Driving assistance device, driving assistance method, and program

Abstract

To provide technique advantageous for appropriately performing driving support of a vehicle itself.SOLUTION: A driving support device comprises: acquisition means for acquiring surrounding vehicle information of a surrounding vehicle existing around a vehicle itself by inter-vehicle communication; first prediction means for predicting collision possibility between the vehicle itself and the surrounding vehicle on the basis of vehicle information of the vehicle itself and the surrounding vehicle information; first display means for displaying, when it is predicted that there is the collision possibility by the first prediction means and a first state in which a start operation is performed by a driver of the vehicle itself is detected, reminder information for a first period from timing in which the first state is detected; and second display means for displaying direction information showing an approaching direction of the surrounding vehicle when a second state in which it is predicted that there is the collision possibility by the first prediction means is detected, wherein the first display means suppresses update of the reminder information until a second period elapses from the timing.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device, a driving assistance method, and a program. [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, efforts are being made to further improve traffic safety and convenience through research and development of preventive safety technologies. With regard to such preventive safety technologies, devices that provide driving assistance to prevent collisions with surrounding vehicles (other vehicles) are known. Patent Document 1 describes a system that detects other vehicles present to the front and sides of a vehicle based on images captured by a camera mounted on the vehicle, and determines whether a collision between the vehicle and the other vehicle will occur. Patent Document 2 also describes a system that registers, in a storage unit, position information of an intersection where the travel path of the vehicle and the travel path of the other vehicle intersect, and provides driving assistance to the vehicle when the vehicle passes through the intersection again. [Prior art documents] [Patent documents]

[0003] [Patent Document 2] Japanese Patent Publication No. 2020-16950 [Patent Document 1] Patent No. 7054636 Summary of the Invention [Problem to be solved by the invention]

[0004] In driving assistance for a vehicle, if there are multiple other vehicles that are predicted to collide with the vehicle, and the display of information to prevent collisions with other vehicles is frequently updated (switched), this can be bothersome and inappropriate for the driver of the vehicle.

[0005] Therefore, an object of the present invention is to provide an advantageous technique for appropriately providing driving assistance for a vehicle, which in turn contributes to the development of a sustainable transportation system. [Means for solving the problem]

[0006] In order to achieve the above object, a driving assistance device according to one aspect of the present invention is a driving assistance device that assists driving of a host vehicle, and includes: an acquisition means that acquires surrounding vehicle information, including current positions, speeds, and driving paths of surrounding vehicles present around the host vehicle, from the surrounding vehicles by vehicle-to-vehicle communication; a first prediction means that predicts a possibility of a collision between the host vehicle and the surrounding vehicles based on the host vehicle information, including the current position, speed, and driving path of the host vehicle, and the surrounding vehicle information acquired by the acquisition means; and a first state in which the first prediction means predicts the possibility of a collision and a start operation is performed by a driver of the host vehicle, when the first state is detected. The device comprises a first display means for displaying warning information to warn of the approach of the surrounding vehicle for a first period from the timing, and a second display means for displaying direction information indicating the approaching direction of the surrounding vehicle when the first prediction means detects a second state in which the possibility of collision is predicted, wherein the first display means refrains from updating the warning information even if the first state is newly detected until a second period shorter than the first period has elapsed from the timing, and the second display means updates the direction information when the second state is newly detected even if the second period has not elapsed from the timing. [Effects of the Invention]

[0007] According to the present invention, for example, it is possible to provide an advantageous technique for appropriately performing driving assistance for a vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a driving assistance device according to an embodiment of the present invention; [Figure 2]10A and 10B are diagrams showing examples of information displayed on the first and second display devices and examples of audio output from the audio output device; [Figure 3] Flowchart showing driving assistance processing by a prediction method using vehicle-to-vehicle communication [Figure 4] Flowchart showing driving assistance processing by a prediction method using vehicle-to-vehicle communication [Figure 5] Flowchart showing driving assistance processing by a prediction method using an object detection unit [Figure 6] A diagram showing the positional relationship between the host vehicle and surrounding vehicles. [Figure 7] 1 is a time chart showing a driving assistance process according to a first embodiment of the present invention; [Figure 8] Time chart showing driving assistance processing according to the second embodiment [Figure 9] 10 is a time chart showing a driving assistance process according to a third embodiment of the present invention; [Figure 10] 10 is a time chart showing a driving assistance process according to a fourth embodiment of the present invention; [Figure 11] Time chart showing driving assistance processing according to the fifth embodiment DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiments, and includes modifications and variations of the configuration within the scope of the present invention. Furthermore, not all of the combinations of features described in the present embodiments are necessarily essential to the present invention. Note that the same reference numerals are used to designate the same components, and their description will be omitted.

[0010] <Configuration of driving assistance device> An example of the configuration of a driving assistance device 100 according to an embodiment of the present invention will be described with reference to FIG. 1. FIG. 1 is a diagram illustrating an example of the configuration of the driving assistance device 100 according to the present embodiment. The driving assistance device 100 is a device mounted on a vehicle to provide driving assistance for the vehicle. While FIG. 1 illustrates components referred to in the following description, the vehicle on which the driving assistance device 100 is mounted may include other components for operating as a vehicle, such as a drive unit and a transmission. In the following description, a four-wheeled vehicle will be used as an example of a vehicle on which the driving assistance device 100 is mounted, but the present invention is not limited thereto. The vehicle may also be a two-wheeled vehicle or another type of vehicle. In the following description, to facilitate distinction between vehicles, the vehicle on which the driving assistance device 100 is mounted may be referred to as the "host vehicle," and vehicles other than the host vehicle may be referred to as "other vehicles." In addition, among the other vehicles, vehicles currently present around the host vehicle may be referred to as "surrounding vehicles." Surrounding vehicles may be understood as vehicles currently capable of vehicle-to-vehicle communication with the host vehicle.

[0011] The driving assistance device 100 performs collision prevention assistance for preventing (reducing) collisions with surrounding vehicles as driving assistance for the vehicle itself, without using map information. As shown in Fig. 1, the driving assistance device 100 of this embodiment may include a sensor group 111, a GNSS (Global Navigation Satellite System) antenna 112, an inter-vehicle communication antenna 113, a first display device 114, a second display device 115, an audio output device 116, a braking device 117, and a control device 120. Note that, hereinafter, the driver of the vehicle itself may be simply referred to as the "driver."

[0012] The sensor group 111 includes various sensors mounted on the host vehicle to perform driving assistance for the host vehicle. For example, the sensor group 111 may include a speed sensor that detects the speed of the host vehicle, an acceleration sensor that detects the acceleration of the host vehicle, etc. The sensor group 111 also includes external detection sensors such as a camera, millimeter wave radar, and LIDAR (Light Detection and Ranging) as an object detection unit that detects objects around the host vehicle without using vehicle-to-vehicle communication. The sensor group 111 outputs the detection results to the control device 120.

[0013] The GNSS antenna 112 receives radio waves for position measurement transmitted from GNSS satellites. For example, the GNSS antenna 112 can be used to obtain information about the current position of the vehicle. The inter-vehicle communication antenna 113 is an antenna that transmits and receives various data to and from surrounding vehicles. For example, the inter-vehicle communication antenna 113 can be used to obtain information about the current position, speed, and traveling trajectory of the surrounding vehicles from the surrounding vehicles.

[0014] The first display device 114 and the second display device 115 are devices that display information to an occupant of the host vehicle (e.g., the driver). The first display device 114 and the second display device 115 may be provided in different locations inside the host vehicle. For example, the first display device 114 may be configured as a multi-information display (hereinafter, sometimes referred to as MID) provided on the instrument panel. The second display device 115 may be configured as a head-up display (hereinafter, sometimes referred to as HUD) that is projected onto the windshield in front of the driver's seat. The audio output device 116 is a device that outputs audio to an occupant of the host vehicle (e.g., the driver). When there is a possibility that the host vehicle will collide with a nearby vehicle, the driving assistance device 100 of this embodiment can notify the occupant of the host vehicle of the possibility of a collision with the nearby vehicle using the first display device 114, the second display device 115, and / or the audio output device 116 as driving assistance.

[0015] The braking device 117 is a device for performing a braking operation of the host vehicle, such as a brake. When there is a possibility that the host vehicle will collide with a surrounding vehicle, the driving assistance device 100 of this embodiment operates the braking device 117 to assist in decelerating the host vehicle as driving assistance, thereby making it possible to avoid a collision with the surrounding vehicle.

[0016] The control device 120 is a device (computer) that controls driving assistance for the vehicle itself, and may be configured, for example, by an ECU (Electric Control Unit). The control device 120 can perform driving assistance through inter-vehicle communication with other vehicles (surrounding vehicles) and processing within the vehicle itself. In other words, the control device 120 can perform driving assistance without using map information. The control device 120 includes a processing unit 121, a storage unit 122, a GNSS module 123, and an inter-vehicle communication module 124, which are connected by a bus (not shown).

[0017] The processing unit 121 is a processor represented by a CPU (Central Processing Unit), and executes programs stored in the storage unit 122. The storage unit 122 includes, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk, etc., and stores various data in addition to a program (driving assistance program) that the processing unit 121 uses to execute driving assistance processing for the vehicle. The GNSS module 123 receives position information and the like of the vehicle from GNSS satellites via the GNSS antenna 112. The vehicle-to-vehicle communication module 124 receives various information from other vehicles via the vehicle-to-vehicle communication antenna 113.

[0018] In order to perform driving assistance (collision prevention assistance) for the host vehicle, the processing unit 121 of this embodiment may include an acquisition unit 121a, a first prediction unit 121b, a second prediction unit 121c, a first display control unit 121d, a second display control unit 121e, and a voice control unit 121f. Note that the processing unit 121 is not limited to a configuration including the units 121a to 121f, and other units may be added or some units may be omitted depending on the type of driving assistance to be performed on the host vehicle.

[0019] The acquisition unit 121a acquires surrounding vehicle information, including the current position, speed, and traveling path of the surrounding vehicle, from the surrounding vehicle via the vehicle-to-vehicle communication antenna 113 (vehicle-to-vehicle communication module 124). In the following description, surrounding vehicle information may be defined as information acquired from the surrounding vehicle through vehicle-to-vehicle communication. The acquisition unit 121a may also include a function of acquiring host vehicle information, including the current position, speed, and traveling path of the host vehicle, via the sensor group 111 and the GNSS antenna 112 (GNSS module 123).

[0020] The first prediction unit 121b predicts the possibility of a collision between the host vehicle and the surrounding vehicles (hereinafter, this may be referred to as a collision possibility) based on the host vehicle information and the surrounding vehicle information acquired by the acquisition unit 121a. The first prediction unit 121b of this embodiment can predict the possibility of a collision between the host vehicle and the surrounding vehicles by calculating a time to collision (TTC: Time To Collision), which is the estimated time required until a collision occurs between the host vehicle and the surrounding vehicles.

[0021] The second prediction unit 121c predicts the possibility of a collision between the host vehicle and a peripheral vehicle based on the host vehicle information acquired by the acquisition unit 121a and the detection results of the object detection unit of the sensor group 111. As described above, the object detection unit of the sensor group 111 may include an external detection sensor (camera, millimeter-wave radar, lidar, etc.) that detects objects around the host vehicle without using vehicle-to-vehicle communication. Furthermore, the detection results of the object detection unit may include the position and speed of the peripheral vehicle detected by the object detection unit (which may be understood as the relative position and relative speed of the peripheral vehicle with respect to the host vehicle). The second prediction unit 121c of this embodiment can predict the possibility of a collision between the host vehicle and a peripheral vehicle by calculating the time to collision (TTC) between the host vehicle and the peripheral vehicle.

[0022] The first display control unit 121d controls the display of information on the first display device 114. In this embodiment, when the first prediction unit 121b predicts that there is a possibility of a collision between the host vehicle and a nearby vehicle and the driver has performed a start operation of the host vehicle (hereinafter, sometimes referred to as a first state), the first display control unit 121d causes the first display device 114 to display warning information for warning of the approach of nearby vehicles. Furthermore, when the second prediction unit 121c predicts that there is a possibility of a collision between the host vehicle and a nearby vehicle and the driver has performed a start operation of the host vehicle (hereinafter, sometimes referred to as a third state), the first display control unit 121d causes the first display device 114 to display warning information for warning of the approach of nearby vehicles.

[0023] Here, the attention calling information is displayed on the first display device 114 for a predetermined display duration (first duration) from the timing when the first state is detected. The display duration can be set arbitrarily, for example, to six seconds. The warning information is configured to be more recognizable to the driver (i.e., more alert to the driver) than the attention calling information. For example, the attention calling information is displayed on the first display device 114 in a first light color (first color, for example, white). On the other hand, the warning information is displayed on the first display device 114 in a second light color (second color, for example, amber) that is different from the first light color and has a higher recognizable to the driver. In addition, examples of an operation by the driver to start the host vehicle include an operation by the driver to release the brake pedal of the host vehicle or an operation by the driver to step on the accelerator pedal of the host vehicle. In this embodiment, an operation by the driver to release the brake pedal of the host vehicle (hereinafter, sometimes referred to as a brake release operation) will be described as an example of an operation by the driver to start the host vehicle.

[0024] The second display control unit 121e controls the display of information on the second display device 115. In this embodiment, when the first prediction unit 121b detects a state in which there is a possibility of a collision between the host vehicle and a peripheral vehicle (hereinafter, sometimes referred to as a second state), the second display control unit 121e causes the second display device 115 to display direction information indicating the approaching direction of the peripheral vehicle. Furthermore, when the second prediction unit 121c detects a state in which there is a possibility of a collision between the host vehicle and a peripheral vehicle (hereinafter, sometimes referred to as a fourth state), the second display control unit 121e causes the second display device 115 to display direction information indicating the approaching direction of the peripheral vehicle.

[0025] Here, the direction information displayed in response to detection of the fourth state is configured to have a higher degree of recognition by the driver (i.e., a higher degree of warning to the driver) than the direction information displayed in response to detection of the second state. For example, when the second state is detected, the direction information is displayed on the second display device 115 in a first light color (a first color, for example, white). On the other hand, when the fourth state is detected, the direction information is displayed on the second display device 115 in a second light color (a second color, for example, amber) that is different from the first light color and has a higher degree of recognition by the driver.

[0026] The audio control unit 121f controls the output of audio in the audio output device 116. In this embodiment, when attention-calling information is displayed or updated by the first display device 114, the audio control unit 121f causes the audio output device 116 to output an attention-calling sound for calling attention to the approach of a nearby vehicle. Furthermore, when warning information is displayed by the first display device 114, the audio control unit 121f causes the audio output device 116 to output an alarm sound for warning of the approach of a nearby vehicle. Here, the alarm sound is configured to have a higher degree of recognition by the driver (i.e., a higher degree of warning to the driver) than the attention-calling sound.

[0027] 2 shows an example of information displayed on the first display device 114 and the second display device 115, and an example of audio output from the audio output device 116. In this embodiment, a prediction method using vehicle-to-vehicle communication and a prediction method using an object detection unit (sensor fusion) of the sensor group 111 are applied as methods for predicting the possibility of a collision between the host vehicle and a nearby vehicle.

[0028] In the prediction method using vehicle-to-vehicle communication, the first prediction unit 121b predicts the possibility of a collision between the vehicle and a nearby vehicle. Then, an image according to the approaching direction of the nearby vehicle is displayed in a first light color (white) as attention-calling information on the first display device 114 (MID). An image (arrow) according to the approaching direction of the nearby vehicle is displayed in a first light color (white) on the second display device 115 (HUD). In addition, an attention-calling sound is output from the audio output device 116.

[0029] On the other hand, in the prediction method using the object detection unit, the second prediction unit 121c predicts the possibility of a collision between the host vehicle and a nearby vehicle. Then, an image according to the approaching direction of the nearby vehicle is displayed in a second light color (amber) as warning information on the first display device 114 (MID). An image (arrow) according to the approaching direction of the nearby vehicle is displayed in a second light color (amber) on the second display device 115 (HUD). In addition, an alarm sound is output from the audio output device 116.

[0030] Here, the functions of the control device 120 can be realized by either hardware or software. For example, the functions of the control device 120 may be realized by the processing unit 121 (CPU) executing a driving assistance program as described above, or may be realized by a known semiconductor device such as a PLD (Programmable Logic Device) or an ASIC (Application Specific Integrated Circuit). Furthermore, although the control device 120 is shown as a single element in this embodiment, it may be divided into two or more elements as necessary.

[0031] <Driving assistance processing> The driving assistance processing of this embodiment will be described with reference to Figs. 3 to 5. Figs. 3 to 4 are flowcharts showing driving assistance processing by a prediction method using vehicle-to-vehicle communication. Fig. 5 is a flowchart showing driving assistance processing by a prediction method using an object detection unit (sensor fusion). The flowcharts of Figs. 3 to 4 and the flowchart of Fig. 5 are performed in parallel and independently. The driving assistance processing shown in the flowcharts of Figs. 3 to 5 is executed by the processing unit 121 in the driving assistance device 100 according to a driving assistance program read from the storage unit 122. The flowcharts of Figs. 3 to 5 can be repeatedly executed, for example, until the driving assistance setting is turned off or the ignition of the host vehicle SV is turned off.

[0032] First, the driving assistance process by the prediction method using vehicle-to-vehicle communication will be described with reference to Fig. 3 and Fig. 4. Fig. 3 shows the driving assistance process for the first surrounding vehicle RV identified by vehicle-to-vehicle communication. Fig. 4 shows the driving assistance process for the second and subsequent surrounding vehicles RV (hereinafter, sometimes referred to as new surrounding vehicles RV) identified by vehicle-to-vehicle communication during the driving assistance process for the first surrounding vehicle RV.

[0033] In step S101, the processing unit 121 determines whether or not a nearby vehicle RV exists. For example, the processing unit 121 can determine that a nearby vehicle RV exists when vehicle-to-vehicle communication can be performed via the vehicle-to-vehicle communication antenna 113 (vehicle-to-vehicle communication module 124). If it is determined that a nearby vehicle RV with which vehicle-to-vehicle communication can be performed does not exist, step S101 is repeated, and if it is determined that a nearby vehicle RV exists, the processing unit 121 proceeds to step S102.

[0034] In step S102, the processing unit 121 (acquisition unit 121a) acquires surrounding vehicle information from the surrounding vehicle RV through vehicle-to-vehicle communication. As described above, the surrounding vehicle information is information including the current position, speed, and traveling trajectory of the surrounding vehicle RV, and can be acquired via the vehicle-to-vehicle communication antenna 113 (vehicle-to-vehicle communication module 124). In addition, in this step S102, the processing unit 121 (acquisition unit 121a) can also acquire host vehicle information including the current position, speed, and traveling trajectory of the host vehicle SV via the sensor group 111 and the GNSS antenna 112 (GNSS module 123).

[0035] In step S103, the processing unit 121 (first prediction unit 121b) predicts the possibility of a collision between the host vehicle SV and the peripheral vehicle RV. As described above, the first prediction unit 121b of this embodiment predicts the possibility of a collision between the host vehicle SV and the peripheral vehicle RV by calculating the time to collision (TTC) between the host vehicle SV and the peripheral vehicle RV. As an example, as shown in FIG. 6, the first prediction unit 121b determines an intersection position (CP1, CP2) where the host vehicle SV and the peripheral vehicle RV (RV1, RV2) are estimated to intersect based on the host vehicle information and the peripheral vehicle information, and calculates the time to collision as the time to collision, which is the time required for the peripheral vehicle RV to reach the intersection position. Then, when the calculated time to collision is equal to or less than a first threshold, the first prediction unit 121b can predict that there is a possibility of a collision between the host vehicle SV and the peripheral vehicle RV. Here, the first threshold can be set arbitrarily. Note that Figure 6(a) shows an example in which one surrounding vehicle RV1 is present around the host vehicle SV, and Figure 6(b) shows an example in which two surrounding vehicles RV1 and RV2 are present around the host vehicle SV.

[0036] In step S104, the processing unit 121 determines whether there is a possibility of a collision between the host vehicle SV and the surrounding vehicle RV based on the prediction result in step S103. If it is determined that there is no possibility of a collision, the process returns to step S101. On the other hand, if it is determined that there is a possibility of a collision, the process proceeds to step S105, assuming that a second state in which a collision possibility between the host vehicle SV and the surrounding vehicle RV is predicted has been detected.

[0037] In step S105, the processing unit 121 (second display control unit 121e) displays direction information indicating the approaching direction of the peripheral vehicle RV relative to the host vehicle SV on the second display device 115 (HUD) in a first light color (white). As an example, as described above with reference to FIG. 2, the second display control unit 121e displays an image (arrow) selected according to the approaching direction of the peripheral vehicle RV as direction information on the second display device 115 in the first light color. The approaching direction of the peripheral vehicle RV can be obtained based on the peripheral vehicle information.

[0038] In step S106, the processing unit 121 determines whether or not the driver has performed a brake release operation (start operation). If the brake release operation has been performed, it is determined that a first state has been detected in which a possibility of a collision between the host vehicle SV and the surrounding vehicle RV has been predicted and a start operation has been performed by the driver, and the process proceeds to step S107. On the other hand, if the brake release operation has not been performed, the process proceeds to step S109.

[0039] In step S107, the processing unit 121 (audio control unit 121f) causes the audio output device 116 to output an attention-calling sound. Next, in step S108, the processing unit 121 (first display control unit 121d) causes the first display device 114 (MID) to display attention-calling information for calling attention to the approach of the nearby vehicle RV in a first light color (white). As an example, as described above with reference to FIG. 2, the first display control unit 121d causes the first display device 114 to display an image selected according to the approaching direction of the nearby vehicle RV in the first light color as attention-calling information.

[0040] In step S109, the processing unit 121 determines whether or not a new peripheral vehicle RV exists. For example, similar to step S101 above, the processing unit 121 can determine that a new peripheral vehicle RV exists when inter-vehicle communication can be performed via the inter-vehicle communication antenna 113 (inter-vehicle communication module 124). If it is determined that a new peripheral vehicle RV does not exist, the processing unit 121 proceeds to step S110, and if it is determined that a new peripheral vehicle RV exists, the processing unit 121 proceeds to step S112 in FIG. 4.

[0041] In step S110, the processing unit 121 determines whether or not the display maintenance period (first period) has elapsed. The display maintenance period is a period during which the display of the attention information on the first display device 114 and the display of the direction information on the second display device 115 are maintained, and timing can start from the timing when the first state is detected. In the present embodiment, as an example, the display maintenance period is set to 6 seconds. If the display maintenance period has not elapsed, the process returns to step S106. In this case, if steps S107 to S108 have already been performed, steps S106 to S108 may be skipped. On the other hand, if the display maintenance period has elapsed, the process proceeds to step S111, where the processing unit 121 ends the display of the attention information on the first display device 114 and the display of the direction information on the second display device 115.

[0042] 4, in step S112, the processing unit 121 (acquisition unit 121a) acquires nearby vehicle information from the new nearby vehicle RV through vehicle-to-vehicle communication. Next, in step S113, the processing unit 121 (first prediction unit 121b) predicts the possibility of a collision between the host vehicle SV and the new nearby vehicle RV. Note that steps S112 to S113 are similar to steps S102 to S103 described above, and therefore detailed description thereof will be omitted here.

[0043] In step S114, the processing unit 121 determines whether there is a possibility of collision between the host vehicle SV and the new peripheral vehicle RV based on the prediction result in step S113. If it is determined that there is no possibility of collision, the process proceeds to step S109 in FIG. 3. In this case, the "new peripheral vehicle RV" in step S109 does not necessarily include the peripheral vehicle RV for which the collision possibility was predicted in steps S112 to S113 above. On the other hand, if it is determined that there is a possibility of collision, the process proceeds to step S115, assuming that a second state in which a collision possibility between the host vehicle SV and the peripheral vehicle RV is predicted has been newly detected.

[0044] In step S115, the processing unit 121 (second display control unit 121e) updates the direction information displayed on the second display device 115 (HUD). For example, the second display control unit 121e updates the direction information by additionally displaying the approaching direction of the nearby vehicle RV based on the newly detected second state, i.e., the approaching direction of the new nearby vehicle RV, in the first light color (white) on the second display device 115. The second display control unit 121e may update the direction information by superimposing an image (arrow) selected according to the approaching direction of the new nearby vehicle RV on the second display device 115 in the first light color.

[0045] In step S116, the processing unit 121 determines whether or not the driver has performed a brake release operation (start operation). If the brake release operation has been performed, it is determined that a first state in which a possibility of a collision between the host vehicle SV and the surrounding vehicle RV has been predicted and a start operation has been performed by the driver has been newly detected, and the process proceeds to step S117. On the other hand, if the brake release operation has not been performed, the process proceeds to step S120.

[0046] In step S117, the processing unit 121 determines whether the update prohibition period (second period) has elapsed. If the update prohibition period has elapsed, the process proceeds to step S118, and if the update prohibition period has not elapsed, the process proceeds to step S120.

[0047] The update prohibition period is a period during which updating of the warning information displayed on the first display device 114 is prohibited (suppressed), and timing may start from the timing when the first state is detected. The update prohibition period is set to a period shorter than the display maintenance period, and in this embodiment, it is set to 3 seconds, for example. By setting the update prohibition period in this manner, the warning information displayed on the first display device 114 is not updated for a certain period of time, so that the warning information is updated each time the possibility of a collision with a new nearby vehicle RV is predicted, thereby reducing the inconvenience to the driver. Here, the direction information displayed on the second display device 115 is simply an additional display of the approaching direction of the new nearby vehicle RV using an arrow, and is therefore updated when the second state is newly detected even if the update prohibition period has not elapsed. Note that the update prohibition period may also be understood as a re-notification prohibition period during which re-notification (re-display) of the warning information is prohibited.

[0048] In step S118, the processing unit 121 (audio control unit 121f) causes the audio output device 116 to output an attention-calling sound. Next, in step S119, the processing unit 121 (first display control unit 121d) updates the attention-calling information displayed on the first display device 114 (MID). For example, the first display control unit 121d updates the attention-calling information by displaying, in the first light color (white), attention-calling information for calling attention to the approach of a new nearby vehicle RV on the first display device 114 in addition to or instead of the attention-calling information displayed on the first display device 114. That is, the first display control unit 121d causes the first display device 114 to interrupt and display attention-calling information for calling attention to the approach of a new nearby vehicle RV in the first light color (white).

[0049] In step S120, the processing unit 121 determines whether or not there is a new peripheral vehicle RV. The "new peripheral vehicle RV" in step S120 does not necessarily include the peripheral vehicle RV for which the collision possibility was predicted in steps S112 to S113 above. If it is determined that there is no new peripheral vehicle RV, the process proceeds to step S121, and if there is a new peripheral vehicle RV, the process proceeds to step S112. Note that step S120 is the same process as step S109 above, and therefore a detailed description thereof will be omitted here.

[0050] In step S121, the processing unit 121 determines whether the display maintenance period (first period) has elapsed. If the display maintenance period has not elapsed, the process returns to step S116. In this case, if steps S118 to S119 have already been performed, steps S116 to S119 may be skipped. On the other hand, if the display maintenance period has elapsed, the process proceeds to step S111 in FIG. 3, where the processing unit 121 terminates the display of the attention information on the first display device 114 and the display of the directional information on the second display device 115. Note that if the display maintenance period of the attention information displayed on the first display device 114 (MID) in step S108 in FIG. 3 has elapsed while steps S116 to S119 are being repeated, the display of the attention information and the display of the corresponding directional information may be terminated. Furthermore, step S121 is a process similar to step S110 described above, and therefore a detailed description thereof will be omitted here.

[0051] Next, the driving assistance process by the prediction method using the object detection unit will be described with reference to Fig. 5. As described above, the flowchart in Fig. 5 is performed in parallel with and independently of the flowcharts in Figs.

[0052] In step S201, the processing unit 121 starts detecting the periphery of the host vehicle SV using the object detection unit (sensor group 111). Next, in step S202, the processing unit 121 determines whether or not the object detection unit has detected a peripheral vehicle RV. If the object detection unit has not detected a peripheral vehicle RV, the process returns to step S201, and if the object detection unit has detected a peripheral vehicle RV, the process proceeds to step S203.

[0053] In step S203, the processing unit 121 (second prediction unit 121c) predicts the possibility of a collision between the host vehicle SV and the peripheral vehicle RV. As described above, the second prediction unit 121c of this embodiment predicts the possibility of a collision between the host vehicle SV and the peripheral vehicle RV by calculating the time to collision (TTC) between the host vehicle SV and the peripheral vehicle RV. As an example, as shown in FIG. 6, the second prediction unit 121c determines an intersection position (CP1, CP2) where the host vehicle SV and the peripheral vehicle RV (RV1, RV2) are estimated to intersect based on the host vehicle information acquired by the acquisition unit 121a and the detection result of the object detection unit, and calculates the time to collision as the time to collision, which is the time required for the peripheral vehicle RV to reach the intersection position. Then, when the calculated time to collision is equal to or less than a second threshold, the second prediction unit 121c can predict that there is a possibility of a collision between the host vehicle SV and the peripheral vehicle RV. Here, the second threshold is a value smaller than the first threshold and can be set arbitrarily.

[0054] In step S204, the processing unit 121 determines whether there is a possibility of a collision between the host vehicle SV and the surrounding vehicle RV based on the prediction result in step S203. If it is determined that there is no possibility of a collision, the process returns to step S201. On the other hand, if it is determined that there is a possibility of a collision, the process proceeds to step S205, assuming that a fourth state in which a collision possibility between the host vehicle SV and the surrounding vehicle RV is predicted has been detected.

[0055] In step S205, the processing unit 121 (second display control unit 121e) causes the second display device 115 (HUD) to display direction information indicating the approaching direction of the peripheral vehicle RV relative to the host vehicle SV in a second light color (amber). As an example, as described above with reference to FIG. 2, the second display control unit 121e causes the second display device 115 to display an image (arrow) selected according to the approaching direction of the peripheral vehicle RV in the second light color as direction information. The approaching direction of the peripheral vehicle RV can be obtained based on the detection result of the object detection unit.

[0056] Here, in the above-mentioned "driving assistance processing by a prediction method using vehicle-to-vehicle communication," there is a case where the direction information in the first light color has already been displayed on the second display device 115. In this case, the second display control unit 121e causes the second display device 115 to additionally (superimpose) the direction information indicating the approaching direction of the nearby vehicle RV determined in step S204 to have a collision possibility in the second light color. In other words, even if the direction information in the first light color has already been displayed on the second display device 115, the second display control unit 121e causes the second display device 115 to interrupt and display the direction information indicating the approaching direction of the nearby vehicle RV determined in step S204 to have a collision possibility in the second light color.

[0057] In step S206, the processing unit 121 determines whether or not the driver has performed a brake release operation (start operation). If the brake release operation has been performed, it is determined that a third state has been detected in which a possibility of a collision between the host vehicle SV and the surrounding vehicle RV has been predicted and a start operation has been performed by the driver, and the process proceeds to step S207. On the other hand, if the brake release operation has not been performed, the process proceeds to step S209.

[0058] In step S207, the processing unit 121 (audio control unit 121f) causes the audio output device 116 to output an alarm sound. Next, in step S208, the processing unit 121 (first display control unit 121d) causes the first display device 114 (MID) to display alarm information for warning of the approach of the nearby vehicle RV in the second light color (amber). As an example, as described above with reference to FIG. 2, the first display control unit 121d causes the first display device 114 to display an image selected according to the approaching direction of the nearby vehicle RV as alarm information in the second light color.

[0059] Here, in the above-described "driving assistance processing by a prediction method using vehicle-to-vehicle communication," there is a case where attention calling information has already been displayed on the first display device 114. In this case, the first display control unit 121d causes the first display device 114 to display, instead of the attention calling information, warning information for warning of the approach of the nearby vehicle RV for which it has been determined in step S204 that there is a possibility of collision. That is, even if the attention calling information has already been displayed on the first display device 114 and the update prohibition period for the attention calling information has not yet elapsed, if it has been determined in step S204 that there is a possibility of collision, the first display control unit 121d causes the first display device 114 to interrupt and display warning information for warning of the approach of the nearby vehicle RV. Furthermore, the display of warning information is not limited to the above example. For example, the processing unit 121 may display warning information when there is a possibility of collision even if the brakes are not applied and the brakes are applied at a predetermined deceleration (e.g., 0.8 G) or more.

[0060] In step S209, the processing unit 121 (second prediction unit 121c) predicts the possibility of a collision between the host vehicle SV and the surrounding vehicle RV. As in step S203 above, the second prediction unit 121c calculates a time to collision (TTC) between the host vehicle SV and the surrounding vehicle RV, and can predict the possibility of a collision between the host vehicle SV and the surrounding vehicle RV based on whether the calculated time to collision is equal to or less than a second threshold value.

[0061] In step S210, the processing unit 121 determines whether there is a possibility of collision between the host vehicle SV and the surrounding vehicle RV based on the prediction result in step S209. If it is determined that there is a possibility of collision, the process returns to step S206. In this case, if steps S207 to S208 have already been performed, steps S206 to S208 may be skipped. On the other hand, if it is determined that there is no possibility of collision, the process proceeds to step S211.

[0062] In step S211, the processing unit 121 terminates the display of the warning information on the first display device 114 and the display of the direction information on the second display device 115. That is, the processing unit 121 terminates the display of the warning information and the direction information when the second prediction unit 121c determines that there is no possibility of collision, such as when the host vehicle SV and the surrounding vehicle RV pass each other without colliding, that is, when the second prediction unit 121c no longer calculates the time to collision (TTC). Here, if warning information is displayed on the first display device 114 instead of attention calling information for the same surrounding vehicle RV, the attention calling information is not displayed again even before the display maintenance period of the attention calling information has elapsed.

[0063] Examples 1 to 5 relating to the driving assistance process of this embodiment will be described below. In each of Examples 1 to 5, a case where a surrounding vehicle RV approaches the host vehicle SV from the left and / or right as shown in Figures 6(a) and 6(b) will be described as an example, but the same can be considered for a case where a surrounding vehicle RV approaches the host vehicle SV from the front.

[0064] [Example 1] In the first embodiment, an example of the driving assistance process when one nearby vehicle RV1 approaches the host vehicle SV from the left side as shown in Fig. 6(a) will be described. Fig. 7 shows a time chart illustrating the driving assistance process of the first embodiment.

[0065] In the first embodiment, first, the time to collision (TTC) calculated by the first prediction unit 121b for the surrounding vehicle RV1 reaches the first threshold value TH1. 11At timing t, the direction information 14a indicating the approaching direction (left side) of the nearby vehicle RV1 is displayed in the first light color (white) on the second display device 115 (HUD). 11 The timing t may be understood as the timing at which the second state for the surrounding vehicle RV1 is detected. 12 Then, an attention-calling sound for calling attention to the approach of the surrounding vehicle RV1 is output from the audio output device 116, and attention-calling information 11a for calling attention to the approach of the surrounding vehicle RV1 is displayed in the first light color (white) on the first display device 114 (MID). 12 At timing t 12 may be understood as the timing at which the first state relating to the surrounding vehicle RV1 is detected.

[0066] Next, the time to collision (TTC) calculated by the second prediction unit 121c for the surrounding vehicle RV1 reaches the second threshold value TH2 at a timing t 13 At timing t, the direction information 14b indicating the approaching direction (left) of the nearby vehicle RV1 is displayed in the second light color (amber) on the second display device 115 (HUD). 13 The timing t may be understood as the timing at which the fourth state for the surrounding vehicle RV1 is detected. 14 At timing t, an alarm sound for warning the approach of the surrounding vehicle RV1 is output from the audio output device 116, and alarm information 11b for warning the approach of the surrounding vehicle RV1 is displayed in the second light color (amber) on the first display device 114 (MID). 14 The timing t may be understood as the timing at which the third state for the surrounding vehicle RV1 is detected. 14 This occurs before the update prohibition period 12a of the warning information 11a has elapsed, but the warning information 11b is displayed on the first display device 114 in place of the warning information 11a even before the update prohibition period 12a has elapsed.

[0067] The display of the warning information 11b on the first display device 114 and the display of the direction information 14b on the second display device 115 are started at the timing t 15 The timing t 15 This is before the display maintenance period 13a of the warning information 11a has elapsed, but since the warning information 11b has been displayed for the surrounding vehicle RV1, which is the same subject as the warning information 11a, the warning information 11a is not displayed again.

[0068] [Example 2] In the second embodiment, an example of the driving assistance process will be described in the case where one nearby vehicle RV1 approaches the host vehicle SV from the left and another nearby vehicle RV2 approaches the host vehicle SV from the right, as shown in Fig. 6(b). Fig. 8 shows a time chart illustrating the driving assistance process of the second embodiment.

[0069] In the second embodiment, first, the time to collision (TTC) calculated by the first prediction unit 121b for the surrounding vehicle RV1 reaches the first threshold value TH1. 21 At timing t, the direction information 24a indicating the approaching direction (left side) of the nearby vehicle RV1 is displayed in the first light color (white) on the second display device 115 (HUD). 21 The timing t may be understood as the timing at which the second state for the surrounding vehicle RV1 is detected. 22 Then, an attention-calling sound for calling attention to the approach of the surrounding vehicle RV1 is output from the audio output device 116, and attention-calling information 21a for calling attention to the approach of the surrounding vehicle RV1 is displayed in the first light color (white) on the first display device 114 (MID). 22 At timing t 22 may be understood as the timing at which the first state relating to the surrounding vehicle RV1 is detected.

[0070] Next, the time to collision (TTC) calculated by the first prediction unit 121b for the surrounding vehicle RV2 reaches the first threshold value TH1 at a timing t 23 At timing t, the direction information 24b to which the approaching direction (right side) of the nearby vehicle RV2 has been added is displayed in the first light color (white) on the second display device 115 (HUD). 23 The timing t may be understood as the timing at which a new second state is detected for the surrounding vehicle RV2. 24 The timing t is after the expiration of the update prohibition period 22a of the warning information 21a for the nearby vehicle RV1. 24 At this time, an attention-calling sound for calling attention to the approach of the nearby vehicle RV2 is output from the audio output device 116, and attention-calling information 21b to which an indication for calling attention to the approach of the nearby vehicle RV2 is added is displayed in a first light color (white) on the first display device 114 (MID) in place of the attention-calling information 21a. The attention-calling information 21b is information for calling attention to the approach of both the nearby vehicles RV1 and RV2. Then, at timing t 24 At timing t 24 may be understood as the timing at which a new first state relating to the surrounding vehicle RV2 is detected.

[0071] Next, at the timing t when the display maintenance period 23a of the attention-calling information 21a for the nearby vehicle RV1 has elapsed. 25 At this timing t, the display showing the approaching direction of the nearby vehicle RV1 ends, and the direction information 24c showing only the approaching direction of the nearby vehicle RV2 is displayed on the second display device 115. 25 At time t , the display maintenance period 23b has not yet elapsed, so the display of the attention-calling information 21b is maintained on the first display device 114. Then, at time t , when the display maintenance period 23b has elapsed, 26 Then, the display of the attention-calling information 21b on the first display device 114 and the display of the direction information 24c on the second display device 115 end.

[0072] In the second embodiment, the timing t 25 Even after this, the warning information 21b for warning the driver of the approach of both the surrounding vehicles RV1 and RV2 is maintained, but this is not limitative. 25 At timing t, the display for calling attention to the approach of the nearby vehicle RV1 may be terminated, and the information may be updated to call attention only to the approach of the nearby vehicle RV2. 24 ~t 25 During this time, the first display device 114 displays the attention-calling information 21b for calling attention to the approach of both the surrounding vehicles RV1 and RV2, and at the timing t 25 ~t 26 During this time, the first display device 114 may display attention-calling information that only calls attention to the approach of the nearby vehicle RV2.

[0073] [Example 3] In the third embodiment, an example of the driving assistance process will be described in the case where one nearby vehicle RV1 approaches the host vehicle SV from the left and another nearby vehicle RV2 approaches the host vehicle SV from the right, as shown in Fig. 6(b). Fig. 9 shows a time chart illustrating the driving assistance process of the third embodiment.

[0074] In the third embodiment, first, the time to collision (TTC) calculated by the first prediction unit 121b for the surrounding vehicle RV1 reaches the first threshold value TH1. 31 At timing t, the direction information 34a indicating the approaching direction (left side) of the nearby vehicle RV1 is displayed in the first light color (white) on the second display device 115 (HUD). 31 The timing t may be understood as the timing at which the second state for the surrounding vehicle RV1 is detected. 32Then, an attention-calling sound for calling attention to the approach of the surrounding vehicle RV1 is output from the audio output device 116, and attention-calling information 31a for calling attention to the approach of the surrounding vehicle RV1 is displayed in the first light color (white) on the first display device 114 (MID). 32 At timing t 32 may be understood as the timing at which the first state relating to the surrounding vehicle RV1 is detected.

[0075] Next, the time to collision (TTC) calculated by the first prediction unit 121b for the surrounding vehicle RV2 reaches the first threshold value TH1 at a timing t 33 Then, the direction information 34b to which the approaching direction (right side) of the nearby vehicle RV2 has been added is displayed in the first light color (white) on the second display device 115 (HUD). 33 The timing t t may be understood as the timing at which a new second state is detected for the surrounding vehicle RV2. 34 is the timing at which a new first state for the surrounding vehicle RV2 is detected, and the timing t 34 In this case, the update prohibition period 32a of the warning information 31a has not yet elapsed, so the warning sound for warning the driver of the approaching nearby vehicle RV2 is not output and the warning information is not updated.

[0076] Next, at a timing t when the display maintenance period 33a of the attention-calling information 31a for the nearby vehicle RV1 has elapsed. 35 At this timing t 35 Then, the display showing the approaching direction of the nearby vehicle RV1 ends, and the direction information 34c showing only the approaching direction of the nearby vehicle RV2 is displayed on the second display device 115. The display of the direction information 34c on the second display device 115 is stopped at the timing t 33 Or timing t 34 The timing t when the display maintenance period (for example, 6 seconds) has elapsed from 36and ends.

[0077] [Example 4] In the fourth embodiment, an example of the driving assistance process will be described in the case where one nearby vehicle RV1 approaches the host vehicle SV from the left and another nearby vehicle RV2 approaches the host vehicle SV from the right, as shown in Fig. 6(b). Fig. 10 shows a time chart illustrating the driving assistance process of the fourth embodiment.

[0078] In the fourth embodiment, first, the time to collision (TTC) calculated by the first prediction unit 121b for the surrounding vehicle RV1 reaches the first threshold value TH1. 41 At timing t, the direction information 44a indicating the approaching direction (left side) of the nearby vehicle RV1 is displayed in the first light color (white) on the second display device 115 (HUD). 41 The timing t may be understood as the timing at which the second state for the surrounding vehicle RV1 is detected. 42 Then, an attention-calling sound for calling attention to the approach of the surrounding vehicle RV1 is output from the audio output device 116, and attention-calling information 41a for calling attention to the approach of the surrounding vehicle RV1 is displayed in the first light color (white) on the first display device 114 (MID). 42 At timing t, the timing of the update prohibition period 42a and the display maintenance period 43a of the warning information 41a starts. 42 may be understood as the timing at which the first state relating to the surrounding vehicle RV1 is detected.

[0079] Next, the time to collision (TTC) calculated by the first prediction unit 121b for the surrounding vehicle RV2 reaches the first threshold value TH1 at a timing t 43 At timing t, the direction information 44b to which the approaching direction (right side) of the nearby vehicle RV2 has been added is displayed in the first light color (white) on the second display device 115 (HUD). 43 The timing t may be understood as the timing at which a new second state is detected for the surrounding vehicle RV2.44 The timing t is after the expiration of the update prohibition period 42a of the warning information 41a for the nearby vehicle RV1. 44 At this time, an attention-calling sound for calling attention to the approach of the nearby vehicle RV2 is output from the audio output device 116, and attention-calling information 41b to which an indication for calling attention to the approach of the nearby vehicle RV2 is added is displayed in the first light color (white) on the first display device 114 (MID) in place of the attention-calling information 41a. The attention-calling information 41b is information for calling attention to the approach of both the nearby vehicles RV1 and RV2. Then, at timing t 44 At timing t 44 may be understood as the timing at which a new first state relating to the surrounding vehicle RV2 is detected.

[0080] Next, at the timing t when the display maintenance period 43a of the attention-calling information 41a for the nearby vehicle RV1 has elapsed. 45 At this timing t, the display showing the approaching direction of the nearby vehicle RV1 ends, and the direction information 44c showing only the approaching direction of the nearby vehicle RV2 is displayed on the second display device 115. 45 In this case, the display maintenance period 41b has not elapsed, so the display of the attention calling information 21b on the first display device 114 is maintained.

[0081] Next, the time to collision (TTC) calculated by the second prediction unit 121c for the surrounding vehicle RV2 reaches the second threshold value TH2 at a timing t 46 At timing t, direction information 44d indicating the approaching direction (right) of the nearby vehicle RV2 is displayed in the second light color (amber) on the second display device 115 (HUD). 46 The timing t may be understood as the timing at which the fourth state for the surrounding vehicle RV2 is detected. 47Then, an alarm sound for warning of the approach of the nearby vehicle RV2 is output from the audio output device 116, and alarm information 41c for warning of the approach of the nearby vehicle RV2 is displayed in the second light color (amber) on the first display device 114 (MID) in place of the attention-calling information 41b. That is, the alarm information 41c is displayed in an interrupt manner on the first display device 114 in place of the attention-calling information 41b. 47 may be understood as the timing at which the third state for the surrounding vehicle RV2 is detected.

[0082] The display of the warning information 41c on the first display device 114 continues even after the display maintenance period 43b of the attention-calling information 41b has elapsed, and the time to collision is no longer calculated by the second prediction unit 121c. 48 In addition, the display of the direction information 44d on the second display device 114 also ends at timing t 48 and ends.

[0083] In the fourth embodiment, the timing t 45 Even after this, the warning information 41b for warning the driver of the approach of both the surrounding vehicles RV1 and RV2 is maintained, but this is not limitative. For example, at the timing t 45 At timing t, the display for calling attention to the approach of the nearby vehicle RV1 may be terminated, and the information may be updated to call attention only to the approach of the nearby vehicle RV2. 44 ~t 45 During this time, the first display device 114 displays the attention-calling information 41b for calling attention to the approach of both the nearby vehicles RV1 and RV2, and at the timing t 45 ~t 47 During this time, the first display device 114 may display attention-calling information that only calls attention to the approach of the nearby vehicle RV2.

[0084] [Example 5] In the fifth embodiment, an example of the driving assistance process will be described in the case where one nearby vehicle RV1 approaches the host vehicle SV from the left and another nearby vehicle RV2 approaches the host vehicle SV from the right, as shown in Fig. 6(b). Fig. 11 shows a time chart illustrating the driving assistance process of the fifth embodiment.

[0085] In the fifth embodiment, first, the time to collision (TTC) calculated by the first prediction unit 121b for the surrounding vehicle RV1 reaches the first threshold value TH1. 51 At timing t, the direction information 54a indicating the approaching direction (left side) of the nearby vehicle RV1 is displayed in the first light color (white) on the second display device 115 (HUD). 51 The timing t may be understood as the timing at which the second state for the surrounding vehicle RV1 is detected. 52 Then, an attention-calling sound for calling attention to the approach of the surrounding vehicle RV1 is output from the audio output device 116, and attention-calling information 51a for calling attention to the approach of the surrounding vehicle RV1 is displayed in the first light color (white) on the first display device 114 (MID). 52 At timing t 52 may be understood as the timing at which the first state relating to the surrounding vehicle RV1 is detected.

[0086] Next, the time to collision (TTC) calculated by the first prediction unit 121b for the surrounding vehicle RV2 reaches the first threshold value TH1 at a timing t 53 Then, the direction information 54b to which the approaching direction (right side) of the nearby vehicle RV2 has been added is displayed in the first light color (white) on the second display device 115 (HUD). 53 The timing t t may be understood as the timing at which a new second state is detected for the surrounding vehicle RV2. 54 is the timing at which a new first state for the surrounding vehicle RV2 is detected, and the timing t54 In this case, the update prohibition period 52a of the warning information 51a has not yet elapsed, so the warning sound for warning the driver of the approaching nearby vehicle RV2 is not output and the warning information is not updated.

[0087] Next, the time to collision (TTC) calculated by the second prediction unit 121c for the surrounding vehicle RV2 reaches the second threshold value TH2 at a timing t 55 Then, the direction information 54c in which the approaching direction of the nearby vehicle RV1 is maintained in the first light color and the approaching direction of the nearby vehicle RV2 is changed to the second light color (amber) is displayed on the second display device 115 (HUD). 55 may be understood as the timing at which the fourth state for the surrounding vehicle RV2 is detected.

[0088] Timing when the driver releases the brakes (starts the vehicle) 56 Then, an alarm sound for warning of the approach of the nearby vehicle RV2 is output from the audio output device 116, and alarm information 51b for warning of the approach of the nearby vehicle RV2 is displayed in the second light color (amber) on the first display device 114 (MID) in place of the attention-calling information 51a. That is, the alarm information 51b for warning of the approach of the nearby vehicle RV2 is displayed in an interrupt manner on the first display device 114 in place of the attention-calling information 51a. 56 may be understood as the timing at which the third state for the surrounding vehicle RV2 is detected.

[0089] Next, at the timing t when the display maintenance period 53a of the attention-calling information 51a for the nearby vehicle RV1 has elapsed. 57 Then, the display showing the approaching direction of the nearby vehicle RV1 ends, and the direction information 54d showing only the approaching direction of the nearby vehicle RV2 is displayed on the second display device 115 in the second light color.

[0090] The first display device 114 starts displaying the warning information 51b at the timing t 58In addition, the display of the direction information 54d on the second display device 114 also ends at timing t 58 and ends.

[0091] In the fifth embodiment, the timing t 56 In the above, the warning information 51b for warning only about the approach of the nearby vehicle RV2 is displayed on the first display device 114 instead of the attention-calling information 51a, but the present invention is not limited to this. For example, at the timing t 44 t is the timing when the display maintenance period 53a of the attention information 51a for alerting the driver of the approaching nearby vehicle RV1 ends. 57 The attention-calling information 51a may be displayed until the timing t 56 ~t 57 During this period, the first display device 114 may display, in a superimposed manner, the attention-attracting information 51a for alerting the driver of the approaching nearby vehicle RV1 and the warning information 51b for warning the driver of the approaching nearby vehicle RV2. 57 At timing t 57 Thereafter, the first display device 114 may display only the warning information 51b for warning of the approach of the nearby vehicle RV2.

[0092] As described above, in the driving assistance device 100 of this embodiment, updating of the warning information is suppressed (prohibited) until the update prohibition period (second period) has elapsed since the first state was detected and the warning information was displayed on the first display device 114 (MID), even if the first state was newly detected. This reduces the inconvenience to the driver, as the warning information is updated every time a new first state is detected. On the other hand, the direction information displayed on the second display device 115 (HUD) after the second state is detected is updated when the second state is newly detected, even if the update prohibition period has not elapsed since the detection. This allows the driver to understand the approaching direction of a nearby vehicle that is predicted to collide with the host vehicle. In other words, this embodiment makes it possible to reduce the inconvenience to the driver and allow the driver to appropriately understand information.

[0093] <Summary of the embodiment> (Item 1) A driving assistance device (e.g., 100) that assists driving of a vehicle (e.g., an SV), Acquisition means (e.g., 113, 124, 121a) for acquiring surrounding vehicle information including a current position, speed, and travel path of a surrounding vehicle (e.g., RV) present around the host vehicle from the surrounding vehicle through vehicle-to-vehicle communication; a first prediction means (e.g., 121b) for predicting a possibility of a collision between the host vehicle and the surrounding vehicle based on host vehicle information including a current position, speed, and travel path of the host vehicle and the surrounding vehicle information acquired by the acquisition means; a first display means (e.g., 114, 121d) that displays, when a first state in which the first prediction means predicts that there is a possibility of a collision and a start operation is performed by the driver of the host vehicle, attention-calling information for calling attention to the approach of the nearby vehicle for a first period from the timing when the first state is detected; a second display means (e.g., 115, 121e) for displaying direction information indicating the approaching direction of the surrounding vehicle when the second state in which the collision possibility is predicted by the first prediction means is detected; Equipped with the first display means suppresses updating of the attention-calling information until a second period shorter than the first period has elapsed from the timing, even if the first state is newly detected; the second display means updates the direction information when the second state is newly detected even if the second period has not elapsed since the timing. A driving assistance device characterized by:

[0094] According to this item, the driver's annoyance can be reduced by updating the attention alert information each time a new first state is detected. Also, when a new second state is detected, the direction information is updated, so the driver can be made aware of the approaching direction of a nearby vehicle that is predicted to have a possibility of colliding with the vehicle. In other words, it is possible to achieve both reducing the driver's annoyance and allowing the driver to appropriately understand the information, thereby making it possible to provide appropriate driving assistance.

[0095] (Item 2) 2. The driving assistance device according to claim 1, wherein the first display means does not update the attention-calling information if the first state is newly detected before the second period has elapsed from the timing.

[0096] According to this item, even if the first state is newly detected before the second period has elapsed for the warning information displayed on the first display means, the annoyance to the driver can be reduced.

[0097] (Item 3) 3. The driving assistance device according to claim 1, wherein, when the second state is newly detected between the timing and the second period has elapsed, the second display means updates the direction information by additionally displaying the approaching direction of the nearby vehicle.

[0098] This item allows the driver to properly understand the approaching direction of a nearby vehicle that is predicted to collide with the driver's own vehicle while reducing the inconvenience to the driver.

[0099] (Item 4) 4. The driving assistance device according to any one of items 1 to 3, wherein the second display means ends the display of the direction information when the first display means ends the display of the attention-calling information.

[0100] According to this item, it is possible to reduce the inconvenience to the driver and allow the driver to properly understand the information, thereby making it possible to provide appropriate driving assistance.

[0101] (Item 5) an object detection means (e.g., 111) for detecting an object around the vehicle without using vehicle-to-vehicle communication; a second prediction means (e.g., 121c) for predicting a possibility of a collision between the host vehicle and the surrounding vehicle based on the host vehicle information and the detection result of the object detection means; Further provided with 5. The driving assistance device according to any one of items 1 to 4, wherein the first display means displays warning information to warn of the approach of the surrounding vehicle when a third state is detected in which the second prediction means predicts that there is a possibility of a collision and a start operation is performed by the driver of the host vehicle.

[0102] According to this item, the driver can be made to properly understand the possibility of a collision with a surrounding vehicle that is predicted using an object detection means (sensor fusion).

[0103] (Item 6) 6. The driving assistance device according to item 5, wherein the first display means displays the warning information instead of the attention-calling information when the third state is detected even if the second period has not elapsed since the timing.

[0104] According to this item, even if the possibility of a collision with a surrounding vehicle predicted using vehicle-to-vehicle communication is displayed as warning information, the driver can be immediately made aware of the possibility of a collision with a surrounding vehicle predicted using an object detection means (sensor fusion) as warning information.

[0105] (Item 7) The second display means If the second state is detected, displaying the direction information in a first color; When the second prediction means detects a fourth state in which the possibility of collision is predicted, the direction information is displayed in a second color different from the first color. 7. The driving assistance device according to item 5 or 6,

[0106] According to this item, the driver can be made to properly grasp the approaching direction of the surrounding vehicle obtained using the object detection means (sensor fusion).

[0107] (Item 8) the first prediction means calculates a time to collision between the host vehicle and the surrounding vehicle based on the host vehicle information and the surrounding vehicle information, and predicts the possibility of the collision when the time to collision is equal to or less than a first threshold value (e.g., TH1); the second prediction means calculates the time to collision based on the host vehicle information and the detection result of the object detection means, and predicts that there is a possibility of collision when the time to collision is equal to or less than a second threshold (e.g., TH2) that is smaller than the first threshold. 8. The driving assistance device according to any one of items 5 to 7,

[0108] According to this item, it is possible to appropriately predict the possibility of a collision using vehicle-to-vehicle communication and using an object detection means (sensor fusion).

[0109] (Item 9) Further provided is an audio output means (e.g., 116, 121f) for outputting audio; The audio output means outputting an attention-calling sound to call attention to the approach of the nearby vehicle when the attention-calling information is displayed or updated by the first display means; outputting an alarm sound to warn of the approach of the nearby vehicle when the alarm information is displayed by the first display means; The attention sound and the warning sound are different from each other. 9. The driving assistance device according to any one of items 5 to 8,

[0110] According to this item, attention-calling information and / or warning information can be appropriately notified to the driver by voice.

[0111] The present invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0112] 100: driving assistance device, 111: sensor group, 112: GNSS antenna, 113: vehicle-to-vehicle communication antenna, 114: first display device, 115: second display device, 116: audio output device, 117: braking device, 120: control device, 121: processing unit, 122: storage unit, 123: GNSS module, 124: vehicle-to-vehicle communication module

Claims

1. A driving assistance device that provides driving assistance for a vehicle, an acquisition means for acquiring surrounding vehicle information including current positions, speeds, and travel paths of surrounding vehicles present around the host vehicle from the surrounding vehicles via vehicle-to-vehicle communication; a first prediction means for predicting a possibility of a collision between the host vehicle and the surrounding vehicle based on host vehicle information including a current position, speed, and traveling trajectory of the host vehicle and the surrounding vehicle information acquired by the acquisition means; a first display means for displaying, when the first prediction means predicts that there is a possibility of a collision and a first state is detected in which a start operation has been performed by the driver of the host vehicle, attention-drawing information for drawing attention to the approach of the nearby vehicle for a first period from the timing at which the first state is detected; a second display means for displaying direction information indicating an approaching direction of the nearby vehicle when the second state in which the possibility of a collision is predicted by the first prediction means is detected; Equipped with the first display means suppresses updating of the attention-calling information until a second period shorter than the first period has elapsed from the timing, even if the first state is newly detected; the second display means updates the direction information when the second state is newly detected even if the second period has not elapsed since the timing. A driving assistance device characterized by:

2. 2. The driving assistance device according to claim 1, wherein the first display means does not update the attention-calling information if the first state is newly detected before the second period has elapsed from the timing.

3. 2. The driving assistance device according to claim 1, wherein, when the second state is newly detected before the second period has elapsed from the timing, the second display means updates the direction information by additionally displaying the approaching direction of the nearby vehicle.

4. 2. The driving support device according to claim 1, wherein the second display means terminates the display of the direction information when the first display means terminates the display of the attention-calling information.

5. an object detection means for detecting an object around the vehicle without using vehicle-to-vehicle communication; a second prediction means for predicting a possibility of a collision between the host vehicle and the surrounding vehicle based on the host vehicle information and a detection result of the object detection means; Further provided with 2. The driving assistance device according to claim 1, wherein the first display means displays warning information to warn of the approach of the nearby vehicle when a third state is detected in which the second prediction means predicts that there is a possibility of a collision and a start operation is performed by the driver of the host vehicle.

6. 6. The driving assistance device according to claim 5, wherein the first display means displays the warning information instead of the attention-calling information when the third state is detected even if the second period has not elapsed since the timing.

7. The second display means If the second state is detected, display the direction information in a first color; When the second prediction means detects a fourth state in which the possibility of a collision is predicted, the direction information is displayed in a second color different from the first color.

6. The driving assistance device according to claim 5.

8. the first prediction means calculates a time to collision between the host vehicle and the surrounding vehicle based on the host vehicle information and the surrounding vehicle information, and predicts the possibility of the collision when the time to collision is equal to or less than a first threshold value; the second prediction means calculates the time to collision based on the host vehicle information and the detection result of the object detection means, and predicts that there is a possibility of a collision when the time to collision is equal to or less than a second threshold value that is smaller than the first threshold value.

6. The driving assistance device according to claim 5.

9. further comprising audio output means for outputting audio; The audio output means outputting an attention-calling sound to call attention to the approach of the nearby vehicle when the attention-calling information is displayed or updated by the first display means; outputting an alarm sound to warn of the approach of the nearby vehicle when the alarm information is displayed by the first display means; The attention sound and the warning sound are different from each other.

6. The driving assistance device according to claim 5.

10. A driving assistance method for assisting driving of a vehicle, comprising: an acquisition step of acquiring surrounding vehicle information, including current positions, speeds, and travel paths of surrounding vehicles present around the host vehicle, from the surrounding vehicles via vehicle-to-vehicle communication; a prediction step of predicting a possibility of a collision between the host vehicle and the surrounding vehicle based on host vehicle information including a current position, speed, and traveling trajectory of the host vehicle and the surrounding vehicle information acquired in the acquisition step; a first display step of displaying, when a first state in which the possibility of a collision is predicted in the prediction step and a start operation is performed by the driver of the host vehicle, attention-drawing information for drawing attention to the approach of the nearby vehicle for a first period from the timing when the first state is detected; a second display step of displaying direction information indicating an approaching direction of the nearby vehicle when a second state in which the possibility of a collision is predicted is detected in the prediction step; Including, In the first display step, updating of the attention information is suppressed until a second period shorter than the first period has elapsed from the timing, even if the first state is newly detected; In the second display step, when the second state is newly detected even if the second period has not elapsed since the timing, the direction information is updated. A driving assistance method comprising:

11. A program for causing a computer to execute a driving assistance method for assisting driving of a vehicle, The driving assistance method includes: an acquisition step of acquiring surrounding vehicle information, including current positions, speeds, and travel paths of surrounding vehicles present around the host vehicle, from the surrounding vehicles via vehicle-to-vehicle communication; a prediction step of predicting a possibility of a collision between the host vehicle and the surrounding vehicle based on host vehicle information including a current position, speed, and traveling trajectory of the host vehicle and the surrounding vehicle information acquired in the acquisition step; a first display step of displaying, when a first state in which the possibility of a collision is predicted in the prediction step and a start operation is performed by the driver of the host vehicle, attention-drawing information for drawing attention to the approach of the nearby vehicle for a first period from the timing when the first state is detected; a second display step of displaying direction information indicating an approaching direction of the nearby vehicle when a second state in which the possibility of a collision is predicted is detected in the prediction step; Including, In the first display step, updating of the attention information is suppressed until a second period shorter than the first period has elapsed from the timing, even if the first state is newly detected; In the second display step, when the second state is newly detected even if the second period has not elapsed since the timing, the direction information is updated. A program characterized by:

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