Support device, vehicle, program, and support method

Abstract

To appropriately perform travel support when there is a travel danger point for a vehicle.SOLUTION: A support device comprises: a receiving unit that receives information indicating a travel danger point transmitted from the outside of a vehicle; a calculation unit that calculates a distance and a direction from the vehicle to the travel danger point on the basis of the travel danger point and a current position of the vehicle; a detection unit that detects the travel danger point within a detection range that is set in front of the vehicle in the travel direction; a support control unit that performs travel support when the travel danger point is detected within the detection range; a turn detection unit that detects that the vehicle is taking a turn; and a range changing unit that, when the turn detection unit detects that the vehicle is taking a turn, expands the detection range to a direction of turn of the vehicle.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transport system that takes into account people in vulnerable positions among traffic participants. Towards this realization, research and development focusing on further improving traffic safety and convenience through research and development of driving support technologies has been carried out. Patent Documents 1-2 describe technologies related to the range for detecting objects and other vehicles. [Prior Art Documents] [Patent Documents] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2015-45622 [Patent Document 2] Japanese Unexamined Patent Application Publication No. 2011-253241

Summary of the Invention

Problems to be Solved by the Invention

[0003] By the way, in driving support technologies, it is a problem to appropriately perform driving support when there are driving dangerous points of a vehicle. The present application aims to appropriately provide support regarding the driving dangerous points of a vehicle in order to solve the above problems. And, by extension, it contributes to the development of a sustainable transport system.

Means for Solving the Problems

[0004] In a first aspect of the present invention, a support device is provided. The support device includes a receiving unit that receives information indicating a driving hazard point transmitted from outside the vehicle. The support device includes a calculating unit that calculates the distance and azimuth from the vehicle to the driving hazard point based on the driving hazard point and the current position of the vehicle. The support device includes a detecting unit that detects the driving hazard point within a detection range set in front of the traveling direction of the vehicle. The support device includes a support control unit that performs driving support when the driving hazard point is detected within the detection range. The support device includes a turning detection unit that detects that the vehicle is turning. The support device includes a range changing unit that expands the detection range in the turning direction of the vehicle when it is detected by the turning detection unit that the vehicle is turning.

[0005] In the above support device, when it is detected by the turning detection unit that the vehicle is turning, the range changing unit may expand the detection range in the turning direction of the vehicle by adding a second detection range to a first detection range set when it is detected by the turning detection unit that the vehicle is not turning.

[0006] In any of the above support devices, when it is detected by the turning detection unit that the vehicle is turning, the range changing unit may expand the detection range in the turning direction of the vehicle more widely as the turning radius of the vehicle is smaller.

[0007] In any of the above support devices, when it is detected by the turning detection unit that the vehicle is turning, the range changing unit may set a point defining the second detection range at a position closer to the turning center than the first detection range.

[0008] In any of the above support devices, when it is detected by the turning detection unit that the vehicle is turning, the range changing unit may set a point defining the second detection range at a position closer to the turning center than the first detection range as the turning radius of the vehicle is smaller.

[0009] In any of the above-described assistance devices, when it is detected by the turning detection unit that the vehicle is turning, the range changing unit may set the point defining the second detection range farther from the vehicle as the speed of the vehicle is higher.

[0010] In any of the above-described assistance devices, the first detection range may be set longer in the traveling direction of the vehicle as the traveling speed of the vehicle is higher.

[0011] In any of the above-described assistance devices, the turning detection unit may detect the turning radius based on at least any one of a yaw rate and a vehicle speed, a steering angle, a lateral acceleration, and position information based on GNSS.

[0012] In a second aspect of the present invention, a vehicle is provided. The vehicle includes any of the above-described assistance devices.

[0013] In a third aspect of the present invention, a method is provided. The assistance method includes a step of receiving information indicating a traveling dangerous point transmitted from outside the vehicle. The assistance method includes a step of calculating a distance and an azimuth from the vehicle to the traveling dangerous point based on the traveling dangerous point and the current position of the vehicle. The assistance method includes a step of detecting the traveling dangerous point within a detection range set in front of the traveling direction of the vehicle. The assistance method includes a step of performing traveling assistance when the traveling dangerous point is detected within the detection range. The assistance method includes a step of detecting that the vehicle is turning. The assistance method includes a step of expanding the detection range in the turning direction of the vehicle when it is detected that the vehicle is turning.

[0014] In a fourth aspect of the present invention, a program is provided. The program causes a computer to function as any of the above-described assistance devices.

[0015] Note that the above summary of the invention does not enumerate all the features of the present invention. Also, sub-combinations of these feature groups can also be inventions.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0017] Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims. Also, not all combinations of the features described in the embodiments are essential for the solution means of the invention.

[0018] FIG. 1 schematically shows the usage scenario of the support device 40 according to one embodiment. The vehicle 20 includes the support device 40. The vehicle 21 includes the support device 41. The support device 40 and the support device 41 have a driving support function for performing control related to the driving support of each vehicle.

[0019] The vehicle 21 is a preceding vehicle traveling in front of the traveling route of the vehicle 20. The support device 40 and the support device 41 can transmit driving risk point information indicating points that may be dangerous for the driving of other vehicles to other vehicles.

[0020] In this embodiment, a form will be described in which the support device 40 performs control related to the driving support of the vehicle 20 when receiving the driving risk point information transmitted by the support device 41. For example, when the magnitude of the deceleration of the vehicle 21 exceeds a predetermined value, the support device 41 may transmit the driving risk point information indicating the point where the magnitude of the deceleration exceeds the predetermined value to surrounding vehicles. The driving risk point information may be, for example, a message for an emergency electronic brake light (EEBL). When the support device 41 detects that the vehicle 21 has slipped, the support device 41 may transmit the driving risk point information indicating the slipped point to surrounding vehicles. The driving support may be, for example, an alarm regarding the presence of an object that becomes an obstacle to the driving of the vehicle (for example, an alarm indicating that there is a vehicle ahead, an accident vehicle / fault vehicle alarm (PCW), etc.). The driving risk point information may be information transmitted from a server other than other vehicles to the support device 40.

[0021] In FIG. 1, when the vehicle 21 decelerates rapidly while traveling, the support device 41 transmits the point Q where the rapid deceleration occurs to surrounding vehicles as the driving risk point information. The driving risk point information may include, for example, the latitude and longitude information and speed information of the point where the rapid deceleration occurred.

[0022] Assume that the vehicle 20 is traveling on the straight road 70. When the support device 40 receives the driving risk point information, the support device 40 sets a first detection range 100 that is a range for detecting the driving risk point. The first detection range 100 is a range located in front of the vehicle 20 along the traveling direction of the vehicle 20 from the current position P of the vehicle 20. The first detection range 100 is, for example, a rectangular range.

[0023] When the driving risk point indicated by the received driving risk point information is within the first detection range 100, the support device 40 performs driving support. As shown in FIG. 1, since there is a point Q that is a driving risk point within the first detection range 100, the support device 40 performs driving support. When the driving risk point is not within the detection range, the support device 40 does not perform driving support, and when the driving risk point enters the detection range according to the movement of the vehicle 20, the support device 40 may perform driving support.

[0024] When the support device 40 is performing driving support, even when it receives new driving hazard location information from another vehicle, it may continue the driving support until the vehicle 20 passes through point Q, and may not perform driving support based on the information indicating the new driving hazard location.

[0025] When the support device 40 detects a driving hazard location, it may transmit driving hazard location information indicating the detected driving hazard location to the outside of the vehicle 20. When the support device 40 detects a driving hazard location, it may stop performing driving support in the vehicle 20.

[0026] FIG. 2 shows a detection range 120 set when the vehicle 20 is traveling on a curved road 72. When the support device 40 detects that the vehicle 20 is turning based on the traveling speed and yaw rate of the vehicle 20, it sets a second detection range 110, and sets the range obtained by adding the second detection range 110 to the first detection range 100 as the detection range 120 for detecting a driving hazard location. The second detection range 110 is a range located on the turning direction side of the vehicle 20 with respect to the first detection range 100. For example, when the vehicle 20 is turning right as shown in FIG. 2, the second detection range 110 is a range located on the right side of the vehicle 20 with respect to the first detection range 100.

[0027] Thereby, when the vehicle 20 is turning, the detection range can be expanded in the direction along the turning direction of the vehicle 20 compared to when the vehicle 20 is going straight. Thereby, it is possible to prevent the detection of point Q, which is a driving hazard location, from being missed.

[0028] FIG. 3 shows the system configuration of the vehicle 20. The vehicle 20 includes a sensor 29, a support device 40, a communication device 250, and an alarm device 270.

[0029] The sensor 29 includes a yaw rate sensor 24, a GNSS receiver 25, a vehicle speed sensor 26, and the like. The vehicle speed sensor 26 detects the speed of the vehicle 20. The yaw rate sensor 24 detects the yaw rate of the vehicle 20. The GNSS receiver 25 acquires the current position information of the vehicle 20 by means of a global navigation satellite system (GNSS). The warning device 270 is a device having, for example, a human machine interface (HMI) function. The communication device 250 is responsible for communication with the outside of the vehicle 20. The communication device 250 performs vehicle-to-vehicle communication by direct communication such as PC5, for example. The communication device 250 may communicate with other vehicles by communicating through a mobile communication base station. The communication device 250 includes a receiving unit 251 and a transmitting unit 252.

[0030] The support device 40 includes a processing unit 200 and a storage unit 290. The processing unit 200 is realized by an arithmetic processing device including a processor, for example. The storage unit 290 is realized by including a non-volatile storage medium. The processing unit 200 performs processing using the information stored in the storage unit 290. The processing unit 200 may be realized by an electronic control unit (ECU) including a microcomputer having a CPU, a ROM, a RAM, an I / O, and a bus, etc.

[0031] The processing unit 200 includes a calculation unit 210, a range change unit 220, a detection unit 230, and a support control unit 240.

[0032] The receiving unit 251 receives information indicating a driving dangerous location transmitted from the outside of the vehicle 20. For example, the receiving unit 251 receives driving dangerous location information transmitted from the support device 41 provided in the vehicle 21.

[0033] The calculation unit 210 calculates the distance and azimuth from the vehicle 20 to the driving dangerous location based on the driving dangerous location and the current position of the vehicle 20. The detection unit 230 detects the driving dangerous location within a detection range set in front of the traveling direction of the vehicle 20.

[0034] When a driving dangerous point is detected within the detection range, the support control unit 240 performs driving support. For example, the support control unit 240 notifies the passengers of the vehicle 20 of the existence of a driving dangerous point through the HMI function provided by the warning device 270. Note that the support control unit 240 may support the driving of the vehicle 20 itself. The support control unit 240 may support the control of the driving speed of the vehicle 20. The support control unit 240 may support the steering of the vehicle 20.

[0035] The turning detection unit 222 detects that the vehicle 20 is turning. The turning detection unit 222 detects that the vehicle 20 is turning based on the information detected by the yaw rate sensor 24 and the vehicle speed sensor 26. When the turning detection unit 222 detects that the vehicle 20 is turning, the range change unit 220 expands the detection range in the turning direction of the vehicle 20.

[0036] When the turning detection unit 222 detects that the vehicle 20 is turning, the range change unit 220 expands the detection range in the turning direction of the vehicle 20 by adding the second detection range 110 to the first detection range 100 set when the turning detection unit 222 detects that the vehicle 20 is not turning.

[0037] When the turning detection unit 222 detects that the vehicle 20 is turning, the range change unit 220 may expand the detection range in the turning direction of the vehicle 20 more widely as the turning radius of the vehicle 20 is smaller.

[0038] When the turning detection unit 222 detects that the vehicle 20 is turning, the range change unit 220 sets the point defining the second detection range 110 at a position closer to the turning center than the first detection range 100.

[0039] When it is detected by the turning detection unit 222 that the vehicle 20 is turning, the range changing unit 220 sets the point defining the second detection range 110 at a position closer to the turning center than the first detection range 100 as the turning radius of the vehicle 20 is smaller. The turning detection unit 222 may detect the turning radius based on at least any one of the speed and yaw rate of the vehicle 20, the steering angle, the lateral acceleration, and the position information by GNSS.

[0040] When it is detected by the turning detection unit 222 that the vehicle 20 is turning, the range changing unit 220 sets the point defining the second detection range 110 farther from the vehicle 20 as the speed of the vehicle 20 is higher. The first detection range 100 is set longer in the traveling direction of the vehicle 20 as the traveling speed of the vehicle 20 is higher.

[0041] When it is detected that the point where the vehicle 20 has traveled is dangerous during traveling, the transmission unit 252 transmits the traveling dangerous point information indicating the detected dangerous point during traveling to the outside of the vehicle 20. For example, when a deceleration exceeding a predetermined value is detected in the vehicle 20, the transmission unit 252 transmits the traveling dangerous point information indicating the point where the deceleration exceeding the predetermined value is detected to the outside of the vehicle 20. The transmission unit 252 may transmit the traveling dangerous point information indicating the point where the detected object exists to the outside of the vehicle 20 when an object such as a pedestrian dangerous to the traveling of the vehicle is detected around the vehicle 20. The transmission unit 252 may transmit the traveling dangerous point information indicating the point where the slip is detected to the outside of the vehicle 20 when the slip is detected by the ABS function of the vehicle 20.

[0042] When performing driving support, the support control unit 240 may continue the driving support until the vehicle 20 passes through the traveling dangerous point even when the receiving unit 251 receives the information indicating a new traveling dangerous point, and suppress the driving support based on the information indicating the new traveling dangerous point.

[0043] FIG. 4 is a diagram for explaining a first detection range 100 set when the vehicle 20 is going straight. The first detection range 100 is a rectangular range defined by points P1, P2, P3, and P4.

[0044] Points P1 and P2 are points set on both sides of the current position P of the vehicle 20 with respect to the traveling direction of the vehicle 20. Point P1 is a point set on the left side of the current position P with respect to the traveling direction of the vehicle 20. Point P2 is a point set on the right side of the current position P. Points P1 and P2 are set such that the line connecting points P1 and P2 is orthogonal to the traveling direction. The distance between points P1 and P2 may be set to a predetermined length. Points P1 and P2 may be set based on the width of the traveling lane of the vehicle 20. The distance between points P1 and P2 may be set to be at least longer than the width of the traveling lane of the vehicle 20.

[0045] Point P3 is set at a position separated from point P1 by L1 in the traveling direction of the vehicle 20. Point P4 is set at a position separated from point P2 by L1 in the traveling direction of the vehicle 20. L1 is set according to the speed of the vehicle 20. L1 is set to be longer as the speed of the vehicle 20 is higher. L1 is set to be longer than the distance traveled by the vehicle 20 until the speed of the vehicle 20 is decelerated to a predetermined speed when the vehicle 20 is decelerated at a predetermined deceleration rate.

[0046] The detection unit 230 determines whether or not the point Q, which is a traveling risk point, is included in the first detection range 100 based on the distance and azimuth from the vehicle 20 to the point Q calculated by the calculation unit 210 and the current position P of the vehicle 20. The support control unit 240 performs traveling support when the point Q is included within the detection range 100. For example, the support control unit 240 notifies the passengers of the vehicle 20 of information regarding the point Q through the warning device 270.

[0047] FIG. 5 is a diagram for explaining a detection range 120 set when the vehicle 20 is turning. The turning detection unit 222 detects that the vehicle 20 is turning based on the yaw rate detected by the yaw rate sensor 24 and the speed detected by the vehicle speed sensor 26.

[0048] When it is detected by the turning detection unit 222 that the vehicle 20 is turning, the range changing unit 220 sets a point P5 that defines the second detection range 110 at a position shifted in the turning direction from the point P4. In the example of FIG. 5, the range changing unit 220 sets the point P5 to the right of the point P4 with respect to the traveling direction of the vehicle 20.

[0049] Specifically, the range changing unit 220 calculates the radius of curvature R at which the vehicle 20 turns based on the yaw rate detected by the yaw rate sensor 24 and the speed detected by the vehicle speed sensor 26. The range changing unit 220 sets a circle C with a radius R passing through the current position P of the vehicle 20. The range changing unit 220 sets a point P5' that has advanced by L1 along the circle C from the current position P of the vehicle 20. For example, assuming that the turning center of the vehicle 20 is O, the range changing unit 220 calculates the point P5' by calculating the angle θ formed by P - O - P5' based on the radius of curvature and L1.

[0050] The range changing unit 220 sets the point P5 on the straight line passing through the points P4 and P5'. The range changing unit 220 may set the distance between the points P4 and P5 to a predetermined distance. The range changing unit 220 may set the distance between the points P4 and P5 based on the width of the travel lane of the vehicle 20. The range changing unit 220 may set the distance between the points P4 and P5 to be at least longer than the width of the travel lane of the vehicle 20. The range changing unit 220 sets the polygonal range defined by the points P1, P2, P5, P4, and P3 as the detection range 120.

[0051] Thereby, when the vehicle 20 is turning, the detection range can be expanded in the turning direction of the vehicle 20 compared to when the vehicle 20 is going straight. Thereby, when the vehicle 20 is turning, it is possible to prevent the detection of the point Q, which is a dangerous driving point ahead in the traveling direction, from being missed.

[0052] According to the method of setting the point P5 described in relation to FIG. 5, as the turning radius R becomes smaller, the angle θ becomes larger. Therefore, the smaller the turning radius R, the more the point P5 can be set inside the turning direction from the first detection range 100. That is, the smaller the turning radius, the more the point P5 can be set at a position closer to the turning center O than the first detection range 100. In this way, the smaller the turning radius R, the wider the second detection range 110 can be made in the turning direction of the vehicle 20. In this way, since the range changing unit 220 can set the second detection range 110 according to the turning radius of the vehicle 20, it is possible to prevent the point Q, which is a driving risk point ahead in the traveling direction, from being missed when the vehicle 20 is turning.

[0053] FIG. 6 shows an example of a flowchart regarding the support method executed by the support device 40. The processing of this flowchart is repeatedly executed in the vehicle 20. The processing of this flowchart may be executed after receiving the driving risk point information. The processing of this flowchart may be repeatedly executed after receiving the driving risk point information.

[0054] In S602, the range changing unit 220 sets the rectangular first detection range 100 corresponding to the speed of the vehicle 20 as the detection range. The first detection range 100 is set longer along the traveling direction of the vehicle 20 as the speed of the vehicle 20 becomes higher.

[0055] In S604, the turning detection unit 222 acquires the turning information of the vehicle 20. For example, the turning detection unit 222 acquires information indicating the yaw rate and the vehicle speed from the sensor 29. The turning detection unit 222 may acquire the time change of the steering angle, the lateral acceleration, and the position information of the vehicle 20 by GNSS of the vehicle 20 as the turning information of the vehicle 20.

[0056] In S606, the turning detection unit 222 determines whether the vehicle 20 is turning based on the turning information. If it is determined in S606 that the vehicle 20 is not turning, then in S612, it is determined whether a point Q exists within the detection range set in S602. If it is determined that the point Q exists within the detection range set in S602, then in S614, driving support is performed and the processing of this flowchart is terminated.

[0057] If it is determined in S606 that the vehicle 20 is turning, then in S608, the range changing unit 220 sets the second detection range 110 according to the turning radius of curvature R. In S610, the range changing unit 220 sets the first detection range 100 and the second detection range 110 as the detection ranges. Subsequently, in S612, it is determined whether a point Q exists within the detection range set in S610. If it is determined that the point Q exists within the detection range set in S610, then in S614, driving support is performed and the processing of this flowchart is terminated.

[0058] According to the support device 40 described above, when the vehicle 20 is turning, the detection range of the driving risk point can be widely set in the turning direction. Therefore, it is possible to set the detection range so that it does not become overly wide while reducing the possibility of missing driving support. As a result, information on points that may be dangerous in the driving of the vehicle 20, such as the point where the preceding vehicle suddenly decelerates or the point where the preceding vehicle slips, can be more appropriately notified to the passengers of the vehicle 20.

[0059] In this embodiment, it is assumed that driving hazard location information is transmitted and received by vehicle-to-vehicle communication. However, a form in which a server for holding driving hazard location information is further provided may be adopted. For example, when the server receives driving hazard location information transmitted from each vehicle, it may hold the driving hazard locations indicated by the driving hazard location information for a predetermined period. The server may transmit information indicating the held driving hazard locations to vehicles traveling toward the driving hazard locations. A vehicle traveling at a position away from another vehicle that has detected a driving hazard location may not be able to receive driving hazard location information by vehicle-to-vehicle communication. However, by providing a server for holding driving hazard location information, driving hazard location information can be provided to the vehicle more reliably.

[0060] Note that the vehicle 20 is a vehicle as an example of a transportation device. The vehicle may be an automobile including an internal combustion engine, an electric vehicle, a fuel cell vehicle (FCV), etc. Automobiles include buses, trucks, motorcycles, etc. The vehicle may be a straddle-type vehicle or the like, and may be a motorcycle. As transportation devices, in addition to vehicles, they include aircraft such as unmanned aerial vehicles and devices such as ships. The transportation device may be any device that transports people or goods. The transportation device is an example of a moving body. The moving body is not limited to a transportation device and may be any movable device.

[0061] FIG. 7 shows an example of a computer 2000 in which multiple embodiments of the present invention can be embodied in whole or in part. The program installed in the computer 2000 causes the computer 2000 to function as the system according to the embodiment or each part of the system, or as a device such as the support device 40 or each part of the device, executes operations associated with the system or each part of the system or the device or each part of the device, and / or executes the process according to the embodiment or a stage of the process. Such a program may be executed by the CPU 2012 to cause the computer 2000 to execute specific operations associated with some or all of the processing procedures and blocks of the block diagrams described herein.

[0062] The computer 2000 according to this embodiment includes a CPU 2012 and a RAM 2014, which are interconnected by a host controller 2010. The computer 2000 also includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the host controller 2010 via an input / output controller 2020.

[0063] The CPU 2012 operates according to programs stored in the ROM 2026 and the RAM 2014, thereby controlling each unit.

[0064] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000. The ROM 2026 stores a boot program and the like executed by the computer 2000 at activation, and / or programs depending on the hardware of the computer 2000. The input / output chip 2040 may also connect various input / output units such as a keyboard, a mouse, and a monitor to the input / output controller 2020 via input / output ports such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, an HDMI (registered trademark) port, and the like.

[0065] The program is provided via a computer-readable storage medium such as a CD-ROM, DVD-ROM, or memory card, or via a network. RAM 2014, ROM 2026, or flash memory 2024 are examples of computer-readable storage media. The program is installed in flash memory 2024, RAM 2014, or ROM 2026 and executed by CPU 2012. The information processing described in these programs is read by computer 2000, resulting in cooperation between the program and the various types of hardware resources described above. The apparatus or method may be configured by realizing the operation or processing of information according to the use of computer 2000.

[0066] For example, when communication is executed between computer 2000 and an external device, CPU 2012 may execute a communication program loaded in RAM 2014 and instruct communication interface 2022 to perform communication processing based on the processing described in the communication program. Communication interface 2022 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as RAM 2014 and flash memory 2024 under the control of CPU 2012, transmits the read transmission data to the network, and writes the received data received from the network to a reception buffer processing area or the like provided on the recording medium.

[0067] Also, CPU 2012 may cause all or a necessary part of a file or database stored in a recording medium such as flash memory 2024 to be read into RAM 2014 and execute various types of processing on the data on RAM 2014. CPU 2012 then writes back the processed data to the recording medium.

[0068] Various types of information such as various types of programs, data, tables, and databases may be stored in a recording medium and subjected to information processing. The CPU 2012 may perform various types of processing on the data read from the RAM 2014, including various types of operations, information processing, condition judgment, conditional branch, unconditional branch, information search / replacement, etc. described in this specification and specified by the instruction sequence of the program, and write back the result to the RAM 2014. Also, the CPU 2012 may search for information in files, databases, etc. within the recording medium. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 2012 searches for an entry that matches the condition in which the attribute value of the first attribute is specified from among the plurality of entries, reads the attribute value of the second attribute stored in the entry, and thereby obtains the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0069] The program or software module described above may be stored in a computer-readable storage medium on or near the computer 2000. A recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium. The program stored in the computer-readable storage medium may be provided to the computer 2000 via a network.

[0070] The program installed in computer 2000 and causing computer 2000 to function as support device 40 may act on CPU 2012 or the like to cause computer 2000 to function as each part of support device 40 respectively. The information processing described in these programs functions as each part of support device 40, which is a specific means by which software and the various hardware resources described above cooperate, when read into computer 2000. And by these specific means, by realizing the calculation or processing of information according to the purpose of use of computer 2000 in the present embodiment, a specific support device 40 corresponding to the purpose of use is constructed.

[0071] Various embodiments have been described with reference to block diagrams and the like. In a block diagram, each block may represent (1) a stage of a process in which an operation is executed or (2) each part of a device having a role of executing an operation. A specific stage and each part may be implemented by a dedicated circuit, a programmable circuit supplied together with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied together with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include an integrated circuit (IC) and / or discrete circuits. The programmable circuit may include a reconfigurable hardware circuit including memory elements such as logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

[0072] A computer-readable storage medium may include any tangible device that can store instructions executable by an appropriate device. As a result, a computer-readable storage medium having instructions stored therein constitutes at least a part of a product that can be executed to provide means for performing operations specified in a process flow or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media may include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (registered trademark) disc, memory stick, integrated circuit card, and the like.

[0073] Computer-readable instructions may include any combination of one or more programming languages, including source code or object code written in any combination of assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and conventional procedural programming languages such as the "C" programming language or similar programming languages.

[0074] Computer-readable instructions may be provided to a processor or programmable circuitry of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, either locally or via a wide area network (WAN) such as a local area network (LAN), the Internet, etc., and executed to provide means for performing the described processing procedures or operations specified in the block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0075] As described above, the present invention has been explained using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that forms with such changes or improvements can also be included in the technical scope of the present invention.

[0076] It should be noted that the execution order of each process such as operations, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is not explicitly indicated as "earlier" or "preceding" etc., and can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flows in the claims, the specification, and the drawings, even if "first," "next," etc. are used for convenience of explanation, it does not mean that it is essential to implement in this order.

Description of Reference Numerals

[0077] 20 Vehicle 29 Sensor 24 Yaw Rate Sensor 25 GNSS Receiver 26 Vehicle Speed Sensor 40 Support Device 100 First Detection Range 110 Second Detection Range 120 Detection Range 200 Processing Unit 210 Calculation Unit 220 Range Change Unit 222 Turning Detection Unit 230 Detection Unit 240 Support Control Unit 250 Communication Device 251 Receiver 252 Transmitter 270 Alarm Device 290 Memory Unit 2000 Computer 2010 Host Controller 2012 CPU 2014 RAM 2020 Input / Output Controller 2022 Communication Interface 2024 Flash Memory 2026 ROM 2040 Input / Output Chip

Claims

1. A receiving unit that receives information indicating a driving hazard point transmitted from outside the vehicle; A calculating unit that calculates the distance and direction from the vehicle to the driving hazard point based on the driving hazard point and the current position of the vehicle; A detecting unit that determines whether the driving hazard point is included within a detection range set in front of the traveling direction of the vehicle based on the distance and direction calculated by the calculating unit; A support control unit that performs driving support when it is determined that the driving hazard point is included within the detection range; A turning detection unit that detects that the vehicle is turning; When it is detected by the turning detection unit that the vehicle is turning, a range changing unit that expands the detection range in the turning direction of the vehicle by adding a second detection range to a first detection range set when it is detected by the turning detection unit that the vehicle is not turning Comprising When it is detected by the turning detection unit that the vehicle is turning, the range changing unit sets a point defining the second detection range closer to the turning center than the first detection range as the turning radius of the vehicle is smaller. Support device.

2. When it is detected by the turning detection unit that the vehicle is turning, the range changing unit does not expand the detection range in the direction opposite to the turning direction of the vehicle. The support device according to claim 1.

3. When it is detected by the turning detection unit that the vehicle is turning, the range changing unit sets a point defining the second detection range farther from the vehicle as the speed of the vehicle is higher. The support device according to claim 1 or 2.

4. The first detection range is set longer in the traveling direction of the vehicle as the traveling speed of the vehicle is longer. The support device according to claim 3.

5. The turning detection unit detects the turning radius based on at least any one of a yaw rate and a vehicle speed, a steering angle, a lateral acceleration, and position information based on GNSS. The support device according to claim 1 or 2.

6. A vehicle comprising the support device according to claim 1 or 2.

7. Receiving information indicating a driving hazard point transmitted from outside the vehicle; A calculating step of calculating the distance and direction from the vehicle to the driving hazard point based on the driving hazard point and the current position of the vehicle; Based on the distance and azimuth calculated in the above calculation stage, determining whether the driving risk point is included within a detection range set in front of the traveling direction of the vehicle; When it is determined that the driving risk point is included within the detection range, performing driving assistance; A turning detection stage for detecting that the vehicle is turning; When it is detected that the vehicle is turning, a range change stage of expanding the detection range in the turning direction of the vehicle by adding a second detection range to a first detection range set when it is detected in the turning detection stage that the vehicle is not turning; comprising; In the range change stage, when it is detected in the turning detection stage that the vehicle is turning, the smaller the turning radius of the vehicle, the closer the point defining the second detection range is set to the turning center than the first detection range; Support method.

8. A program for causing a computer to function as the support device according to claim 1 or 2.

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