Driving assistance system, driving assistance method, and program

Abstract

To enhance safety by accurately determining the collision of a vehicle.SOLUTION: A driving support system includes: information acquisition means for acquiring travel characteristic information of each vehicle; storage means for storing a dynamic map where static base map information, kinetic environment information, and the travel characteristic information acquired by the information acquisition means are associated with one another; collision determination means for determining whether there is a possibility of the collision of the vehicle based on the dynamic map stored in the storage means; and control means for controlling the vehicle to avoid the collision of the vehicle if the collision determination means determines the possibility of the collision of the 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 for assisting driving of a vehicle. [Background technology]

[0002] A system is known that transmits unique information and position information for identifying a vehicle to another vehicle, and determines a risk of collision based on the unique information and position information transmitted from the other vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-049530 A Summary of the Invention [Problem to be solved by the invention]

[0004] The above system does not take into account the different running characteristics of each vehicle, such as braking characteristics, when determining whether or not a vehicle has crashed, which can make it difficult to accurately determine whether or not a collision has occurred.

[0005] The present invention has been made to solve such problems, and its main object is to provide a driving assistance system, a driving assistance method, and a program that can determine a vehicle collision with high accuracy and improve safety. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of the present invention is to An information acquisition means for acquiring driving characteristic information of each vehicle; A storage means for storing a dynamic map that links together static base map information, dynamic environmental information, and driving characteristic information acquired by the information acquisition means; a collision determination means for determining whether or not there is a possibility of a collision of the vehicle based on the dynamic map stored in the storage means; a control means for controlling the vehicle to avoid a collision of the vehicle when the collision determination means determines that there is a possibility of the vehicle colliding; Driving assistance system equipped with It is. In this embodiment, the driving characteristic information may include at least one of information on whether the vehicle has a deceleration control function, a maximum deceleration of the vehicle, a free-running time of the vehicle, information on whether the vehicle has a steering control function, and a minimum turning radius of the vehicle. In this aspect, the driving characteristic information includes information on whether the vehicle has a deceleration control function, a maximum deceleration of the vehicle, and information on whether the vehicle has a steering control function, the collision determination means determines whether or not one vehicle can perform deceleration control to avoid a collision with the other vehicle, using an equation including a maximum deceleration of the vehicle, based on a dynamic map linked to the driving characteristic information; When the collision determination means determines that the one vehicle cannot avoid a collision with the other vehicle by performing deceleration control, the control means may perform steering control of the one vehicle so that the one vehicle avoids the other vehicle based on the driving characteristics information. In order to achieve the above object, one aspect of the present invention is to acquiring driving characteristic information of each vehicle; A step of storing a dynamic map in which static base map information, dynamic environmental information, and the driving characteristic information are linked together; determining whether the vehicle is likely to crash based on the stored dynamic map; When it is determined that there is a possibility of a collision of the vehicle, performing a control for the vehicle to avoid the collision of the vehicle; Driving assistance method including may be also possible. In order to achieve the above object, one aspect of the present invention is to A process of acquiring driving characteristic information of each vehicle; A process of storing a dynamic map in which static base map information, dynamic environmental information, and the driving characteristic information are linked together; determining whether the vehicle is likely to collide based on the stored dynamic map; When it is determined that there is a possibility of a collision of the vehicle, a process of performing a control for the vehicle to avoid the collision of the vehicle; A program that causes a computer to execute may be also possible. Effect of the Invention

[0007] According to the present invention, it is possible to provide a driving assistance system, a driving assistance method, and a program that can determine a vehicle collision with high accuracy and improve safety. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a schematic system configuration of a driving assistance system according to an embodiment of the present invention; [Diagram 2] 1 is a block diagram showing a schematic system configuration of a vehicle according to an embodiment of the present invention; [Diagram 3] 2 is a block diagram showing a schematic system configuration of a control server according to the present embodiment. FIG. [Figure 4] 3 is a flowchart showing a flow of a driving assistance method according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a block diagram showing a schematic system configuration of a driving assistance system according to this embodiment. The driving assistance system 1 according to this embodiment includes a plurality of vehicles 2 traveling on a road or the like, a plurality of environmental sensors 3 that detect information on the environment around each vehicle, and a control server 4 that controls the vehicles 2.

[0010] Each vehicle 2, each environmental sensor 3, and the control server 4 communicate information with each other via a wireless communication network 5, for example.

[0011] FIG. 2 is a block diagram showing a schematic system configuration of the vehicle according to this embodiment. Each vehicle 2 includes a data communication module (DCM) 21, an electronic control unit (ECU) 22, a global positioning system (GPS) module 23, and a vehicle sensor 24.

[0012] The DCM 21 is an example of a communication device that communicates bidirectionally with the control server 4 through a wireless communication network 5 including, for example, a mobile phone network and the Internet network with many base stations as terminals. The DCM 21 is connected to various ECUs 22 so as to be able to communicate with each other through an in-vehicle network such as a Controller Area Network (CAN).

[0013] The ECU 22 is an electronic control unit that performs various control processes related to predetermined functions in the vehicle 2. The ECU 22 performs a process of transmitting information related to the driving characteristics of the vehicle 2 (driving characteristic information) to the control server 4 via the DCM 21.

[0014] The driving characteristic information includes at least one of information regarding whether or not the ECU 22 of the vehicle 2 has a deceleration control function, the maximum deceleration Gmax of the vehicle 2, the free-running time of the vehicle 2, information regarding whether or not the ECU 22 of the vehicle 2 has a steering control function, and the minimum turning radius of the vehicle 2.

[0015] The maximum deceleration Gmax is a value that is set for each vehicle 2 depending on conditions such as the weight of the vehicle 2, the loading state of the vehicle 2, the occupancy state (number of passengers) in the vehicle 2, and the type (attributes) of the vehicle 2. The ECU 22 calculates the maximum deceleration Gmax based on the loading state of the vehicle 2, the occupancy state in the vehicle 2, and the like detected by the vehicle sensor 24.

[0016] The free running time may be experimentally obtained and preset in the ECU 22. The minimum turning radius may be, for example, not simply a catalog value but a controllable value and may be preset in the ECU 22.

[0017] The ECU 22 automatically performs deceleration control of the vehicle 2 by controlling a braking device 25 that brakes the wheels of the vehicle 2. The ECU 22 automatically performs steering control of the vehicle 2 by controlling a steering device 26 that steers the wheels of the vehicle 2.

[0018] The ECU 22 transmits (uploads) the position information of the vehicle 2 input from the GPS module 23 to the control server 4 via the DCM 21 at predetermined intervals. At this time, the ECU 22 transmits to the control server 4 the position information of the vehicle 2, together with time information corresponding to the position information and attribute information of the vehicle 2 (passenger car, truck, bus, motorcycle, etc.).

[0019] The GPS module 23 receives GPS signals transmitted from three or more, preferably four or more, satellites above the vehicle, and determines the position of the vehicle 2 on which the GPS module 23 is mounted. The GPS module 23 is communicatively connected to the ECU 22 via an in-vehicle network such as a one-to-one communication line or a CAN. The determined position information of the vehicle 2 is input to the ECU 22.

[0020] The vehicle sensor 24 includes a camera and a millimeter wave sensor that capture images of the periphery of the vehicle 2, for example, a predetermined imaging range in front of the vehicle 2. The camera is attached, for example, to the central upper end portion of the front window on the interior side of the vehicle 2, that is, to the left and right central portion of the front header on the interior side of the vehicle 2.

[0021] The DCM 21 transmits the captured image captured by the camera, and the position information and time information of the vehicle 2 at the time the captured image was captured, which are input from the GPS module 23, to the control server 4 via the wireless communication network 5. The DCM 21 may transmit distance information from a millimeter wave sensor, LiDAR (Light Detection and Ranging) or the like of the vehicle 2 together with the position information and time information of the vehicle 2 to the control server 4 via the wireless communication network 5.

[0022] As shown in Fig. 1, the environmental sensor 3 detects environmental information such as the road on which each vehicle 2 travels. The environmental sensor 3 is attached to infrastructure such as traffic lights, utility poles, and signs. The environmental sensor 3 is, for example, a camera, a millimeter wave sensor, or a LiDAR. The environmental sensor 3 transmits environmental information such as captured images of the surroundings to the control server 4 via the wireless communication network 5. At this time, the environmental sensor 3 transmits time information corresponding to the environmental information and position information of the environmental sensor 3 together with the environmental information to the control server 4 via the wireless communication network 5.

[0023] The control server 4 controls each vehicle 2. The control server 4 has a hardware configuration of a normal computer including, for example, a processor 4a such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), an internal memory 4b such as a RAM (Random Access Memory) or a ROM (Read Only Memory), a storage device 4c such as an HDD (Hard Disk Drive) or an SDD (Solid State Drive), an input / output I / F 4d for connecting peripheral devices such as a display, and a communication I / F 4e for communicating with devices outside the device.

[0024] 3 is a block diagram showing a schematic system configuration of the control server according to the present embodiment. The control server 4 according to the present embodiment includes a communication unit 41, a storage unit 42, a map update unit 43, a collision determination unit 44, and a control unit 45.

[0025] The communication unit 41 is a device that communicates bidirectionally with the vehicle 2 and the environmental sensor 3 via the wireless communication network 5. The communication unit 41 is a specific example of an information acquisition means. The communication unit 41 acquires driving characteristic information of the vehicle 2 from the vehicle 2. The communication unit 41 is a mobile communication module that supports communication standards such as LTE (Long Term Evolution), 5G (5th Generation), and 6G (6th Generation).

[0026] The storage unit 42 is a specific example of a storage means. The storage unit 42 stores a dynamic map in which static base map information and dynamic environmental information are linked. The dynamic map is a dynamic map in which static base map information including geographic information on natural objects such as mountains, rivers, and oceans, and man-made objects such as buildings and roads is linked with dynamic environmental information (additional information) including objects (e.g., stores, facilities, vehicles, etc.) at any position, events (e.g., accidents, traffic jams, queues of people, etc.), and their situations. The area covered by the dynamic map may be, for example, the whole of Japan, or a specific area such as a logistics center.

[0027] Furthermore, in the dynamic map according to the present embodiment, the static base map information, the dynamic environmental information, and the driving characteristics information acquired by the communication unit 41 are linked together. More specifically, in the base map information, the driving characteristics information is linked to each vehicle 2 traveling on the base map.

[0028] The map update unit 43 updates, for example, at a predetermined interval, the dynamic map stored in the storage unit 42. The map update unit 43 updates the dynamic map in the storage unit 42 based on the position information, time information, and attribute information of the vehicle 2 transmitted from the ECU 22 of each vehicle 2.

[0029] The map update unit 43 updates the dynamic map in the storage unit 42 based on the captured images, position information, and time information transmitted from the cameras of each vehicle 2. The map update unit 43 updates the dynamic map in the storage unit 42 based on the captured images, position information, and time information transmitted from the environmental sensor 3.

[0030] Furthermore, the map update unit 43 may update the dynamic map based on location information and time information transmitted from a mobile device such as a smartphone carried by the user. The map update unit 43 may update the dynamic map in the storage unit 42 based on the captured image, location information, and time information transmitted from the mobile device.

[0031] However, if the vehicle collision determination is not performed taking into consideration the running characteristics, such as braking characteristics, which differ from vehicle to vehicle, it may be difficult to accurately determine the vehicle collision.

[0032] In response to this, the collision determination unit 44 according to this embodiment, as described below, determines whether or not there is a possibility of a collision between the vehicles 2 by using a dynamic map that links together static base map information, dynamic environmental information, and driving characteristic information acquired by the communication unit 41. This allows the collision of the vehicles 2 to be determined with high accuracy, taking into account the driving characteristics of each vehicle 2, thereby improving safety.

[0033] The collision determination unit 44 is a specific example of a collision determination means. The collision determination unit 44 determines whether or not there is a possibility that the vehicle 2 will collide with an obstacle, based on the dynamic map stored in the storage unit 42. The obstacle includes, for example, other vehicles, motorcycles, bicycles, people, installed objects, and the like.

[0034] The collision determination unit 44 acquires the position information and speed information of each vehicle 2 from the dynamic map in the storage unit 42. Based on the position information of each vehicle 2, the collision determination unit 44 detects vehicles 2 approaching each other.

[0035] For example, one vehicle a is approaching obliquely from behind another vehicle b that is moving in a straight line at a constant speed. The control server 4 is configured to provide driving assistance to vehicle a. Let the position coordinates of vehicle a be Xa and the position coordinates of vehicle b be Xb. The collision determination unit 44 detects vehicles a and b that satisfy the following conditions based on the dynamic map in the storage unit 42. |Xa - Xb| < a predetermined distance A

[0036] Furthermore, the collision determination unit 44 determines whether vehicle a can avoid a collision with vehicle b by performing deceleration control using the following two-dimensional equation regarding the collision time T0. Here, let the vehicle speed of vehicle a be Xa and the vehicle speed of vehicle b be Xb. Let Ga, Va, Vb, Xa, and Xb be three-dimensional vector quantities. -1 / 2×Ga×T0 2 +(Va - Vb)×T0 + Xa - Xb = 0

[0037] The collision determination unit 44 solves the two-dimensional equation regarding T0 in the range of 0 < Ga < Gmax. When the two-dimensional equation regarding T0 has a positive solution that is not a complex number, the collision determination unit 44 determines that vehicle a cannot avoid a collision with vehicle b by performing deceleration control, and there is a possibility of a collision between vehicle a and vehicle b.

[0038] On the other hand, when the two-dimensional equation regarding T0 has a complex solution or a non-complex negative solution, the collision determination unit 44 determines that vehicle a can avoid a collision with vehicle b by performing deceleration control, and there is no possibility of a collision between vehicle a and vehicle b. In this way, the collision determination unit 44 can accurately determine the collision of vehicle 2 and improve safety by considering the driving characteristics including the maximum deceleration Gmax of each vehicle 2.

[0039] The control unit 45 is a specific example of a control means. When the collision determination unit 44 determines that there is a possibility of a collision between vehicles, the control unit 45 performs control to avoid the collision between those vehicles on vehicle 2.

[0040] In order to avoid collision between the vehicles, the control unit 45 selects at least one of deceleration control and steering control, for example, based on driving characteristic information of the vehicle 2. The driving characteristic information includes, for example, information on whether the ECU 22 of the vehicle 2 has a deceleration control function and information on whether the ECU 22 of the vehicle 2 has a steering control function. Therefore, the control unit 45 selects, based on the driving characteristic information, from the deceleration control function and the steering control function, which is an optimal function that the ECU 22 of the vehicle 2 has.

[0041] When the control unit 45 selects the deceleration control, it calculates the deceleration (braking force).When the control unit 45 selects the steering control, it calculates the vehicle steering angle by the steering.

[0042] The control unit 45 controls the vehicle 2 by transmitting the selected control signal to the ECU 22 of the vehicle 2 via the communication unit 41 and the wireless communication network 5. When the control unit 45 selects deceleration control, the control unit 45 transmits a control signal to the ECU 22 of the vehicle 2 so as to perform deceleration control at the calculated deceleration. When the control unit 45 selects steering control, the control unit 45 transmits a control signal to the ECU 22 of the vehicle 2 so as to perform steering control at the calculated vehicle steering angle.

[0043] For example, as described above, if the collision judgment unit 44 determines that vehicle a is unable to avoid a collision with vehicle b by performing deceleration control and that there is a possibility of a collision between vehicles a and b, the collision judgment unit 44 transmits the judgment result to the control unit 45.

[0044] The control unit 45 selects steering control in accordance with the determination result from the collision determination unit 44, and transmits a control signal to the ECU 22 of the vehicle a so as to perform steering control at a vehicle steering angle that avoids the vehicle b. The ECU 22 of the vehicle a controls the steering device 26 in accordance with the control signal from the control unit 45, and avoids a collision with the vehicle b.

[0045] In addition, the control unit 45 may select steering control according to the judgment result from the collision judgment unit 44, and send a control signal to the ECU 22 of vehicle a so as to perform deceleration control while controlling the steering at a vehicle steering angle that avoids vehicle b.

[0046] On the other hand, if the collision determination unit 44 determines that the vehicle a can avoid a collision with the vehicle b by performing deceleration control and that there is no possibility of a collision between the vehicles a and b, it transmits the determination result to the control unit 45.

[0047] The control unit 45 selects deceleration control in response to the determination result from the collision determination unit 44, and transmits a control signal to the ECU 22 of the vehicle a so as to perform deceleration control to avoid a collision with the vehicle b. The ECU 22 of the vehicle a controls the brake device 25 in response to the control signal from the control unit 45, and avoids a collision with the vehicle b.

[0048] Next, a driving support method according to this embodiment will be described. Fig. 4 is a flowchart showing the flow of the driving support method according to this embodiment. The control process shown in Fig. 4 is repeatedly executed at predetermined time intervals.

[0049] The communication unit 41 of the control server 4 acquires driving characteristic information of each vehicle 2 (step S101).

[0050] The storage unit 42 of the control server 4 stores a dynamic map that links together the static base map information, the dynamic environmental information, and the driving characteristic information acquired by the information acquisition means (step S102).

[0051] The collision determination unit 44 of the control server 4 determines whether or not there is a possibility that the vehicle 2 will collide with an obstacle, based on the dynamic map stored in the storage unit 42 (step S103).

[0052] When the collision determination unit 44 determines that there is a possibility that the vehicle 2 will collide with an obstacle (YES in step S103), the control unit 45 of the control server 4 performs control on the vehicle 2 to avoid the collision of the vehicle 2 (step S104). On the other hand, when the collision determination unit 44 determines that there is no possibility that the vehicle 2 will collide with an obstacle (NO in step S103), the control unit 45 of the control server 4 ends this process.

[0053] In the above embodiment, the control server 4 includes the collision determination unit 44 and the control unit 45. However, the present invention is not limited to this. For example, the ECU 22 of the vehicle 2 may include the collision determination unit 44 and the control unit 45.

[0054] In this case, the map update unit 43 of the control server 4 updates the dynamic map and transmits the updated dynamic map to the ECU 22 of each vehicle 2. The collision determination unit 44 of the ECU 22 determines whether or not there is a possibility that the vehicle 2 will collide with an obstacle, based on the dynamic map transmitted from the control server 4. The control unit 45 of the ECU 22 performs control on the vehicle 2 to avoid a collision of the vehicle 2, depending on the determination result of the collision determination unit 44.

[0055] As described above, the driving assistance system 1 according to this embodiment determines whether or not there is a possibility of a collision of the vehicles 2 based on a dynamic map that links together static base map information, dynamic environmental information, and driving characteristic information of each vehicle 2, and when it is determined that there is a possibility of a collision of the vehicles 2, it performs control on the vehicles 2 to avoid the collision of the vehicles 2. In this way, it is possible to determine the collision of the vehicles 2 with high accuracy and improve safety by taking into account the driving characteristics of each vehicle 2.

[0056] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims.

[0057] The present invention can also be realized by causing a processor to execute a computer program to perform the processing shown in FIG.

[0058] The program can be stored and provided to a computer using various types of non-transitory computer readable media. The non-transitory computer readable media includes various types of tangible storage media. Examples of the 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-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (random access memories)).

[0059] The program may be provided to the computer by various types of transitory computer readable media. Examples of the transitory computer readable medium include an electric signal, an optical signal, and an electromagnetic wave. The transitory computer readable medium can provide the program to the computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path.

[0060] Each unit constituting the control server 4 in each of the above-mentioned embodiments can be realized not only by a program, but also in whole or in part by dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). [Explanation of symbols]

[0061] 1 Driving assistance system, 2 Vehicle, 3 Environmental sensor, 4 Control server, 5 Wireless communication network, 21 DCM, 22 ECU, 23 GPS module, 24 Vehicle sensor, 25 Brake device, 26 Steering device, 41 Communication unit, 42 Memory unit, 43 Map update unit, 44 Collision determination unit, 45 Control unit

Claims

1. An information acquisition means for acquiring driving characteristic information of each vehicle; A storage means for storing a dynamic map that links together static base map information, dynamic environmental information, and driving characteristic information acquired by the information acquisition means; a collision determination means for determining whether or not there is a possibility of a collision of the vehicle based on the dynamic map stored in the storage means; a control means for controlling the vehicle to avoid a collision of the vehicle when the collision determination means determines that there is a possibility of the vehicle colliding; Equipped with The driving characteristic information includes information on whether the vehicle has a deceleration control function, a maximum deceleration Gmax of the vehicle, and information on whether the vehicle has a steering control function, the collision determination means determines whether or not one vehicle can perform deceleration control to avoid a collision with the other vehicle, using an equation including a maximum deceleration Gmax of the vehicle, based on a dynamic map linked to the driving characteristic information; when it is determined by the collision determination means that the one vehicle cannot avoid a collision with the other vehicle by performing deceleration control, the control means performs a steering control of the one vehicle so that the one vehicle avoids the other vehicle based on the driving characteristic information; The collision determination means Detecting vehicles a and b that satisfy the following conditions based on the dynamic map of the storage means, The position coordinates of the vehicle a are designated as Xa and the position coordinates of the vehicle b are designated as Xb. |Xa-Xb|<predetermined distance A Using the following two-dimensional equation for the collision time T 0 , it is determined whether or not the vehicle a can perform deceleration control to avoid a collision with the vehicle b, where the vehicle speed of the vehicle a is Xa, the vehicle speed of the vehicle b is Xb, and Ga, Va, Vb, Xa, and Xb are three-dimensional vector quantities. -1 / 2×Ga×T 0 2 +(Va-Vb)×T 0 +Xa-Xb=0 Solving the two-dimensional equation for T 0 in the range of 0<Ga<Gmax; If the two-dimensional equation for T 0 has a non-complex positive solution, it is determined that the vehicle a cannot perform deceleration control to avoid a collision with the vehicle b, and there is a possibility that the vehicles a and b will collide; If the two-dimensional equation for T 0 has a complex solution or a negative solution that is not a complex solution, it is determined that the vehicle a can perform deceleration control to avoid a collision with the vehicle b, and there is no possibility of a collision between the vehicles a and b. Driving assistance system.

2. The driving assistance system according to claim 1, The driving characteristic information includes at least one of information on whether the vehicle has a deceleration control function, a maximum deceleration of the vehicle, a free-running time of the vehicle, information on whether the vehicle has a steering control function, and a minimum turning radius of the vehicle. Driving assistance system.

3. acquiring driving characteristic information of each vehicle; A step of storing a dynamic map in which static base map information, dynamic environmental information, and the driving characteristic information are linked together; determining whether the vehicle is likely to crash based on the stored dynamic map; When it is determined that there is a possibility of a collision of the vehicle, performing a control for the vehicle to avoid the collision of the vehicle; Including, The driving characteristic information includes information on whether the vehicle has a deceleration control function, a maximum deceleration Gmax of the vehicle, and information on whether the vehicle has a steering control function, determining whether or not one vehicle can avoid a collision with the other vehicle by performing deceleration control using an equation including a maximum deceleration Gmax of the vehicle based on a dynamic map linked to the driving characteristic information; when it is determined that the one vehicle cannot avoid a collision with the other vehicle by performing deceleration control, the one vehicle performs a steering control of the one vehicle so as to avoid the other vehicle based on the driving characteristic information; Based on the dynamic map, vehicles a and b that satisfy the following conditions are detected: The position coordinates of the vehicle a are designated as Xa and the position coordinates of the vehicle b are designated as Xb. |Xa-Xb|<predetermined distance A Using the following two-dimensional equation for the collision time T 0 , it is determined whether or not the vehicle a can perform deceleration control to avoid a collision with the vehicle b, where the vehicle speed of the vehicle a is Xa, the vehicle speed of the vehicle b is Xb, and Ga, Va, Vb, Xa, and Xb are three-dimensional vector quantities. -1 / 2×Ga×T 0 2 +(Va-Vb)×T 0 +Xa-Xb=0 Solving the two-dimensional equation for T 0 in the range of 0<Ga<Gmax; If the two-dimensional equation for T 0 has a non-complex positive solution, it is determined that the vehicle a cannot perform deceleration control to avoid a collision with the vehicle b, and there is a possibility that the vehicles a and b will collide; If the two-dimensional equation for T 0 has a complex solution or a negative solution that is not a complex solution, it is determined that the vehicle a can perform deceleration control to avoid a collision with the vehicle b, and there is no possibility of a collision between the vehicles a and b. Driving assistance methods.

4. A process of acquiring driving characteristic information of each vehicle; A process of storing a dynamic map in which static base map information, dynamic environmental information, and the driving characteristic information are linked together; determining whether the vehicle is likely to collide based on the stored dynamic map; When it is determined that there is a possibility of a collision of the vehicle, a process of performing a control for the vehicle to avoid the collision of the vehicle; Run the following on your computer: The driving characteristic information includes information on whether the vehicle has a deceleration control function, a maximum deceleration Gmax of the vehicle, and information on whether the vehicle has a steering control function, determining whether or not one vehicle can avoid a collision with the other vehicle by performing deceleration control using an equation including a maximum deceleration Gmax of the vehicle based on a dynamic map linked to the driving characteristic information; when it is determined that the one vehicle cannot avoid a collision with the other vehicle by performing deceleration control, the one vehicle performs a steering control of the one vehicle so as to avoid the other vehicle based on the driving characteristic information; Based on the dynamic map, vehicles a and b that satisfy the following conditions are detected: The position coordinates of the vehicle a are designated as Xa and the position coordinates of the vehicle b are designated as Xb. |Xa-Xb|<predetermined distance A Using the following two-dimensional equation for the collision time T 0 , it is determined whether or not the vehicle a can perform deceleration control to avoid a collision with the vehicle b, where the vehicle speed of the vehicle a is Xa, the vehicle speed of the vehicle b is Xb, and Ga, Va, Vb, Xa, and Xb are three-dimensional vector quantities. -1 / 2×Ga×T 0 2 +(Va-Vb)×T 0 +Xa-Xb=0 Solving the two-dimensional equation for T 0 in the range of 0<Ga<Gmax; If the two-dimensional equation for T 0 has a non-complex positive solution, it is determined that the vehicle a cannot perform deceleration control to avoid a collision with the vehicle b, and there is a possibility that the vehicles a and b will collide; If the two-dimensional equation for T 0 has a complex solution or a negative solution that is not a complex solution, it is determined that the vehicle a can perform deceleration control to avoid a collision with the vehicle b, and there is no possibility of a collision between the vehicles a and b. program.

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