ASSISTANCE DEVICE, VEHICLE, PROGRAM, AND ASSISTANCE METHOD

Abstract

To perform appropriate travel support on the basis of a position of a preceding vehicle.SOLUTION: A support device comprises: a receiving unit that receives information indicating a position of a preceding vehicle that travels in front of a vehicle in the travel direction; a setting unit that, when the preceding vehicle is determined to be dangerous in the travel of the vehicle, sets a reference point to be a reference for performing travel support for the vehicle on the basis of the position of the preceding vehicle; and a support control unit that performs the travel support on the basis of the reference point. The setting unit updates the reference point after the preceding vehicle is determined to be dangerous and while a predetermined condition for determining that the preceding vehicle is dangerous is satisfied.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to an assistance device, a vehicle, a program, and an assistance method. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have been gaining momentum. To achieve this, we are focusing on research and development into driver assistance technologies to further improve traffic safety and convenience. Patent documents 1 and 2 describe technologies related to the range of detection of objects and other vehicles. [Prior art document] [Patent documents] [Patent Document 1] JP 2015-45622 A [Patent Document 2] JP 2011-253241 A Summary of the Invention [Problem to be solved by the invention]

[0003] However, in driving assistance technology, a challenge is to provide appropriate driving assistance based on the position of the leading vehicle when the leading vehicle is determined to be dangerous. The present application aims to solve the above challenge by providing appropriate driving assistance based on the position of the leading vehicle. This will ultimately contribute to the development of sustainable transportation systems. [Means for solving the problem]

[0004] In a first aspect of the present invention, there is provided an assistance device. The assistance device includes a receiving unit that receives information indicating the position of a preceding vehicle traveling ahead in the direction of travel of the vehicle. The assistance device includes a setting unit that, when the preceding vehicle is determined to be dangerous for the vehicle, sets a reference point that serves as a reference for providing driving assistance for the vehicle based on the position of the preceding vehicle. The assistance device includes an assistance control unit that provides driving assistance based on the reference point. After the preceding vehicle is determined to be dangerous, the setting unit updates the reference point while a predetermined condition for determining that the preceding vehicle is dangerous is satisfied.

[0005] In the above-mentioned assistance device, after the preceding vehicle is judged to be a danger to the vehicle's travel, the setting unit may update the reference point while the predetermined condition is satisfied, and may stop updating the reference point when the predetermined condition is no longer satisfied.

[0006] In any of the above assistance devices, the setting unit may update the reference point while the predetermined condition is satisfied after the preceding vehicle is determined to be a danger to the vehicle's travel, and may stop updating the reference point and fix the reference point when the predetermined condition is no longer satisfied.

[0007] In any of the assistance devices described above, the setting unit may update the reference point while the predetermined condition is satisfied after the preceding vehicle is determined to be a danger to the vehicle, and may stop updating the reference point and fix the reference point when the predetermined condition is no longer satisfied. The assistance control unit may provide driving assistance based on the fixed reference point at least until the vehicle passes the fixed reference point.

[0008] In any of the above assistance devices, the predetermined condition may include a condition related to at least one of the speed and acceleration of the leading vehicle.

[0009] In any of the above assistance devices, the predetermined condition may include a condition that the magnitude of acceleration of the leading vehicle is equal to or less than a predetermined acceleration value.

[0010] In any of the assistance devices described above, the predetermined condition may include a condition that the speed of the leading vehicle is equal to or less than a predetermined first speed value.

[0011] In any of the above assistance devices, the setting unit may determine that the preceding vehicle is dangerous for the vehicle's travel when the speed of the preceding vehicle falls below a second speed value that is lower than the first speed value.

[0012] In any of the above assistance devices, the predetermined condition may include a condition that the speed of the leading vehicle is not constant.

[0013] Any of the above assistance devices may include a calculation unit that calculates a distance and a direction from the vehicle to the reference point based on the reference point and the current position of the vehicle. The assistance device may include a detection unit that detects the reference point within a detection range that is set within a predetermined range from the current position of the vehicle. The assistance control unit may perform driving assistance when the reference point is detected within the detection range.

[0014] In a second aspect of the present invention, there is provided a vehicle, the vehicle including any one of the assistance devices described above.

[0015] In a third aspect of the present invention, there is provided an assistance method. The assistance method includes a step of receiving information indicating the position of a leading vehicle traveling ahead in a direction of travel of a vehicle. The assistance method includes a step of setting a reference point that serves as a reference for providing driving assistance for the vehicle based on the position of the leading vehicle when the leading vehicle is determined to be dangerous for the vehicle. The assistance method includes a step of providing driving assistance based on the reference point. In the step of setting the reference point, after the leading vehicle is determined to be dangerous, the reference point is updated while a predetermined condition for determining that the leading vehicle is dangerous is satisfied.

[0016] In a fourth aspect of the present invention, there is provided a program that causes a computer to function as any one of the above-described support devices.

[0017] The above summary of the invention does not list all of the features of the present invention, and subcombinations of these features may also be inventions. [Brief explanation of the drawings]

[0018] [Figure 1] 1A and 1B are schematic diagrams illustrating a usage scenario of a support device 40 according to an embodiment. [Figure 2] The figure shows a state in which a vehicle 20 approaches a leading vehicle 21. [Figure 3] This indicates a state in which the speed of the leading vehicle 21 exceeds a predetermined speed value. [Figure 4] 2 shows the system configuration of a vehicle 20. [Figure 5] 10 shows an example of a period during which the setting unit 220 updates the reference point. [Figure 6] 10 shows another example of a period during which the setting unit 220 updates the reference point. [Figure 7] 10 shows another example of a period during which the setting unit 220 updates the reference point. [Figure 8] 10 shows an example of a flowchart relating to a support method executed by the support device 40. [Figure 9] An example of a computer 2000 is shown. DETAILED DESCRIPTION OF THE INVENTION

[0019] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0020] 1 is a schematic diagram illustrating a usage scenario of an assistance device 40 according to one embodiment. A vehicle 20 is equipped with an assistance device 40. A preceding vehicle 21 is equipped with an assistance device 41. The assistance device 40 and the assistance device 41 have a driving assistance function for controlling driving assistance for each vehicle.

[0021] The preceding vehicle 21 is a preceding vehicle traveling ahead on the travel path of the vehicle 20. The assistance device 40 and the assistance device 41 periodically transmit to the outside traveling information including the identification information, current position, current acceleration / deceleration, and current speed of each vehicle. In this embodiment, an embodiment will be described in which the assistance device 40 controls the traveling assistance of the vehicle 20 based on the traveling information transmitted from the assistance device 41.

[0022] When the assistance device 40 determines that the preceding vehicle 21 has suddenly decelerated based on the acceleration / deceleration included in the driving information transmitted from the assistance device 41, it determines whether a point Q1 indicating the current position of the preceding vehicle 21 included in the driving information is within a detection range 100, which is a range for detecting a reference point that serves as a basis for driving assistance in the vehicle 20. The detection range 100 is a range located ahead of the vehicle 20 along the traveling direction of the vehicle 20 from the current position P of the vehicle 20. The detection range 100 is, for example, a rectangular range. The assistance device 40 may set the length of the detection range 100 in the direction along the traveling direction of the vehicle 20 to be longer as the speed of the vehicle 20 increases.

[0023] The assistance device 40 provides driving assistance when point Q1 is within the detection range 100. As shown in FIG. 1, point Q is present within the detection range 100, so the assistance device 40 provides driving assistance. Specifically, the assistance device 40 provides driving assistance using point Q as a reference point. For example, the assistance device 40 displays information indicating the distance from the current position P of the vehicle 20 to point P using an HMI (Human Machine Interface) function provided in the assistance device 40. FIG. 1 shows an example in which "200 m" is displayed as information indicating the distance from the current position P1 of the vehicle 20 to the reference point Q1.

[0024] 2 shows a state in which vehicle 20 approaches preceding vehicle 21. Based on driving information periodically transmitted from the driving information assisting device 41, the assisting device 40 determines whether preceding vehicle 21 is dangerous for vehicle 20. For example, if the speed of preceding vehicle 21 included in the driving information is equal to or less than a predetermined speed value, the assisting device 40 determines that preceding vehicle 21 is dangerous for vehicle 20. While the assisting device 40 determines that preceding vehicle 21 is dangerous for vehicle 20, it updates the reference point with the latest position of preceding vehicle 21 and provides driving assistance based on the reference point.

[0025] 2 shows a state in which preceding vehicle 21 is determined to be dangerous for vehicle 20, and driving assistance is performed by setting the latest position Q2 of preceding vehicle 21 as a reference point. Specifically, an example is shown in which "180 m" is displayed as information indicating the distance from current position P2 of vehicle 20 to reference point Q2.

[0026] 3 shows a state in which the speed of the preceding vehicle 21 exceeds a predetermined speed value. When the speed of the preceding vehicle 21 included in the travel information transmitted from the travel assistance device 41 exceeds the predetermined speed value, the assistance device 40 fixes point Q3, where it is determined that the speed of the preceding vehicle 21 has exceeded the predetermined speed value, as a reference point, and provides travel assistance.

[0027] The example in FIG. 3 shows a state in which driving assistance is performed with position Q3 set as the reference point. Specifically, an example is shown in which "140 m" is displayed as information indicating the distance from the current position P3 of the vehicle 20 to the reference point Q3. The assistance device 40 provides driving assistance based on the reference point Q3 until the current position of the vehicle 20 reaches the reference point Q3. When the current position of the vehicle 20 passes the reference point Q3, the assistance device 40 stops driving assistance based on the reference point Q3.

[0028] In this way, after the preceding vehicle 21 suddenly decelerates, the assistance device 40 can provide driving assistance while updating the reference point in accordance with the movement of the preceding vehicle 21. Therefore, if the preceding vehicle 21 continues to move after suddenly decelerating, driving assistance can be continued without being stopped even after the vehicle 20 reaches the point where the preceding vehicle 21 suddenly decelerated, and therefore the occupants of the vehicle 20 can be appropriately notified of the distance from the vehicle 20 to the preceding vehicle 21. This can improve the usability of the vehicle 20, and ultimately improve traffic safety.

[0029] 4 shows the system configuration of the vehicle 20. The vehicle 20 includes a sensor 29, an assistance device 40, a communication device 250, and an alarm device 270.

[0030] The sensors 29 include a GNSS receiver 25, a vehicle speed sensor 26, an acceleration sensor 27, etc. The vehicle speed sensor 26 detects the speed of the vehicle 20. The acceleration sensor 27 detects the acceleration of the vehicle 20. The GNSS receiver 25 acquires current position information of the vehicle 20 via a global navigation satellite system (GNSS). The alarm device 270 is, for example, a device equipped with an HMI (Human Machine Interface) function. The communication device 250 is responsible for communication with the outside of the vehicle 20. The communication device 250 performs inter-vehicle communication by direct communication using, for example, a PC5 or the like. 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.

[0031] The assistance device 40 includes a processing unit 200 and a storage unit 290. The processing unit 200 is realized by, for example, an arithmetic processing device including a processor. The storage unit 290 is realized by including a non-volatile storage medium. The processing unit 200 performs processing using information stored in the storage unit 290. The processing unit 200 may be realized by an ECU (Electronic Control Unit) including a microcomputer equipped with a CPU, ROM, RAM, I / O, buses, etc.

[0032] The processing unit 200 includes a calculation unit 210 , a setting unit 220 , a detection unit 230 , and a support control unit 240 .

[0033] The receiving unit 251 receives information indicating the position of the preceding vehicle 21 traveling ahead in the traveling direction of the vehicle 20. For example, the receiving unit 251 receives traveling information continuously transmitted from the assistance device 41 provided in the preceding vehicle 21.

[0034] The setting unit 220 sets a reference point that serves as a reference for providing driving support for the vehicle 20 based on the position of the leading vehicle 21 when the leading vehicle 21 is determined to be dangerous for the vehicle 20 to drive.

[0035] The assistance control unit 240 performs driving assistance based on the reference point. For example, the calculation unit 210 calculates the distance and direction from the vehicle 20 to the reference point based on the reference point and the current position of the vehicle 20. The detection unit 230 detects the reference point within a detection range that is set within a predetermined range from the current position of the vehicle 20. The assistance control unit 240 performs driving assistance when the reference point is detected within the detection range.

[0036] Specifically, the assistance control unit 240 notifies the occupants of the vehicle 20 that a dangerous point exists, through an HMI function provided in the warning device 270. Specifically, the assistance control unit 240 notifies the occupants of the vehicle 20 of information indicating the distance from the current position of the vehicle 20 to a reference point, through an HMI function provided in the warning device 270. The assistance control unit 240 may assist in the driving itself of the vehicle 20. The assistance control unit 240 may assist in controlling the traveling speed of the vehicle 20. The assistance control unit 240 may assist in steering the vehicle 20.

[0037] After the preceding vehicle 21 is determined to be dangerous, the setting unit 220 updates the reference point while a predetermined condition for determining that the preceding vehicle 21 is dangerous is satisfied. Specifically, after the preceding vehicle 21 is determined to be dangerous in the traveling of the vehicle 20, the setting unit 220 updates the reference point while the predetermined condition is satisfied, and stops updating the reference point when the predetermined condition is no longer satisfied. More specifically, after the preceding vehicle 21 is determined to be dangerous in the traveling of the vehicle 20, the setting unit 220 updates the reference point while the predetermined condition is satisfied, and stops updating the reference point and fixes the reference point when the predetermined condition is no longer satisfied. For example, after the preceding vehicle 21 is determined to be dangerous in the traveling of the vehicle 20, the setting unit 220 updates the reference point while the predetermined condition is satisfied, and stops updating the reference point and fixes the reference point when the predetermined condition is no longer satisfied, and the assistance control unit 240 provides traveling assistance based on the fixed reference point at least until the vehicle 20 passes the fixed reference point. The assistance control unit 240 may provide driving assistance after the vehicle 20 passes a fixed reference point until the distance from the fixed reference point to the current position of the vehicle 20 reaches a predetermined distance. The “predetermined distance” may be determined based on the positioning error of the GNSS receiver 25.

[0038] The predetermined conditions include a condition related to at least one of the speed and acceleration of the leading vehicle 21. The predetermined conditions may include a condition that the magnitude of the acceleration of the leading vehicle 21 is equal to or less than a predetermined acceleration value.

[0039] The predetermined condition may include a condition that the speed of the preceding vehicle 21 is equal to or less than a predetermined first speed value. The setting unit 220 may determine that the preceding vehicle 21 poses a danger to the traveling of the vehicle 20 when the speed of the preceding vehicle 21 falls below a second speed value that is lower than the first speed value.

[0040] The predetermined condition may include a condition that the speed of the preceding vehicle 21 is not constant. As a result, when the speed of the preceding vehicle 21 becomes substantially constant after the preceding vehicle 21 suddenly decelerates, the assistance control unit 240 can perform driving control by fixing the point where the speed of the preceding vehicle 21 becomes substantially constant as the reference point.

[0041] The transmitter 252 transmits the driving information to the outside of the vehicle 20. For example, the transmitter 252 periodically transmits driving information including vehicle identification information, the current position, the current acceleration / deceleration, and the current speed to the outside of the vehicle 20.

[0042] 5 shows an example of a period during which the setting unit 220 updates the reference point. When the speed of the preceding vehicle 21 included in the travel information reaches a speed value V2 that is lower by a predetermined value than the speed value V0 before the preceding vehicle 21 suddenly decelerated, the setting unit 220 sets the point of the preceding vehicle 21 when the speed of the preceding vehicle 21 becomes equal to or lower than the speed value V2 as the reference point. In the example of FIG. 5, the setting unit 220 sets point Q1 as the reference point.

[0043] Thereafter, until the speed value V1 of the preceding vehicle 21 is reached, the setting unit 220 updates the reference point with the current position of the preceding vehicle 21, and the assistance control unit 240 performs driving assistance based on the updated reference point. V1 may be set to a value faster than V2.

[0044] In other words, in the example shown in Figure 5, the setting unit 220 continues updating the reference point even when the preceding vehicle 21 decelerates and then begins to accelerate, and the speed of the preceding vehicle 21 reaches V2, and stops updating the reference point and fixes the reference point to point Q3 when the speed of the preceding vehicle 21 reaches V1, which is faster than V2.

[0045] As a result, when the speed of the preceding vehicle 21 becomes definitely faster than the speed V2 of the preceding vehicle 21 when the reference point was initially set, it can be determined that the preceding vehicle 21 has started to substantially accelerate, and the updating of the reference point can be stopped. Therefore, when a situation occurs in which the risk of the vehicle 20 suddenly approaching the preceding vehicle 21 is low, the updating of the reference point can be stopped and the reference point can be fixed at point Q3. When the vehicle 20 reaches the reference point Q3, it can be expected that the preceding vehicle 21 will have reached a sufficient speed. Therefore, even if the assistance control unit 240 ends the driving assistance when the vehicle 20 reaches the reference point Q3, it can be said that the risk of the vehicle 20 suddenly approaching the preceding vehicle 21 is substantially low. Therefore, the reference point for driving assistance can be appropriately updated in accordance with the driving of the preceding vehicle 21, while preventing the period of driving assistance from being unnecessarily long.

[0046] Fig. 6 shows another example of a period during which the setting unit 220 updates the reference point. As in the example of Fig. 5, the setting unit 220 sets the point Q1 of the preceding vehicle 21 when the speed of the preceding vehicle 21 becomes equal to or less than V2 as the first reference point.

[0047] Thereafter, the speed of the leading vehicle 21 reaches a minimum value at point Q5, and the leading vehicle 21 starts accelerating from point Q5. When the travel distance during the period in which the leading vehicle 21 continues accelerating reaches a predetermined distance, the setting unit 220 stops updating the reference point and fixes the reference point to point Q6, which is a predetermined distance from point Q5. In other words, while the leading vehicle 21 is traveling in the section from point Q1 to point Q6, the setting unit 220 updates the reference point to the current position of the leading vehicle 21, and the assistance control unit 240 provides driving assistance based on the updated reference point. The "predetermined distance" for stopping the updating of the reference point may be set based on, for example, the speed of the leading vehicle 21 when acceleration begins. In this way, the setting unit 220 updates the reference point when at least the condition that the magnitude of the acceleration of the leading vehicle 21 is equal to or less than a predetermined acceleration value is satisfied, and stops updating the reference point and fixes the reference point when the period in which the magnitude of the acceleration of the leading vehicle 21 exceeds the predetermined acceleration value exceeds a predetermined length.

[0048] As a result, if the acceleration of the leading vehicle 21 continues for a predetermined period of time, it is possible to stop updating the reference point. If the acceleration of the leading vehicle 21 continues for a predetermined period of time, it can be determined that the leading vehicle 21 is intentionally accelerating. Therefore, it can be expected that the leading vehicle 21 will have accelerated to a sufficient speed when the vehicle 20 reaches the reference point Q6. Therefore, even if the assistance control unit 240 ends the driving assistance when the vehicle 20 reaches the reference point Q6, it can be said that there is substantially little risk that the vehicle 20 will suddenly approach the leading vehicle 21. Therefore, it is possible to appropriately update the reference point for driving assistance in accordance with the driving of the leading vehicle 21 while preventing the period for which driving assistance is provided from becoming unnecessarily long.

[0049] Fig. 7 shows another example of a period during which the setting unit 220 updates the reference point. As in the example of Fig. 5, the setting unit 220 sets the point Q10 of the preceding vehicle 21 when the speed of the preceding vehicle 21 becomes equal to or less than V2 as the first reference point.

[0050] Thereafter, the speed of the leading vehicle 21 is decelerated to V10 at point Q11, and the speed of the leading vehicle 21 becomes substantially constant from point Q11. When the distance traveled by the leading vehicle 21 after the speed of the leading vehicle 21 becomes substantially constant reaches a predetermined distance, the setting unit 220 ends the updating of the reference point and fixes the reference point to point Q12, which is a predetermined distance from point Q11. In other words, while the leading vehicle 21 is traveling in the section from point Q10 to point Q12, the setting unit 220 updates the reference point with the current position of the leading vehicle 21, and the assistance control unit 240 provides driving assistance based on the updated reference point. The "predetermined distance" for ending the updating of the reference point may be set, for example, based on the substantially constant speed of the leading vehicle 21. In this way, the setting unit 220 updates the reference point when at least the condition that the speed of the leading vehicle 21 is not substantially constant is satisfied, and stops updating the reference point and fixes the reference point when the magnitude of the acceleration of the leading vehicle 21 becomes substantially constant.

[0051] As a result, when the speed of the leading vehicle 21 becomes constant for a predetermined period of time, it is possible to stop updating the reference point. When the speed of the leading vehicle 21 becomes constant for a predetermined period of time, it is possible to determine that the leading vehicle 21 is continuing to travel intentionally. Therefore, it is expected that the leading vehicle 21 will continue to travel even when the vehicle 20 reaches the reference point Q12. Therefore, even if the assistance control unit 240 ends the traveling assistance when the vehicle 20 reaches the reference point Q12, it is expected that there is a low risk that the vehicle 20 will suddenly approach the leading vehicle 21. Therefore, it is possible to appropriately update the reference point for traveling assistance in accordance with the traveling of the leading vehicle 21 while preventing the period for providing traveling assistance from becoming unnecessarily long.

[0052] 8 shows an example of a flowchart relating to the assistance method executed by the assistance device 40. The processing of this flowchart is started when the assistance device 40 determines, based on the driving information transmitted from the assistance device 41, that the preceding vehicle 21 has suddenly decelerated.

[0053] In S802, the detection unit 230 sets the detection range 100 according to the speed of the vehicle 20. The detection range 100 is set to be longer along the traveling direction of the vehicle 20 as the speed of the vehicle 20 increases.

[0054] In S804, the detection unit 230 determines whether the position of the preceding vehicle 21 indicated by the position information included in the sudden deceleration information has been detected within the detection range 100. For example, the detection unit 230 determines whether the position of the preceding vehicle 21 when the speed of the preceding vehicle 21 fell below a predetermined second speed value has been detected within the detection range 100. The detection unit 230 determines whether the position of the preceding vehicle 21 indicated by the position information included in the sudden deceleration information has been detected within the detection range 100, based on the distance and direction to the reference point calculated by the calculation unit 210 and the detection range 100.

[0055] In S804, if the position of the preceding vehicle 21 is not detected within the detection range 100, the processing of this flowchart ends. If the position of the preceding vehicle 21 is detected within the detection range 100, in S806 the setting unit 220 sets the position of the preceding vehicle 21 as a reference point. In S808, the assistance control unit 240 performs driving assistance based on the reference point.

[0056] In S810, the setting unit 220 determines whether or not predetermined conditions for determining that the preceding vehicle 21 is dangerous are satisfied. As described above, the predetermined conditions may include that the speed of the preceding vehicle 21 is equal to or less than a predetermined speed value V1, that the magnitude of the acceleration of the preceding vehicle 21 is equal to or less than a predetermined acceleration value, that the speed of the preceding vehicle 21 is not constant, etc. The speed value V1 may be the current speed of the vehicle 20.

[0057] If it is determined in S810 that the predetermined condition for determining that the preceding vehicle 21 is dangerous is satisfied, the setting unit 220 updates the reference point with the current position of the preceding vehicle 21 in S812, performs driving assistance based on the reference point in S814, and transitions to the process of S810. The setting unit 220 repeats the process of S810 every time new sudden deceleration information is received from the preceding vehicle 21.

[0058] If it is determined in S810 that the predetermined condition for determining that the preceding vehicle 21 is dangerous is not satisfied, the setting unit 220 stops updating the reference point based on the current position of the preceding vehicle 21 and fixes the reference point in S822. Subsequently, the assistance control unit 240 performs driving assistance based on the fixed reference point in S824. The assistance control unit 240 continues driving assistance based on the fixed reference point until the current position of the vehicle 20 reaches the fixed reference point, and ends the processing of this flowchart when the current position of the vehicle 20 reaches the fixed reference point.

[0059] According to the assistance device 40 described above, when the preceding vehicle 21 is judged to be dangerous to the traveling of the vehicle 20 based on the traveling state of the preceding vehicle 21 after the preceding vehicle 21 suddenly decelerates, the reference points can be updated and traveling control can be performed based on the updated reference points. Furthermore, when the preceding vehicle 21 is no longer judged to be dangerous to the traveling of the vehicle 20, the updating of the reference points can be stopped. This makes it possible to appropriately update the reference points for traveling assistance in accordance with the traveling of the preceding vehicle 21 while preventing the period for which traveling assistance is provided from becoming unnecessarily long.

[0060] In the present embodiment, the sudden deceleration information is transmitted and received via vehicle-to-vehicle communication. However, a configuration may be adopted in which a server that stores the sudden deceleration information is further provided. For example, upon receiving the sudden deceleration information transmitted from each vehicle, the server may store the sudden deceleration information for a predetermined period of time. The server may also transmit the stored sudden deceleration information to a vehicle traveling toward the location indicated by the sudden deceleration information. A vehicle that has an obstacle to communication between it and the preceding vehicle that transmitted the sudden deceleration information, or a vehicle traveling at a distance from the preceding vehicle, may not be able to receive the sudden deceleration information via vehicle-to-vehicle communication. However, by providing a server that stores the sudden deceleration information, the sudden deceleration information can be more reliably provided to the vehicles.

[0061] Vehicle 20 is an example of a vehicle that is a transportation device. The vehicle may be a car equipped with an internal combustion engine, an electric car, a fuel cell vehicle (FCV), or the like. The vehicle includes a bus, a truck, a two-wheeled vehicle, or the like. The vehicle may be a saddle-ride vehicle or the like, or may be a motorcycle. In addition to vehicles, transportation devices include aircraft, including unmanned aerial vehicles, ships, and other equipment. The transportation device may be any equipment that transports people or goods. The transportation device is an example of a mobile object. The mobile object is not limited to a transportation device, and may be any mobile equipment.

[0062] 9 shows an example of a computer 2000 in which multiple embodiments of the present invention may be embodied, in whole or in part. A program installed on the computer 2000 may cause the computer 2000 to function as a system or each part of a system according to an embodiment, or as a device such as the support device 40 or each part of the device, to perform operations associated with the system or each part of the system or the device or each part of the device, and / or to perform a process or steps of the process according to an embodiment. Such a program may be executed by the CPU 2012 to cause the computer 2000 to perform specific operations associated with some or all of the processing procedures and blocks of the block diagrams described herein.

[0063] 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 the input / output controller 2020.

[0064] The CPU 2012 operates according to programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0065] 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 upon activation, and / or programs dependent on the hardware of the computer 2000. The input / output chip 2040 may also connect various input / output units such as a keyboard, mouse, and 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, etc.

[0066] The programs are provided via a computer-readable storage medium such as a CD-ROM, a DVD-ROM, or a memory card, or via a network. The RAM 2014, the ROM 2026, or the flash memory 2024 are examples of computer-readable storage media. The programs are installed in the flash memory 2024, the RAM 2014, or the ROM 2026 and executed by the CPU 2012. Information processing described in these programs is read by the computer 2000, and causes cooperation between the programs and the various types of hardware resources described above. An apparatus or a method may be configured by implementing operations or processing of information in accordance with the use of the computer 2000.

[0067] For example, when communication is performed between the computer 2000 and an external device, the CPU 2012 may execute a communication program loaded into the RAM 2014 and instruct the communication interface 2022 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2012, the communication interface 2022 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as the RAM 2014 or flash memory 2024, transmits the read transmission data to a network, and writes received data received from the network to a reception buffer processing area or the like provided on the recording medium.

[0068] The CPU 2012 may also cause all or a necessary portion of a file or database stored on a recording medium such as the flash memory 2024 to be read into the RAM 2014, and perform various types of processing on the data on the RAM 2014. The CPU 2012 then writes the processed data back to the recording medium.

[0069] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 2012 may perform various types of processing on data read from the RAM 2014, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described herein and specified by the instruction sequences of the programs, and write the results back to the RAM 2014. The CPU 2012 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored on the recording medium, the CPU 2012 may search for an entry that matches a condition specified by the attribute value of the first attribute from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0070] The above-described programs or software modules 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 in a server system connected to a dedicated communication network or the Internet can be used as the computer-readable storage medium. The programs stored in the computer-readable storage medium may be provided to the computer 2000 via a network.

[0071] A program installed in the computer 2000 and causing the computer 2000 to function as the assistance device 40 may act on the CPU 2012 or the like to cause the computer 2000 to function as each unit of the assistance device 40. When the information processing described in these programs is loaded into the computer 2000, the computer 2000 functions as each unit of the assistance device 40, which is a specific means formed by the software and the various hardware resources described above working together. These specific means then perform calculations or processing of information according to the intended use of the computer 2000 in this embodiment, thereby constructing a specific assistance device 40 according to the intended use.

[0072] Various embodiments have been described with reference to block diagrams. In the block diagrams, each block may represent (1) a stage of a process where an operation is performed or (2) a portion of an apparatus responsible for performing the operation. Particular stages and portions may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuitry may include digital and / or analog hardware circuitry, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuitry may include reconfigurable hardware circuitry including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logic operations, flip-flops, registers, memory elements such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

[0073] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by an appropriate device, such that the computer-readable storage medium with instructions stored thereon constitutes at least a portion of an article of manufacture containing instructions that can be executed to provide means for performing the operations specified in a process 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, etc. More specific examples of computer-readable storage media may include floppy 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 disc, memory stick, integrated circuit card, etc.

[0074] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages such as the “C” programming language or similar programming languages.

[0075] The 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 over a wide-area network (WAN) such as a local area network (LAN), the Internet, etc., and executed to provide means for performing the operations specified in the process steps or block diagrams described. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0076] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0077] 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, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order. [Explanation of symbols]

[0078] 20 vehicles 21 vehicles 29 Sensors 25 GNSS receivers 26 Vehicle speed sensor 40 Support equipment 41 Support equipment 100 detection range 200 Processing section 210 Calculation Unit 220 Setting Section 230 Detector 240 Support control section 250 Communication Equipment 251 Receiving unit 252 Transmitter 270 Alarm device 290 Storage section 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 the position of a leading vehicle traveling ahead in the traveling direction of the vehicle; a setting unit that sets a reference point that serves as a reference for providing driving support for the vehicle based on a position of the preceding vehicle when the preceding vehicle is determined to be dangerous in its driving; an assistance control unit that performs driving assistance based on the reference point; Equipped with The setting unit updates the reference point while a predetermined condition for determining that the preceding vehicle is dangerous in terms of the vehicle's travel is satisfied after the preceding vehicle is determined to be dangerous in terms of the vehicle's travel, and stops updating the reference point and fixes the reference point when the predetermined condition is no longer satisfied. Support equipment.

2. the setting unit updates the reference point while the predetermined condition is satisfied after the preceding vehicle is determined to be a danger in the traveling of the vehicle, and stops updating the reference point and fixes the reference point when the predetermined condition is no longer satisfied; The assistance control unit performs driving assistance based on the fixed reference point at least until the vehicle passes the fixed reference point. The support device according to claim 1 .

3. The predetermined conditions include a condition related to at least one of the speed and acceleration of the preceding vehicle. The support device according to claim 1 or 2.

4. The predetermined condition includes a condition that the magnitude of the acceleration of the leading vehicle is equal to or less than a predetermined acceleration value. The support device according to claim 1 or 2.

5. The predetermined condition includes a condition that the speed of the preceding vehicle is equal to or less than a predetermined first speed value. The support device according to claim 1 or 2.

6. The setting unit determines that the preceding vehicle poses a danger to the vehicle when the speed of the preceding vehicle falls below a second speed value that is lower than the first speed value. The support device according to claim 5.

7. The predetermined condition includes a condition that the speed of the preceding vehicle is not constant. The support device according to claim 1 or 2.

8. a calculation unit that calculates a distance and a direction from the vehicle to the reference point based on the reference point and a current position of the vehicle; a detection unit that detects the reference point within a detection range that is set within a predetermined range from the current position of the vehicle; Equipped with The assistance control unit performs driving assistance when the reference point is detected within the detection range. The support device according to claim 1 or 2.

9. A vehicle equipped with the assistance device according to claim 1 or 2.

10. receiving information indicating the position of a leading vehicle traveling ahead of the vehicle in a traveling direction; setting a reference point that serves as a reference for providing driving assistance for the vehicle based on the position of the leading vehicle when the leading vehicle is determined to be dangerous in driving the vehicle; providing driving assistance based on the reference point; Equipped with The step of setting the reference point includes updating the reference point while a predetermined condition for determining that the preceding vehicle is dangerous in its traveling is satisfied after the preceding vehicle is determined to be dangerous in its traveling, and stopping the update of the reference point and fixing the reference point when the predetermined condition is no longer satisfied. How to help.

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

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