reference time of the driving assistance target vehicle M1 at the specific intersection and the determination target time of the parked target vehicle M3 at the specific intersection, and compares these times.

[0437] Then, the collision estimation processing unit 214 estimates the possibility of a collision between the driving assistance target vehicle M1 and the detected parked target vehicle M3, based on the relationship between the target determination time and the reference determination time.

[0438] At this time, the collision estimation processing unit 214 judges whether or not the relationship between the judgment target time and the judgment reference time satisfies a predetermined first condition, and estimates the possibility of the above-mentioned collision.

[0439] In addition, Figure 15 shows an example in which the vehicle M2 to be predicted in terms of movement is identified as the vehicle M3 to be parked, and the planned driving route of the vehicle M1 to be driven assisted intersects with the predicted route to the parking position PP of the vehicle M3 to be parked at a specific intersection point IS3.

[0440] Then, for example, the collision estimation processing unit 214 estimates the possibility of the collision as described above, with a third condition being that the determination target time and the determination reference time have a predetermined time difference (for example, a difference of ±10 seconds) as in the first embodiment.

[0441] At this time, when the third condition is met, the collision estimation processing unit 214 determines that there is a high possibility of a collision between the driving assistance target vehicle M1 and the detected parked target vehicle M3.

[0442] Furthermore, when the third condition is not met, the collision estimation processing unit 214 determines that the possibility of a collision between the driving assistance target vehicle M1 and the detected parking target vehicle M3 is low.

[0443] (Provision of driving assistance information) As in the first embodiment, the driving assistance information providing unit 218 provides the result of the collision possibility estimation process executed by the collision estimation processing unit 214 as estimation result information to the driving assistance control system 10 of the corresponding driving assistance target vehicle M1.

[0444] For example, in the above example, the driving assistance information providing unit 218 provides one of two estimation results, “high probability of collision” or “low probability of collision,” as estimation result information to the driving assistance control system 10 of the corresponding driving assistance target vehicle M1.

[0445] In addition, as in the first embodiment, when the driving assistance control system 10 receives staged flag information, it executes driving assistance control processing to provide driving assistance such as warning processing for the driver or automatic driving control based on the type of the flag information.

[0446] For example, when the driving assistance control system 10 obtains an estimation result that "there is a high possibility of a collision," the driving assistance control system 10 executes a warning process to notify the driver that "There is a high possibility of a collision with a vehicle at the intersection of XX."

[0447] In addition, for example, when the driving assistance control system 10 obtains an estimation result that "the possibility of a collision is low," the driving assistance control system 10 executes a warning process to notify the driver that "Be careful of vehicle collisions at the intersection of XX."

[0448] [B2.3] Operation of this embodiment (driving support information provision process) Next, the operation of the driving support information provision process executed by the management server 20 of this embodiment will be described with reference to Figs.

[0449] 16 to 19 are flowcharts showing the operation of the driving support information provision process executed by the management server 20 of this embodiment.

[0450] This operation is executed at each predetermined timing, such as the timing of entering a new target area.

[0451] Moreover, this operation is a process performed when the parking target vehicle M3 is detected in the driving support information provision process in the first embodiment. Therefore, the same processes as those in the first embodiment are denoted by the same step symbols and the description thereof will be omitted.

[0452] In this operation, as in the first embodiment, it is assumed that frequency information including additional information has already been stored in the frequency information storage unit 243, and that parked vehicle information has already been stored in the vehicle detection information storage unit 244.

[0453] Furthermore, in this operation, it is assumed that an instruction to provide driving assistance information is transmitted from the driving assistance control system 10 in response to the vehicle (driving assistance target vehicle) M1 entering a new target area.

[0454] First, when the collision estimation processing unit 214 receives an instruction to provide driving assistance information from the driving assistance control system 10 of the driving assistance target vehicle M1 (step S201), it acquires driving route information of the driving assistance target vehicle M1 from the driving assistance control system 10 (step S202).

[0455] Next, the collision estimation processing unit 214 identifies the planned driving route of the driving assistance target vehicle M1 based on the driving route information of the driving assistance target vehicle M1 (step S203), and identifies each point combination route that intersects with the planned driving route as a predicted route (step S204).

[0456] At this time, the collision estimation processing unit 214 also identifies a specific intersection point where the planned driving route and the predicted route intersect.

[0457] Next, the collision estimation processing unit 214 determines whether or not one or more predicted routes have been identified (step S205).

[0458] At this time, if the collision estimation processing unit 214 determines that no predicted route has been identified, it proceeds to processing of step S311, and if it determines that one or more predicted routes have been identified, it proceeds to processing of step S207.

[0459] Next, the collision estimation processing unit 214 refers to the frequency information corresponding to each identified predicted route, and estimates the arrival time of the driving assistance target vehicle M1 at each specific intersection based on the corresponding additional information (such as the travel speed) (step S207).

[0460] Next, the collision estimation processing unit 214 determines whether or not the conditions for terminating this operation, such as whether the driving assistance target vehicle M1 has passed all specific intersection points, are met (step S208), and if it determines that the conditions for terminating this operation are met, it terminates this operation as is.

[0461] On the other hand, if the collision estimation processing unit 214 determines that the termination conditions for this operation are not met, it excludes from the collision estimation processing the specific intersection point that the driving assistance target vehicle M1 has already passed and the predicted route that includes the specific intersection point (step S209).

[0462] Next, the collision estimation processing unit 214 determines whether or not the trend prediction target vehicle M2 has been detected based on the vehicle detection information transmitted from the observation system 30 at the first installation point of each predicted route (step S210).

[0463] At this time, if the collision estimation processing unit 214 determines that the vehicle M2 whose movement is to be predicted has been detected on one or more predicted routes, it proceeds to processing of step S301, and if it determines that the vehicle M2 whose movement is to be predicted has not been detected on any predicted route, it proceeds to processing of step S208.

[0464] Next, when the collision estimation processing unit 214 determines that the trend prediction target vehicle M2 has been detected, it determines whether the trend prediction target vehicle M2 is a parked target vehicle M3 based on the parked vehicle information stored in the vehicle detection information storage unit 244 (step S301).

[0465] At this time, if the collision estimation processing unit 214 determines that the detected trend prediction target vehicle M2 is the parked target vehicle M3, it proceeds to processing of step S302, and if it determines that the trend prediction target vehicle M2 is not the parked target vehicle M3, it proceeds to processing of step S211.

[0466] Next, when the collision estimation processing unit 214 determines that the detected behavior prediction target vehicle M2 is not the parked target vehicle M3, it estimates the arrival time of the corresponding behavior prediction target vehicle M2 at the specific intersection (step S211).

[0467] Next, the collision estimation processing unit 214 compares the arrival time of the driving assistance target vehicle M1 at each specific intersection with the arrival time of the corresponding behavior prediction target vehicle M2, and calculates the time difference (step S212).

[0468] Next, the collision estimation processing unit 214 refers to the frequency information and specifies the frequency of collisions on each predicted route (step S213).

[0469] Next, the collision estimation processing unit 214 estimates in stages the possibility of collision at each specific intersection based on the frequency of each predicted route and the time difference calculated in the processing of step S212 (step S214).

[0470] Next, the collision estimation processing unit 214 provides collision possibility flag information, which indicates in stages the possibility of a collision with the trend prediction target vehicle M2, to the corresponding driving assistance control system 10 via the driving assistance information providing unit 218 (step S215), and proceeds to processing of step S208.

[0471] On the other hand, when the collision estimation processing unit 214 determines that the detected behavior prediction target vehicle M2 is the parked / stopped target vehicle M3, it specifies a parking / stopping route (step S302).

[0472] That is, the collision estimation processing unit 214 specifies a parking route from the position of the observation system 30 where the parked target vehicle M3 was detected to the parking position, based on the parked vehicle information.

[0473] Next, the collision estimation processing unit 214 determines whether or not there is a specific intersection point where the driving route of the driving assistance target vehicle M1 intersects with the parking / stopping route identified in the processing of step S302 (step S303).

[0474] At this time, if the collision estimation processing unit 214 determines that there is no specific intersection, it proceeds to the process of step S310, and if it determines that there is the specific intersection, it proceeds to the process of step S304.

[0475] If it is determined that there is no specific intersection, the collision estimation processing unit 214 then determines whether or not a predicted route has been specified (step S310).

[0476] At this time, if the collision estimation processing unit 214 determines that a predicted route has been specified, the process proceeds to step S208, and if it determines that a predicted route has not been specified, the process proceeds to step S311.

[0477] Next, when it is determined that there is a specific intersection, the collision estimation processing unit 214 estimates the arrival time of the driving assisted vehicle M1 at the specific intersection based on the driving route information of the driving assisted vehicle M1 (step S304).

[0478] Next, the collision estimation processing unit 214 estimates the arrival time of the target parking vehicle M3 at the specific intersection point based on the moving speed when the observation system 30 detects the target parking vehicle M3 and the parking route (step S305).

[0479] Next, the collision estimation processing unit 214 compares the arrival time of the driving assistance target vehicle M1 at the specific intersection with the arrival time of the corresponding parked target vehicle M3, and calculates the time difference (step S306).

[0480] Next, the collision estimation processing unit 214 estimates in stages the possibility of collision at each intersection based on the time difference calculated in the processing of step S212 (step S307), and proceeds to the processing of step S215.

[0481] On the other hand, if the collision estimation processing unit 214 determines in the processing of step S205 that no predicted route has been identified, it determines whether or not the termination condition for this operation has been met, such as whether or not a new target area has been entered (step S311).

[0482] At this time, if the collision estimation processing unit 214 determines that the termination condition for this operation is met, it terminates this operation as is, but if it determines that the termination condition is not met, it proceeds to processing in step S312.

[0483] Next, the collision estimation processing unit 214 determines whether or not the movement prediction target vehicle M2 has been detected based on the vehicle detection information transmitted from each observation system 30 (step S312).

[0484] At this time, if the collision estimation processing unit 214 determines that the trend prediction target vehicle M2 has been detected, it proceeds to processing of step S313, and if it determines that the trend prediction target vehicle M2 has not been detected, it returns to processing of step S311.

[0485] Next, when the collision estimation processing unit 214 determines that the trend prediction target vehicle M2 has been detected, it determines whether the trend prediction target vehicle M2 is a parked target vehicle M3 based on the parked vehicle information stored in the vehicle detection information storage unit 244 (step S313).

[0486] At this time, if the collision estimation processing unit 214 determines that the trend prediction target vehicle M2 is the parked target vehicle M3, it proceeds to processing of step S302, and if it determines that the trend prediction target vehicle M2 is not the parked target vehicle M3, it returns to processing of step S311.

[0487] [B2.4] Variations In the above embodiment, similarly to the first embodiment, various modifications can be applied.

[0488] In addition, in the above embodiment, vehicle detection information is detected by each observation system 30, but the management server 20 may detect the vehicle detection information based on image data acquired from each observation system 30.

[0489] [C] Other The embodiments of the present disclosure are not limited to those described in the above embodiments, and various modifications are possible. For example, terms cited in the description of the specification or drawings as broadly defined or synonymous terms can be replaced with broadly defined or synonymous terms in other descriptions of the specification or drawings.

[0490] The embodiments of the present disclosure include configurations that are substantially the same as the configurations described in the above embodiments (for example, configurations having the same function, method, and result, or configurations having the same purpose and effect).

[0491] Furthermore, the embodiments of the present disclosure include configurations in which non-essential parts of the configurations described in the above embodiments are replaced.

[0492] Furthermore, the embodiments of the present disclosure include configurations that have the same effects as those described in the above embodiments or that can achieve the same purpose.

[0493] Furthermore, the embodiments of the present disclosure include configurations in which publicly known technology is added to the configurations described in the above embodiments.

[0494] Although the embodiments of the present disclosure have been described in detail as above, it will be easily understood by those skilled in the art that many modifications are possible without substantially departing from the novel features and effects of the present invention. Therefore, all such modifications are intended to be included within the scope of the embodiments of the present disclosure. [Explanation of symbols]

[0495] M1: Vehicle with driving assistance M2: Vehicles for which trends are predicted M3: Vehicles subject to parking S1, S2: Driver assistance network system 10: Driving assistance systems 20: Management server 21:DB server 30: Observation system 110: Processing section 111: Communication control unit 112: Operation reception processing unit 113: Driving assistance control processing unit 114: Driving-related information provision department 120: Operation input section 140: Storage section 141: Main memory 142: Data storage unit 150: Information storage medium 170: Communications Department 210: Processing section 211: Communication control section 212: Data acquisition unit 213: Data Analysis Department 214: Collision estimation processing unit 218: Driving Support Information Department 219: Timer Management Unit 240: Storage section 241: Main memory 242: Data storage unit 243: Frequency information storage unit 244: Vehicle detection information storage unit 250: Information storage medium 270: Communications Department 310: Imaging camera 320: Sensor management device 321: Sensor communication unit 322: Sensor processing unit 323: Sensor memory unit 325: Communication control section 326: Camera control unit 327: Image processing section 329: Timer Management Unit

Claims

1. In a driving assistance system that assists driving of a vehicle, one or more processors; and one or more memories communicatively coupled to the one or more processors; The processor, When providing driving assistance to the vehicle in a predetermined area including a plurality of installation points at which observation sensors are respectively installed, and a plurality of driving routes exist from a first installation point among the plurality of installation points to a second installation point different from the first installation point, executing an information acquisition process for acquiring frequency information indicating a frequency with which a passing vehicle that has passed through the first installation point passes through the second installation point for each combination of the first installation point and the second installation point; A driving assistance system that executes an estimation process to estimate the possibility of a collision between a vehicle that can recognize a planned driving route within the specified area and another vehicle that is not equipped with a road-to-vehicle communication function for communicating with the observation sensor, based on the frequency information for each combination of installation points acquired.

2. The processor, A collection process is executed to collect information detected by the plurality of observation sensors, the information being related to the passing vehicles that have passed through each of the installation points, as vehicle detection information; The driving assistance system according to claim 1 , wherein the information acquisition process executes a calculation process of calculating the frequency for each combination of the installation points based on the vehicle detection information of each passing vehicle.

3. The processor, acquires host vehicle travel information indicating a position of the host vehicle and information on a planned travel route of the host vehicle within the specified area, and travel route information indicating information on a travel route of the passing vehicle including the first installation point and the second installation point; The estimation process includes: Identifying an intersection point where the planned driving route and the driving route intersect based on the host vehicle driving information and the driving route information; estimating an arrival time of the host vehicle at the intersection based on the host vehicle travel information; When a vehicle other than the host vehicle is detected by any one of the observation sensors installed on the travel route, vehicle detection information regarding the vehicle detected by the observation sensor is acquired; estimating an arrival time of the other vehicle at the intersection based on the vehicle detection information and the frequency information; calculating a time difference between an expected arrival time of the vehicle and an expected arrival time of the other vehicle at the intersection; The driving assistance system according to claim 1 , further comprising: a step of estimating a possibility of a collision between the host vehicle and the other vehicle based on information on the calculated time difference.

4. The processor, The driving assistance system according to claim 1 , further comprising a notification process for notifying the host vehicle of a possibility of a collision with the other vehicle.

5. The processor, execute a parking / stopping information acquisition process for acquiring information on parking / stopping positions of specific vehicles within the predetermined area as parking / stopping position information, among the passing vehicles; 2. The driving assistance system according to claim 1, wherein, when a vehicle other than the host vehicle is detected by any of the observation sensors installed on the driving route, a determination process is executed to determine whether the other vehicle is the specific vehicle based on the acquired parking / stopping position information, and a possibility of a collision between the host vehicle and the specific vehicle is estimated based on a result of the determination process.

6. The processor, In the estimation process, when the other vehicle is the specific vehicle, a route of the specific vehicle is identified based on a parking position of the corresponding parking / stopping position information; The driving assistance system according to claim 5 , further comprising: a step of estimating a possibility of a collision between the host vehicle and the specific vehicle based on the identified route.

7. In a vehicle equipped with a driving assistance device that assists in driving the vehicle, The driving assistance device, When providing driving assistance to the vehicle in a predetermined area including a plurality of installation points at which observation sensors are respectively installed, and a plurality of driving routes exist from a first installation point among the plurality of installation points to a second installation point different from the first installation point, executing an information acquisition process for acquiring frequency information indicating a frequency with which a passing vehicle that has passed through the first installation point passes through the second installation point for each combination of the first installation point and the second installation point; A vehicle that executes an estimation process to estimate the possibility of a collision between the vehicle, which can recognize a planned driving route within the specified area, and another vehicle that is not equipped with a road-to-vehicle communication function for communicating with the observation sensor, based on each frequency information for each combination of installation points acquired.

8. A recording medium having a computer program applied to a driving assistance device that assists driving of a vehicle, On the computer, When providing driving assistance to the vehicle in a predetermined area including a plurality of installation points at which observation sensors are respectively installed, and a plurality of driving routes exist from a first installation point among the plurality of installation points to a second installation point different from the first installation point, executing an information acquisition process for acquiring frequency information indicating a frequency with which a passing vehicle that has passed through the first installation point passes through the second installation point for each combination of the first installation point and the second installation point; A recording medium having a computer program recorded thereon, which executes an estimation process to estimate the possibility of a collision between a vehicle capable of recognizing a planned driving route within the specified area and another vehicle that is not equipped with a road-to-vehicle communication function for communicating with the observation sensor, based on each frequency information for each combination of installation points acquired.

9. A driving assistance method for assisting driving of a vehicle, comprising: The processor: When providing driving assistance to the vehicle in a predetermined area including a plurality of installation points at which observation sensors are respectively installed, and a plurality of driving routes exist from a first installation point among the plurality of installation points to a second installation point different from the first installation point, executing an information acquisition process for acquiring frequency information indicating a frequency with which a passing vehicle that has passed through the first installation point passes through the second installation point for each combination of the first installation point and the second installation point; and executing an estimation process to estimate the possibility of a collision between a vehicle capable of recognizing a planned driving route within the specified area and another vehicle that is not equipped with a road-to-vehicle communication function for communicating with the observation sensor, based on each frequency information for each combination of installation points acquired.

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