Driving assistance system, driving assistance method, and program

Abstract

To provide a driving support system, etc. for dynamically and flexibly presenting a route for avoiding danger.SOLUTION: A navigation system 100 detects a location of an own vehicle and presents a guide route from the location of the own vehicle to a destination. The driving support system includes a peripheral vehicle information acquiring part 153, an attention vehicle detection part 154b and a route setting part 154c, or an avoidance route setting part. The peripheral vehicle information acquisition part 153 acquires peripheral vehicle information relating to peripheral vehicles of the own vehicle. The attention vehicle detection part 154b detects an attention vehicle based on the peripheral vehicle information. The route setting part 154c sets an avoidance route to the destination on the condition that the own vehicle and the attention vehicle are separated at least by a preset distance on a travel route of the own vehicle.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a driving assistance system, a driving assistance method, and a program. [Background technology]

[0002] Technologies have been proposed to reduce the likelihood of events such as vehicle traffic accidents occurring. For example, the driving support device described in Patent Document 1 detects that a nearby vehicle has deviated from normal traffic flow. The accident content identification unit predicts accidents that occur due to deviations from normal traffic flow, and identifies accidents that occur due to deviations from normal traffic flow. The workaround decision unit decides on a workaround, and issues a warning and a workaround, and controls the engine. The system controls the steering control unit, brake control unit, and transmission control unit to assist in the execution of avoidance measures.

[0003] The driving assistance program described in Patent Document 2 is a program for selecting a route from a starting point to a destination point. When multiple routes are selected, the route with the shortest travel time from the departure point to the destination is selected. The above driving support program extracts routes where the increase in travel time is within a specified range. The RAM is the route that is extracted and the location where the occurrence frequency of dangerous driving exceeds a certain frequency is the most important. Routes with fewer obstacles and more rest facilities are presented as safe routes. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2005-115484 A [Patent Document 2] JP 2017-151566 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, even if the above-mentioned technology is used, if a nearby vehicle that is driving recklessly is driving the vehicle, When tailgating a vehicle by capturing or tracking it, the vehicle must follow the guide route. However, it is difficult to avoid surrounding vehicles. Even in places where there is no risk of being caught, you may suddenly encounter a vehicle that is tailgating you. It is not possible to avoid encountering nearby vehicles in advance.

[0006] The present invention has been made to solve such problems, and is a method for avoiding danger. It provides a driving assistance system that dynamically and flexibly presents roads. [Means for solving the problem]

[0007] The driving support system according to the present invention detects the position of the vehicle and calculates a destination from the position of the vehicle. The driving assistance system includes a surrounding vehicle information acquisition unit and a surrounding vehicle information acquisition unit. The surrounding vehicle information acquisition unit detects surrounding vehicles of the own vehicle. The attention vehicle detection unit detects the attention vehicle based on the surrounding vehicle information. The avoidance route setting unit detects in advance that the host vehicle and the target vehicle are located on the travel route of the host vehicle. An avoidance route to the destination is set on the condition that the distance is greater than the set distance.

[0008] The driving support method according to the present invention detects the position of a vehicle and drives a vehicle from the position of the vehicle to a destination. The driving support method includes a surrounding vehicle information acquisition step, a target vehicle detection step, and a vehicle information acquisition step. The method includes a surrounding vehicle information acquisition step, and an avoidance route setting step. The surrounding vehicle information regarding the surrounding vehicles of the own vehicle is acquired. The avoidance route setting step detects the target vehicle based on the information. The vehicle can travel to the destination on the condition that it is within a preset distance from the destination on the vehicle's route. Set up an escape route.

[0009] The program according to the present invention detects the position of the vehicle and calculates a distance from the position of the vehicle to a destination. A driving assistance program that causes a computer to execute a driving assistance method that presents a guide route. The driving support method includes a surrounding vehicle information acquisition step, a notable vehicle detection step, and an avoidance process step. The surrounding vehicle information acquisition step includes acquiring information about surrounding vehicles of the host vehicle. The attention vehicle detection step detects the attention vehicle based on the surrounding vehicle information. The avoidance route setting step detects whether the host vehicle and the target vehicle are on the travel route of the host vehicle. The system sets an avoidance route to the destination on the condition that the distance between the target and the destination is greater than a preset distance. Effect of the Invention

[0010] According to the present invention, a driving support system or the like that dynamically and flexibly presents a route to avoid danger is provided. can be provided. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a top view of a vehicle equipped with a driving assistance system. [Diagram 2] 1 is a block diagram of a driving assistance system according to an embodiment. [Diagram 3] 4 is a first flowchart showing a process performed by the driving assistance system. [Figure 4] 5 is a second flowchart showing the processing performed by the driving assistance system. [Diagram 5] FIG. 2 is a diagram showing a first example of a guide route displayed by the driving assistance system. [Figure 6] FIG. 2 is a first diagram showing an example of an avoidance route displayed by the driving assistance system. [Figure 7] FIG. 2 is a second diagram showing an example of an avoidance route displayed by the driving assistance system. [Figure 8] FIG. 11 is a diagram showing a second example of a guide route displayed by the driving assistance system. [Figure 9] FIG. 3 is a third diagram showing an example of an avoidance route displayed by the driving assistance system. [Figure 10] FIG. 4 is a fourth diagram showing an example of an avoidance route displayed by the driving assistance system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The present invention will be described below through the embodiments of the invention. The present invention is not limited to the following embodiments. Furthermore, all of the configurations described in the embodiments do not solve the problems. It is not necessarily essential to provide a solution. In the drawings, the same elements are omitted or simplified as appropriate. The elements are given the same reference numerals, and repeated explanations are omitted as necessary.

[0013] <Embodiment> The configuration of the embodiment will be described below with reference to the drawings. FIG. 1 is a top view of a vehicle equipped with a driving assistance system. The navigation system 100 is a driving assistance system for a vehicle. The location of the vehicle 900 is detected, and a guide route from the location of the vehicle 900 to the destination is displayed to the user, who is a driver. The vehicle 900, which is a moving body, is provided with a navigation system according to the embodiment. The navigation system 100 includes a positioning information receiving unit 110. , traffic information receiving unit 120, front camera 130, rear camera 140, control unit 150, display unit 160 and so on.

[0014] The positioning information receiving unit 110 and the traffic information receiving unit 120 are mounted on the dashboard of the vehicle 900. The positioning information receiving unit 110 is a GPS (Global Positioning System) GNSS (Global Navigation Satellite System) and other satellite positioning systems m) for receiving positioning information for locating the position of the vehicle. The information receiving unit 120 is, for example, a vehicle information communication system (VICS (registered trademark)) in Japan. The antenna is for receiving traffic information from the traffic information and communication system (TAS). Traffic information includes congestion information, travel time required for a specific section, traffic regulations, etc. The positioning information receiving unit 110 and the traffic information receiving unit 120 each receive desired information. The sensor 910 may be installed at any position on the vehicle 900 so long as it is installed in such a position.

[0015] The front camera 130 captures the image in front of the vehicle 900 at a viewing angle of 180 degrees. 0 is installed at the upper center of the windshield in the cabin of the vehicle 900, The rear camera 140 can capture images of other vehicles passing in front of the vehicle 900. The rear camera 140 captures the vehicle 900 in the cabin with a viewing angle of 180 degrees. It is installed at the top center of the rear window and can capture other vehicles passing behind the vehicle 900. The front camera 130 and the rear camera 140 each have an objective lens for capturing an image of a shooting range, Each of the front camera 130 and the rear camera 131 includes an image sensor, an image processing circuit, etc. The camera 140 is not limited to the above-mentioned configuration. In addition, instead of the rear camera 140, an omnidirectional camera that captures images of the surroundings of the vehicle 900 may be provided. stomach.

[0016] The control unit 150 is a control circuit housed at an arbitrary position in the vehicle 900 and controls the navigation system. The control unit 150 appropriately controls each component of the computer system 100. The details of the control unit 150 will be described later. The display unit 160 is a display unit installed on the dashboard so as to present information to the driver. A device that includes, for example, a liquid crystal panel or an organic EL (Electro Luminescence) panel. nothing.

[0017] The configuration of the navigation system 100 will be further described with reference to FIG. FIG. 1 is a block diagram of a navigation system 100 according to an embodiment. The main components of the system 100 include the above-mentioned positioning information receiving unit 110 and traffic information receiving unit 112. 120, a front camera 130, a rear camera 140, a control unit 150 and a display unit 160. The navigation system 100 includes an operation unit 170, a speaker 180, and a map information storage unit 190.

[0018] When the positioning information receiving unit 110 receives a signal including the positioning information, the positioning information receiving unit 110 detects the position of the vehicle 9 from the received signal. The generated location information is used to receive positioning information. The traffic information receiving unit 120 receives the traffic information. The received traffic information is then supplied to the control unit 150.

[0019] The front camera 130 and the rear camera 140 capture images of the shooting range to generate shooting data. The image capturing data is generated by each of the image capturing units 150 and the generated image capturing data is supplied to the control unit 150. The captured image data includes the images of surrounding vehicles existing around the vehicle 900. The surrounding vehicle information is information about the surrounding vehicle. The surrounding vehicle information includes the shape of the subject included in the shooting range. The surrounding vehicle information further includes the distance between the camera and the subject, The front camera 130 and the rear camera 140 may include information regarding, for example, The camera generates 30 frames of shooting data per second, and transmits the data to the control unit 1 every 1 / 30th of a second. Supply to 50.

[0020] The control unit 150 includes, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), A control circuit that implements a processing unit, buffer memory, and multiple interfaces. The control unit 150 executes various processes by executing programs stored therein. The main components of the system include a position detection unit 151, a traffic information acquisition unit 152, and a surrounding vehicle information acquisition unit 1 53, a calculation unit 154, a display control unit 155, an operation control unit 156, a voice control unit 157, and The control unit 150 includes a diagram information acquisition unit 158. They are communicatively connected by 150B.

[0021] The position detection unit 151 detects the position information supplied from the positioning information receiving unit 110. The location information is supplied to the calculation unit 154 and the map information acquisition unit 158. The traffic information acquisition unit 152 includes information on the latitude, route, and positioning time of both 900. The traffic information is received from the traffic information receiving unit 120, and the received traffic information is input to the calculation unit 1 The traffic information may include, for example, traffic congestion information on roads around the vehicle 900, traffic The surrounding vehicle information acquisition unit 153 acquires information from the front camera 130 and the rear camera 131. The imaging data is acquired from 140 and supplied to the calculation unit 154 .

[0022] The calculation unit 154 performs various analyses and calculations on the information received from each component, and outputs the analysis results and calculation results. The calculation unit 154 executes processing according to the calculation result. 4b and a path setting section 154c.

[0023] The analysis unit 154a performs a pre-processing for the captured image data received from the surrounding vehicle information acquisition unit 153. The analysis is performed according to the set method. For example, the analysis unit 154a By detecting changes in brightness from the pixel values, other vehicles in the captured data can be detected. In addition, the analysis unit 154a detects changes in the object for each frame, thereby Detects the movement of other vehicles in the vicinity.

[0024] The attention vehicle detection unit 154b detects an attention vehicle from the analysis result of the analysis unit 154a. The vehicle is a vehicle that is set so that it can be detected from the surrounding vehicle information. For example, the target vehicle is Among the vehicles passing in front of or behind the vehicle 900, those that are likely to come into contact with the vehicle 900 It is possible to determine that there is a substantial possibility that the operation of the vehicle 900 will be hindered, for example, by the In this case, the target vehicle may be called a dangerous vehicle. Vehicles that sway from side to side or approach vehicle 900 abnormally from behind The attention vehicle detection unit 154b detects attention vehicles. When the vehicle of interest is detected, information about the detected vehicle of interest is supplied to the route setting unit 154c.

[0025] The route setting unit 154c sets a route from the vehicle 900 to the destination in accordance with the set conditions. For example, the route setting unit 154c sets a travel route based on the position information of the vehicle 900 and the route set by the driver. The system receives information about a specified destination and generates a guide route from the position of the vehicle 900 to the destination. In addition, the route setting unit 154c determines whether the vehicle 900 that has been traveling along the guide route is If the vehicle deviates from the road, the route setting unit 154c updates the guide route as appropriate. The route or the avoidance route is provided to the display control unit 155 .

[0026] The route setting unit 154c receives information about the attention vehicle from the attention vehicle detection unit 154b. If the vehicle is not detected, a condition to avoid the vehicle in question is added and an avoidance route to the destination is generated. The route setting unit 154c also plays a role of an avoidance route setting unit. If both vehicles 900 deviate from the avoidance route provided, the avoidance route is reset.

[0027] When generating an avoidance route, the route setting unit 154c is configured to set a target vehicle position estimation unit (target vehicle position setting unit) that estimates the position of the target vehicle. The role of both the position estimation unit and the route setting unit 154c is also included. The vehicle in question is assumed to continue traveling along the guided route, and the vehicle in question is assumed to continue traveling along the guided route. The route setting unit 154c calculates an estimated position of the vehicle 900 and the vehicle of interest. The system is designed to ensure that the vehicle and the vehicle do not approach each other more than a preset distance or time interval on the avoidance route. The estimated position is used to set up an avoidance route. This allows the navigation system 100 can prevent the vehicle from encountering a target vehicle again after it has been avoided.

[0028] When generating an avoidance route, the route setting unit 154c determines the avoidance route based on traffic information around the vehicle 900. Congested roads can also be included in the avoidance route. Congested roads are roads on which many vehicles are traveling at low speeds. This refers to the area of ​​the road. Low speed here means, for example, about 10 to 30 kilometers per hour. When the vehicle 900 enters a congested road, even if a vehicle of interest is traveling nearby, the vehicle 900 may not be able to detect the vehicle. It is unlikely to create a dangerous situation where an accident will occur. Also, in the case of traffic jams that require vehicles to stop There is a risk that a passenger of the vehicle of interest may get off the vehicle of interest and approach the vehicle 900, but at a low speed. Such situations can be prevented when driving in a safe manner.

[0029] When generating an avoidance route, the route setting unit 154c uses facility information in the vicinity of the vehicle 900 to It is also possible to extract evacuation facilities and include the extracted evacuation facilities in the avoidance route. This is a facility where the vehicle 900 can temporarily take shelter in order to avoid a vehicle of interest. The map information storage unit 190 stores facility information, and the map information storage unit 154c can set an evacuation facility in advance. Examples of evacuation facilities include police stations, shopping malls, convenience stores, and gas stations. The vehicle 900 may temporarily stop at a waiting facility, etc. In addition, if a police station is set as a waiting facility, the navigation The gating system 100 provides a sense of security to the driver when the driver avoids a vehicle of interest. It is expected that this will have the effect of providing

[0030] The display control unit 155 controls the display unit 160 to display various information. For example, the display control unit 155 determines the location of the vehicle 900 based on the map information and the location information of the vehicle 900. Image data is generated by superimposing the vehicle 900 on a map of the surrounding area of ​​the location, and the generated image data is The display control unit 155 also controls the display unit 160 to display the In addition, the display control unit 155 displays the time information on the display unit 160. It displays information such as road information, traffic information, and facility information included in the surrounding map.

[0031] The operation control unit 156 acquires operation information received by the operation unit 170, and The operation unit 170 receives the operation of, for example, the map These include scrolling, zooming in and out, and setting a destination.

[0032] The audio control unit 157 causes the speaker 180 to output a preset audio. The voice may be, for example, guidance on turning right or left along the traveling direction of the vehicle 900, or when a vehicle of interest is detected. For example, a notice that a change has been made.

[0033] The map information acquisition unit 158 ​​acquires the map information stored in the map information storage unit 190 . For example, the map information acquisition unit 158 ​​acquires information on the location of the vehicle 900 based on the location information of the vehicle 900. The map information of the surrounding area of ​​the location is acquired from the map information storage unit 190, and the acquired map information is displayed. The map information includes road information and facility information, as described later. Therefore, the map information acquisition unit 158 ​​can be called a road information acquisition unit, and a facility information acquisition unit. It can also be called a gain.

[0034] The display unit 160 displays various information under the control of the display control unit 155. , connected to the display control unit 155, and displays the signal supplied from the display control unit 155. 170 is an interface that accepts operations performed by the driver with respect to the navigation system 100. The operation unit 170 is a touch sensor that is superimposed on the display unit 160, The operation unit 170 includes a microphone that accepts operations by voice input. The operation unit 170 may be a receiver for infrared rays or wireless communication, and may be a remote controller. The operation unit 170 may receive a signal transmitted from the The operation control unit 156 receives operation information related to the operation of the operation control unit 156. The speaker 180 outputs sound. It converts the audio signal supplied from the audio control unit 157 into audio and outputs it.

[0035] The map information storage unit 190 is a non-volatile memory such as a flash memory or an SSD (Solid State Drive). A storage device including a volatile memory stores map information. The map information is stored in the vehicle 9. Road information, which is information about the road on which vehicle 900 travels, and information about the surrounding area of ​​the road on which vehicle 900 travels The facility information is information about existing facilities. The road information is information about road types, intersections, etc. Facility information includes information such as the name of the road, the location of traffic lights, and entrances and exits to expressways. Facilities such as police stations, gas stations, parking lots, shopping malls, and convenience stores Includes:

[0036] Next, the process performed by the navigation system 100 will be described with reference to FIG. FIG. 3 is a first flowchart showing a process performed by the driving assistance system. The flow chart shown in FIG. 3 illustrates the process of the control unit 150. After the driver sets the destination and the control unit 150 sets the guide route to the destination, the vehicle 90 0 starts by starting travel along the guided route.

[0037] First, the control unit 150 judges whether the vehicle 900 is traveling along the route (step Whether the vehicle 900 is traveling along the guide route is determined by the position detection unit 151. The detected position information is compared with the guide route set by the route setting unit 154c to determine whether the vehicle is in a good condition or not. If it is not determined that the vehicle 900 is traveling along the route (step S10: No), the control unit 150 resets the guide route (step S11), and then performs step S10 again. If it is determined that the vehicle 900 is traveling along the route (step S10: Yes ), the control unit 150 proceeds to step S12.

[0038] Next, the surrounding vehicle information acquisition unit 153 of the control unit 150 acquires information from the front camera 130 and the rear camera Then, the analysis unit 154a acquires the photographing data from the camera 140 (step S12). Receives photographed data from the surrounding vehicle information acquisition unit 153 and analyzes the positions and movements of surrounding vehicles ( Step S13).

[0039] Next, the attention vehicle detection unit 154b detects an attention vehicle from the analysis result of the analysis unit 154a. If it is not determined that the target vehicle has been detected (step S14), Step S14: No), the control unit 150 receives the position information of the vehicle 900 and the position information of the destination. The vehicle 900 is checked to determine whether or not the vehicle 900 has arrived at the destination (step S19). If it is not determined that the vehicle 900 has arrived at the destination (step S19: No), the control unit 150 On the other hand, if it is determined that the vehicle 900 has arrived at the destination (step S10), If the answer is Yes at step S19, the control unit 150 ends the series of processes.

[0040] On the other hand, if it is determined in step S14 that the target vehicle has been detected (step S 14: Yes), the route setting unit 154c of the control unit 150 sets an avoidance route (step S15) The process of generating an avoidance route will be described in detail later.

[0041] After the route setting unit 154c sets the avoidance route, the control unit 150 It is determined whether the vehicle 900 is passing through the avoidance route (step S16). If it is not determined that the setting is correct (step S16: No), the control unit 150 returns to step S1 5, and the avoidance route is reset (step S15). If it is determined that the person is passing through the designated area (step S16: Yes), the control unit 150 Continue to step S17.

[0042] In step S17, the route setting unit 154c of the control unit 150 determines Determine whether the distance D1 between the vehicle 900 and the estimated position of the target vehicle is greater than a threshold Dth. (Step S17). The threshold value Dth is set, for example, when the vehicle 900 and the target vehicle are visually confirmed to be different from each other. Specifically, the threshold value Dth is set to, for example, 100 m. If the distance D1 is not greater than the threshold value Dth (step S17: No), After the avoidance route and the guide route merge, the vehicle 900 traveling along the avoidance route is In this case, the control unit 150 performs step S Return to step 15 and set the avoidance route again. On the other hand, if the distance D1 is greater than the threshold Dth ( Step S17: Yes), the vehicle 900 traveling along the avoidance route is After the vehicle is swept away, the probability of encountering the vehicle again on the route is low. The unit 150 proceeds to step S18.

[0043] In step S18, the control unit 150 receives the position information of the vehicle 900 and the position information of the destination. and judge whether the vehicle 900 has arrived at the destination (step S18). If it is not determined that both vehicles 900 have arrived at the destination, the control unit 150 returns to step S16. On the other hand, if it is determined that the vehicle 900 has arrived at the destination, the control unit 150 executes the series of processes. Terminate.

[0044] Next, the avoidance route setting process will be described with reference to FIG. 4. FIG. 4 shows the driving support system 4 is a second flowchart showing the process performed by the 4 is a specific example including detailed processing of step S15. This starts after 900 detects a vehicle of interest.

[0045] First, in step S150, the control unit 150 determines whether the target vehicle is present in front of the vehicle 900. It is determined whether the target vehicle is present in front of the vehicle 900 (step S150). If it is determined that the number of the EEPROM 140 is 1 (step S150: Yes), the control unit 150 On the other hand, if the target vehicle is not in front of the vehicle 900, i.e., it is behind the vehicle 900, If it is determined that the number of the inputs is 1 (step S150: No), the control unit 150 proceeds to step S155. nothing.

[0046] In step S151, the route setting unit 154c of the control unit 150 determines the route from map information or the like. The route setting unit 154c searches for an escape route (step S151). Assuming that the vehicle continues to travel along the inner route, the vehicle 900 located behind the vehicle of interest is temporarily set as the guide route. The navigation system searches for routes that lead to different routes. By searching such routes, the navigation system The navigation system 100 actively guides the vehicle 900 to a road different from that of the vehicle of interest.

[0047] Next, the route setting unit 154c estimates the position of the target vehicle that is present ahead of the vehicle 900. (Step S152). Then, the route setting unit 154c determines whether the vehicle 900 will travel along the searched route. If this is the case, the vehicle 900 and the target vehicle are located within a preset distance or Calculate whether the time interval is shorter than the time interval.

[0048] Next, the route setting unit 154c of the control unit 150 determines whether the vehicle in question can avoid the route by using the searched avoidance route. Whether or not the vehicle in question can be avoided is determined based on the searched route (step S153). Whether the distance between the estimated position of the target vehicle and the target vehicle when the target vehicle passes through the designated area is greater than a preset value. If it is determined that the target vehicle can be avoided (step S153: Yes), The route setting unit 154c sets the searched route as an avoidance route (step S154). On the other hand, if the vehicle of interest does not determine that the obstacle is avoidable (step S 153: No), the route setting unit 154c does not set the searched route as an avoidance route, and Continue to step S155.

[0049] In step S155, the control unit 150 acquires traffic information (step S155 Furthermore, the control unit 150 determines the surrounding area of ​​the location where the vehicle 900 is passing from the acquired traffic information. It is determined whether or not there is a congested road on the side (step S156).

[0050] When there is a congested road around the position where the vehicle 900 is passing (step S156: Yes ), and the route setting unit 154c of the control unit 150 sets an avoidance route that passes through the congested road (step The vehicle of interest is traveling behind the vehicle 900 (step S157), and the avoidance route setting process is terminated. When a vehicle 900 is being tailgated, the vehicle in question enters a congested road and Driving fast is expected to have a calming effect on the driver of the vehicle in question.

[0051] On the other hand, in step S156, it is determined that there is no congested road around the position where the vehicle 900 is traveling. If not (step S156: No), the control unit 150 acquires facility information (step S1 58), the waiting facility is searched for. Then, the route setting unit 154c selects an avoidance route that passes through the waiting facility. Then, the avoidance route setting process is completed (step S159).

[0052] Although the avoidance route setting process has been described above, the avoidance route setting process is not limited to the above process. The order of steps S151 and S152 does not matter. If it is not determined in step S153 that the collision is avoidable, the process may return to step S151. The process of steps S155 to S157 or steps S158 and S15 At least one of the processes in step 9 may be omitted as appropriate.

[0053] Next, referring to FIG. 5, in the above-mentioned step S150, the vehicle of interest is in front of the vehicle 900. The situation when it is judged that the driver is in the vicinity of the vehicle is specifically described below. 5 is a diagram showing a first example of a guide route displayed by the navigation system. A map presented to the driver by being displayed on the display unit 160 of the communication system 100. 1 is an example of a screen.

[0054] The screen 200 displays road information about the area where the vehicle 900 is traveling by using thick solid lines. In the map shown on screen 200, the top of the map is north and the bottom of the map is south. At the bottom center of the screen 200, a passing vehicle 900 is displayed as an icon. The vehicle 900 shown is traveling from the bottom center of the screen toward the top (i.e., northward). In addition, in the upper left corner of the screen 200, a check mark is displayed on the destination 201 set by the driver. - An icon resembling a flag is displayed superimposed on it.

[0055] The first congestion information 220 indicated by a gray arrow in the lower right corner of the screen 200 and the screen 200 The second congestion information 221 indicated by black arrows in the lower left corner of The first congestion information 220 indicates that the lane is congested. The second congestion information 221 indicates a traffic speed of 10 kilometers per hour. The navigation system 100 takes such traffic congestion information into account. Then, a guide route is generated.

[0056] The white line connecting vehicle 900 to destination 201 indicates that vehicle 900 is The guide route 210 is displayed so that it overlaps with the road. Therefore, if the vehicle 900 follows the guided route 210, it will travel along the route shown in FIG. Go north from the bottom center of screen 200, go straight through intersection P10, turn left at the T-junction, and After driving further, the driver turns right at the intersection P11. While visually checking the vehicle 900 and the guide route 210 superimposed on the map screen, the driver heads to the destination 201. On our way.

[0057] In this situation, FIG. 5 further illustrates how the navigation system 100 navigates the vehicle 90 This shows that a target vehicle was detected ahead of vehicle 900. The icon indicates the vehicle of interest 800. In the above situation, the control unit 150 Go to step S151.

[0058] FIG. 6 is a first diagram showing an example of an avoidance route displayed by the driving assistance system. The screen 200 shows a state in which the control unit 150 has set an avoidance route, that is, the step shown in FIG. The figure shows the state after steps S151 to S154 are completed. The route setting unit 154c generates the avoidance route 211. The dotted line on the road portion indicates the estimated position of the vehicle of interest 800 per unit time.

[0059] The avoidance route 211 is different from the travel route of the target vehicle 800 at the intersection P10 shown in the figure. Therefore, if the vehicle travels along the avoidance route 211, Vehicle 900 turns left at intersection P10 ahead and travels on a different road from vehicle 800. The avoidance route 211 is a route that may cause an encounter with the vehicle of interest 800 again at the T-junction P12 shown in the figure. Therefore, the route setting unit 154c sets the time when the vehicle 900 passes through the T-junction P12. and the time when the target vehicle 800 passes through the T-junction P12. The setting unit 154c sets the time when the difference between the times is greater than a preset interval. As a condition, an avoidance route 211 is set. By carrying out such processing, the navigation The motion system 100 can reduce the possibility of encountering the target vehicle 800 again.

[0060] Next, a case where an avoidance route is reset will be described with reference to FIG. 7 is a second diagram showing an example of an avoidance route displayed by the assistance system. After the situation shown in FIG. 1, the vehicle 900 traveled along the avoidance route 211 before passing through the T-junction P12. As described with reference to FIG. 3, the navigation system 100 While both vehicles 900 are passing through the avoidance route, steps S16 and S17 are repeated until the vehicles arrive at the destination. Then, step S17 is executed. The vehicle 900 is traveling along the avoidance route 211 shown in FIG. During this time, the time to pass the T-junction P12 may change due to changes in traffic volume, etc. In this example, the control unit 150 that has executed step S17 selects the route R11 and This shows an example in which it is determined that the interval D1 becomes equal to or smaller than the threshold value Dth toward P12.

[0061] When the control unit 150 makes such a determination, the control unit 150 returns to step S17 in FIG. Then, the process proceeds to step S15. In the example shown in FIG. By taking route R12 instead of route R11, the estimated distance D1 Therefore, the control unit 150 calculates that the avoidance route 212 is larger than the threshold value Dth. The generated avoidance route 212 is displayed on the display unit 160. By doing so, the navigation system 100 dynamically detects the possibility of encountering the target vehicle 800. This can reduce the possibility of

[0062] Next, referring to FIG. 8, an example of an avoidance route when a target vehicle is present behind the vehicle 900 will be described. FIG. 8 is a diagram showing a second example of a guide route displayed by the driving assistance system. FIG. 8 is different from the situation shown in FIG. 5 in that the target vehicle 800 is located behind the vehicle 900. The control unit 150 detects the target vehicle 800 behind the vehicle 900. The process proceeds from step S150 shown in FIG. 4 to step S155.

[0063] Referring to FIG. 9, when the vehicle in question is behind the vehicle, the vehicle takes an avoidance route through a congested road. FIG. 9 is a diagram showing an example of an avoidance route displayed by the driving support system. 9 is a diagram of the screen 200 shown in FIG. The result of searching for the congested roads shows the situation after setting an avoidance route in step S157. In this case, the route setting unit 154c determines, from the traffic information around the vehicle 900, the first congestion The first congestion information 220 and the second congestion information 221 are searched, and an avoidance route 2 that passes through the first congestion information 220 is selected. Set 13.

[0064] The vehicle 900 turns right at the intersection P10 ahead, passes through a congested road, and passes through the intersection P The vehicle in question will turn left at intersection P14 and then turn left again at intersection P15. In this case, the vehicle in question will turn left at intersection P15. Vehicle 900 may follow vehicle 900 and turn right at intersection P10. However, By passing through a congested road, the traveling speed of the vehicle of interest 800 can be restricted. Therefore, the navigation system 100 detects the attention vehicle 80 while traveling on a congested road. It is expected that this will have the effect of suppressing driver excitement.

[0065] Next, referring to FIG. 10, when the target vehicle is located behind, the vehicle is prevented from passing through a waiting facility. The case of traveling along a route will be described. FIG. 10 shows the avoidance route displayed by the driving support system. FIG. 4 is a fourth diagram showing an example of the above.

[0066] The screen 200 shown in FIG. 10 is displayed when the control unit 150 proceeds to step S158 and detects the surrounding evacuation facilities. 4 shows the situation after the avoidance route is set in step S159 as a result of the search. In this case, the route setting unit 154c selects the evacuation facility 205 from the facility information in the vicinity of the vehicle 900. A search is performed and an avoidance route 214 passing through a shelter 205 is set.

[0067] The vehicle 900 goes straight through the intersection P10 ahead, turns right at the T-junction P16, and enters the waiting facility 20. 5. The navigation system 100 notifies the vehicle 900 at the evacuation facility 205. The vehicle of interest 800 may suggest stopping for a predetermined period of time. There is a possibility that the vehicle 900 will turn right onto P16. However, the vehicle 900 will remain at the waiting area 205. As a result, it is expected that the attention vehicle 800 will give up tracking the vehicle 900.

[0068] The embodiment has been described above. The configuration of the driving assistance system according to the embodiment is as follows. For example, the driving assistance system may include the control unit 150 shown in FIG. The driving assistance system may not include other configurations. The navigation system 100 according to the embodiment is installed in an automobile as shown in FIG. The present invention may be implemented in the form of a single device, rather than being limited to such an embodiment.

[0069] The driving assistance system records images captured by the front camera 130 or the rear camera 140. In that case, for example, the driving assistance system may further include a recording device for recording the attention When a vehicle is detected, the captured image data of the detected vehicle of interest may be recorded. The unit 150 is not limited to an integrated configuration, and may be configured by connecting multiple devices to each other in a communicable manner. The control unit 150 may further have a wireless communication function and may communicate with a vehicle 900 or a The present invention may be realized by a computing device such as a computer located at a certain location. That is, the driving assistance system uses the photographic data generated by the front camera 130 and the rear camera 140. Even if the vehicle has a computing device that can acquire positioning information and traffic information through a communication device, In other words, the driving assistance system is a smart phone or tablet with a navigation function. It may be a notebook, laptop computer, etc.

[0070] The surrounding vehicle information acquired by the surrounding vehicle information acquisition unit 153 may be used in place of the photographed data, or In addition to the photographic data, information generated by a distance measuring sensor using laser or infrared light may also be used. That is, the front camera 130 and the rear camera 140 may be replaced with or In addition to these, a distance measuring sensor may also be used.

[0071] As described above, according to the embodiment, a route to avoid danger is dynamically and flexibly provided. It is possible to provide a driving assistance system etc.

[0072] The above-mentioned program can be implemented using various types of non-transitory computer-readable media. The non-transitory computer-readable medium may be stored in a computer readable medium and provided to a computer. , including various types of tangible storage media. Examples of non-transitory computer readable media include: Magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives); Magneto-optical recording media (e.g. magneto-optical disks), CD-ROM (Read Only Memory), CD-R , CD-R / W, semiconductor memory (e.g., mask ROM, PROM (Programmable ROM) , EPROM (Erasable PROM), Flash ROM, RAM (Random Access Memory) The program can also be stored in various types of temporary computer readable media. Examples of the transitory computer-readable medium include electrical signals, optical Transient computer-readable media includes electronic signals, electromagnetic waves, and the like. Transient computer-readable media includes electronic signals, electromagnetic waves, and the like. The program can be supplied to the computer via a wired communication path or a wireless communication path.

[0073] The present invention is not limited to the above-described embodiment, and may be modified as appropriate without departing from the spirit and scope of the present invention. It is possible to change it. [Explanation of symbols]

[0074] 100 Navigation System 110 Positioning information receiving unit 120 Traffic information receiving unit 130 Front Camera 140 Rear Camera 150 Control section 150B Bus 151 Position detection unit 152 Traffic information acquisition department 153 Surrounding vehicle information acquisition unit 154 Arithmetic section 154a Analysis Department 154b Attention vehicle detection unit 154c Route setting section 155 Display control unit 156 Operation control section 157 Audio control section 158 Map information acquisition unit 160 Display section 170 Operation section 180 Speaker 190 Map information storage unit 200 screens 201 Destination 205 Shelter 210 Route Guidance 211, 212, 213, 214 Evasion Route 800 Featured Vehicles 900 vehicles

Claims

1. A driving assistance system that detects the position of a vehicle and presents a guide route from the position of the vehicle to a destination. A support system comprising: a surrounding vehicle information acquisition unit that acquires surrounding vehicle information regarding surrounding vehicles of the host vehicle; a vehicle-at-risk detection unit that detects a vehicle at risk based on the surrounding vehicle information; a vehicle-at-risk detection unit that detects a vehicle at risk based on the surrounding vehicle information; an avoidance route setting unit that sets an avoidance route to the destination on the condition that the host vehicle and the target vehicle are separated from each other by a distance greater than a preset distance on a travel route of the host vehicle, The avoidance route setting unit estimates a position of the attention vehicle at a predetermined time when the attention vehicle advances toward the destination along the guidance route set by the host vehicle, and sets the avoidance route based on the estimated position of the attention vehicle. Driving assistance system.

2. A traffic information acquisition unit that acquires traffic information around the vehicle, The avoidance route setting unit sets a route for entering an area where other vehicles are traveling at a preset speed range based on the traffic information. The driving assistance system according to claim 1 .

3. The vehicle further includes a facility information acquisition unit that acquires facility information that is information about facilities present in the vicinity of the vehicle. The avoidance route setting unit sets the avoidance route including a stopover point for temporary evacuation based on the facility information. A driving assistance system according to claim 1 or 2.

4. The avoidance route setting unit sets the avoidance route including a route deviating from the guide route when the target vehicle is present ahead of the host vehicle. A driving assistance system according to claim 1 or 2.

5. A driving support method for detecting a position of a vehicle and presenting a guide route from the position of the vehicle to a destination, comprising: a surrounding vehicle information acquisition step of acquiring surrounding vehicle information regarding surrounding vehicles of the host vehicle; a target vehicle detection step of detecting a target vehicle based on the surrounding vehicle information; an avoidance route setting step of setting an avoidance route to the destination on the condition that the distance between the host vehicle and the target vehicle is greater than a preset distance on the travel route of the host vehicle, The avoidance route setting step estimates a position of the attention vehicle at a predetermined time when the attention vehicle advances toward the destination along the guide route set by the host vehicle, and sets an avoidance route based on the estimated position of the attention vehicle. Driving assistance methods.

6. A driving assistance program that causes a computer to execute a driving assistance method for detecting a position of a vehicle and presenting a guide route from the position of the vehicle to a destination, The driving assistance method includes: a surrounding vehicle information acquisition step of acquiring surrounding vehicle information regarding surrounding vehicles of the host vehicle; a target vehicle detection step of detecting a target vehicle based on the surrounding vehicle information; an avoidance route setting step of setting an avoidance route to the destination on the condition that the distance between the host vehicle and the target vehicle is greater than a preset distance on the travel route of the host vehicle, The avoidance route setting step estimates a position of the attention vehicle at a predetermined time when the attention vehicle advances toward the destination along the guide route set by the host vehicle, and sets an avoidance route based on the estimated position of the attention vehicle. Driver assistance programs.

Images