Information providing device and information providing method

Abstract

According to the present invention, provided are an information providing device and an information providing method that acquire an intersection area, which intersects with an area allowing another moving object to move, on a travel route (R) set by autonomous travel control, recognize a travel environment around a vehicle (V), determine, on the basis of the recognized travel environment, whether or not the vehicle (V) is allowed to pass through the intersection area, and, if it is determined that the vehicle (V) is not allowed to pass through the intersection area, when stoppage time of the vehicle (V) is longer than a predetermined time, notify an on-vehicle terminal and / or an electronic terminal in the vehicle (V) of the factor that prevents the vehicle (V) from passing through the intersection area.

Description

[Technical Field]

[0001] The present invention relates to an information providing device and an information providing method. [Background technology]

[0002] When displaying the stopped state of a vehicle with an autonomous driving function, it is known that the surrounding conditions of the vehicle are detected, and if the vehicle will be stopped in the future in the surrounding conditions while it is driving autonomously, a stop sign extending upward from the road surface of the surrounding conditions and indicating the reason for the vehicle's stop is displayed on the display device (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-27996 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, the reason for stopping that is notified to the vehicle occupants is limited to the status of traffic laws, road signs, and traffic lights, and therefore, if the vehicle stops due to a factor other than the status of traffic laws, road signs, and traffic lights, such as an obstacle, the reason for stopping is not notified to the occupants. Therefore, the above-mentioned conventional technology has a problem in that the occupants of the vehicle have to wait until the vehicle departs without being informed of the reason for the stop, which makes them feel uneasy.

[0005] The problem to be solved by the present invention is to provide an information providing device and an information providing method that can reduce the anxiety that occupants feel before the vehicle departs. [Means for solving the problem]

[0006] The present invention , runThe system solves the above problem by obtaining an intersection area on the travel route where the intersection area intersects with an area in which other moving bodies can move, recognizing the driving environment around the vehicle, and determining whether the vehicle can pass through the intersection area based on the recognized driving environment, and if it is determined that the vehicle cannot pass through the intersection area, notifying the in-vehicle terminal and / or electronic terminal in the vehicle of the factors that prevent the vehicle from passing through the intersection area, and when notifying the factors that prevent the vehicle from passing through the intersection area using a display device, reducing the contrast of the display portion of the intersection area relative to the display portion of the travel route and increasing the degree of emphasis of the display portion of the factors. [Effects of the Invention]

[0007] According to the present invention, it is possible to suppress the anxiety felt by the occupants before the vehicle departs. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing an example of a driving assistance system including a driving assistance device according to the present invention. [Figure 2A] 2 is a diagram showing an example of an image displayed when driving assistance is performed by the driving assistance system shown in FIG. 1 (part 1). FIG. [Figure 2B] 1. FIG. 4 is a diagram showing an example of an image displayed when driving assistance is performed by the driving assistance system shown in FIG. 1 (part 2). [Figure 2C] 1. FIG. 4 is a diagram showing an example of an image displayed when driving assistance is performed by the driving assistance system shown in FIG. 1 (part 3). [Figure 2D] 1. FIG. 4 is a diagram showing an example of an image displayed when driving assistance is performed by the driving assistance system shown in FIG. [Figure 2E] 1. FIG. 5 is a diagram showing an example of an image displayed when driving assistance is performed by the driving assistance system shown in FIG. [Figure 3A] 2 is a flowchart showing an example of a processing procedure in the driving assistance device of FIG. 1 (part 1). [Figure 3B] 2 is a flowchart showing an example of a processing procedure in the driving assistance device of FIG. 1 (part 2). [Figure 3C] 10 is a flowchart showing an example of a processing procedure in the driving assistance device of FIG. 1 (part 3). [Figure 3D] 10 is a flowchart showing an example of a processing procedure in the driving assistance device of FIG. 1 (part 4). DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The following description is based on the assumption that vehicles are driven on the left side of the road in countries with laws stipulating left-hand traffic. In countries with laws stipulating right-hand traffic, vehicles are driven on the right side of the road, so the left and right in the following description should be interpreted as symmetrical.

[0010] [Driver assistance system configuration] FIG. 1 is a block diagram showing a driving assistance system 10 according to the present invention. The driving assistance system 10 is an in-vehicle system that drives a vehicle to a destination set by the vehicle's occupants (including the driver) through autonomous driving control. Autonomous driving control refers to autonomously controlling the vehicle's driving behavior using a driving assistance device (described later), and the driving behavior includes all driving behaviors such as acceleration, deceleration, starting, stopping, steering to the right or left, changing lanes, and pulling over. Furthermore, autonomously controlling driving behavior refers to the driving assistance device controlling the driving behavior using a device in the vehicle. In other words, the driving assistance device intervenes in and controls these driving behaviors within a predetermined range. Driving behaviors that are not intervened in are manually controlled by the driver.

[0011] As shown in Fig. 1, a driving assistance system 10 includes an imaging device 11, a distance measuring device 12, a status detection device 13, map information 14, a position detection device 15, a navigation device 16, a vehicle control device 17, a display device 18, and a driving assistance device 19. Also, as shown in Fig. 1, the driving assistance device 19 of this embodiment includes, as a part thereof, an information providing device having an information providing function. The devices that make up the driving assistance system 10 are connected by a CAN (Controller Area Network) or other in-vehicle LAN, and can exchange information with each other.

[0012] The imaging device 11 is a device that recognizes objects around the vehicle using images, and is, for example, a camera equipped with an imaging element such as a CCD, an ultrasonic camera, or an infrared camera. A single vehicle can be provided with multiple imaging devices 11, and they can be located, for example, near the front grille, under the left and right door mirrors, and near the rear bumper. This reduces blind spots when recognizing objects around the vehicle.

[0013] The distance measuring device 12 is a device for calculating the relative distance and relative speed between the vehicle and an object, and is, for example, a radar device or sonar such as a laser radar, a millimeter wave radar (LRF, etc.), a LiDAR (light detection and ranging) unit, or an ultrasonic radar. A plurality of distance measuring devices 12 can be provided on one vehicle, and can be arranged, for example, at the front, right side, left side, and rear of the vehicle. This allows the relative distance and relative speed between the vehicle and objects around it to be accurately calculated.

[0014] The objects detected by the imaging device 11 and the distance measuring device 12 include road lane boundaries, center lines, road markings, medians, guardrails, curbs, highway sidewalls, road signs, traffic lights, crosswalks, construction sites, accident sites, traffic restrictions, etc. The objects also include obstacles that may affect the vehicle's travel, such as automobiles (other vehicles) other than the vehicle itself, motorcycles, bicycles, pedestrians, etc. The detection results of the imaging device 11 and the distance measuring device 12 are acquired by the driving assistance device 19 at predetermined time intervals as necessary.

[0015] Furthermore, the detection results of the imaging device 11 and the distance measuring device 12 can be integrated or synthesized (so-called sensor fusion) by the driving assistance device 19, thereby supplementing missing information about the detected object. For example, the driving assistance device 19 can calculate the position information of the object based on the self-position information, which is the position where the vehicle is traveling, acquired by the position detection device 15, and the relative position (distance and direction) between the vehicle and the object. The calculated position information of the object is integrated by the driving assistance device 19 with multiple pieces of information, such as the detection results of the imaging device 11 and the distance measuring device 12 and the map information 14, to become information about the driving environment around the vehicle. Furthermore, the detection results of the imaging device 11 and the distance measuring device 12 and the map information 14 can be used to recognize objects around the vehicle and predict their movements.

[0016] The state detection device 13 is a device for detecting the running state of the vehicle, and examples thereof include a vehicle speed sensor, an acceleration sensor, a yaw rate sensor (e.g., a gyro sensor), a steering angle sensor, and an inertial measurement unit. There are no particular limitations on these devices, and known devices can be used. The locations and numbers of these devices can be set appropriately within a range that allows appropriate detection of the running state of the vehicle. The detection results of each device are acquired by the driving assistance device 19 at predetermined time intervals as necessary.

[0017] Map information 14 is information used for generating driving routes, controlling driving operations, etc., and includes road information, facility information, and their attribute information. Road information and road attribute information include information such as road width, road curvature radius, road shoulder structures, road traffic regulations (speed limits, whether lane changes are permitted), road merging and branching points, and locations where the number of lanes increases or decreases. Map information 14 is high-resolution map information that allows the movement trajectory of each lane to be grasped, and includes two-dimensional position information and / or three-dimensional position information at each map coordinate, road / lane boundary information at each map coordinate, road attribute information, lane incline / decline information, lane identification information, connecting lane information, etc.

[0018] Road and lane boundary information in high-resolution map information is information that indicates the boundaries between the lane on which a vehicle travels and other roads. A lane on which a vehicle travels is a road along which the vehicle travels, and the form of the lane is not particularly limited. Boundaries exist on both the left and right sides of the vehicle's direction of travel, and the form is not particularly limited. Boundaries are, for example, road markings or road structures. Examples of road markings include lane boundaries and center lines, and examples of road structures include medians, guardrails, curbs, tunnels, and highway sidewalls. Note that at points where lane boundaries cannot be clearly identified, such as within intersections, boundaries are set for the lane in advance. These boundaries are imaginary and are not actually existing road markings or road structures.

[0019] The map information 14 is stored in a readable state in a recording medium provided in the driving assistance device 19, an in-vehicle device, or a server on a network. The driving assistance device 19 acquires the map information 14 as needed.

[0020] The position detection device 15 is a positioning system for detecting the current position of the vehicle, and is not particularly limited, and any known system can be used. The position detection device 15 calculates the current position of the vehicle, for example, from radio waves received from a satellite for the GPS (Global Positioning System). Alternatively, the position detection device 15 may estimate the current position of the vehicle from vehicle speed information and acceleration information acquired from the state detection device 13, which includes a vehicle speed sensor, an acceleration sensor, and a gyro sensor, and compare the estimated current position with the map information 14 to calculate the current position of the vehicle.

[0021] The navigation device 16 is a device that refers to map information 14 and calculates a driving route from the current position of the vehicle detected by the position detection device 15 to a destination set by the occupants (including the driver). The navigation device 16 searches for a driving route for the vehicle to reach the destination from the current position using road information, facility information, etc. in the map information 14. The driving route includes at least information on the road on which the vehicle is traveling, the driving lane, and the vehicle's traveling direction, and is displayed, for example, as a linear diagram. There may be multiple driving routes depending on the search conditions. The driving route calculated by the navigation device 16 is output to the driving assistance device 19.

[0022] The vehicle control device 17 is an on-board computer such as an electronic control unit (ECU), and electronically controls on-board devices that govern the driving of the vehicle. The vehicle control device 17 includes a vehicle speed control device 171 that controls the driving speed of the vehicle, and a steering control device 172 that controls the steering operation of the vehicle. The vehicle speed control device 171 and the steering control device 172 autonomously control the operation of these drive devices and steering devices in response to control signals input from the driving assistance device 19. This allows the vehicle to drive autonomously along a set driving route. Information required for autonomous control by the vehicle speed control device 171 and the steering control device 172, such as the vehicle's driving speed, acceleration, steering angle, and attitude, is obtained from the state detection device 13.

[0023] Examples of the drive devices controlled by the vehicle speed control device 171 include an electric motor and / or an internal combustion engine as a driving source for traveling, a power transmission device including a drive shaft and an automatic transmission that transmits the output from these driving sources for traveling to the driving wheels, and a drive device that controls the power transmission device. In addition, the braking device controlled by the vehicle speed control device 171 is, for example, a braking device that brakes the wheels. A control signal corresponding to a set traveling speed is input to the vehicle speed control device 171 from the driving assistance device 19. The vehicle speed control device 171 generates signals to control these drive devices based on the control signals input from the driving assistance device 19 and transmits the signals to the drive devices, thereby autonomously controlling the traveling speed of the vehicle.

[0024] On the other hand, the steering device controlled by the steering control device 172 is a steering device that controls the steered wheels according to the steering angle of the steering wheel, and an example of this is a steering actuator such as a motor attached to a steering column shaft. Based on a control signal input from the driving assistance device 19, the steering control device 172 autonomously controls the operation of the steering device so that the vehicle travels while maintaining a predetermined lateral position (position of the vehicle in the left-right direction) with respect to the set travel route. For this control, at least one of the detection results of the imaging device 11 and the distance measuring device 12, the vehicle travel state acquired by the state detection device 13, and information on the map information 14 and the current position of the vehicle acquired by the position detection device 15 is used.

[0025] The display device 18 is a device for providing necessary information to vehicle occupants, and is, for example, a liquid crystal display provided on the instrument panel, a projector such as a head-up display (HUD), etc. The display device 18 may also include an input device for the vehicle occupant to input instructions to the driving assistance device 19. Examples of the input device include a touch panel that receives input by the user's finger or a stylus pen, a microphone that receives instructions by the user's voice, and switches attached to the steering wheel of the vehicle. The display device 18 may also include a speaker as an output device.

[0026] The driving assistance device 19 is a device that controls the driving of the vehicle by controlling and cooperating with the devices that make up the driving assistance system 10, and drives the vehicle to a set destination. The destination is set, for example, by a vehicle occupant. The driving assistance device 19 is, for example, a computer, and includes a CPU (Central Processing Unit) 191 that is a processor, a ROM (Read Only Memory) 192 that stores programs, and a RAM (Random Access Memory) 193 that functions as an accessible storage device. The CPU 191 is an operating circuit that executes the programs stored in the ROM 192 and realizes the functions of the driving assistance device 19.

[0027] The driving assistance device 19 has a driving assistance function of driving the vehicle to a set destination by autonomous driving control. The driving assistance device 19 of this embodiment also includes an information provision device as part thereof. The information provision functions of the information provision device include an intersection area acquisition function of acquiring an intersection area where the vehicle's driving route intersects with an area in which other moving objects can move, a driving environment recognition function of recognizing the driving environment around the vehicle, a passage determination function of determining whether the vehicle can pass through the intersection area, and a notification function of notifying the vehicle occupants whether the vehicle can pass through the intersection area. The programs stored in the ROM 192 include programs for realizing these functions, and the CPU 191 executes the programs stored in the ROM 192 to realize these functions. FIG. 1 illustrates functional blocks that realize each function, extracted for convenience.

[0028] [Function block function] Hereinafter, the functions of each of the functional blocks of the support unit 20, the acquisition unit 21, the recognition unit 22, the determination unit 23, and the notification unit 24 shown in FIG. 1 will be described with reference to FIGS. 2A to 2E.

[0029] The assistance unit 20 has a driving assistance function that drives the vehicle to a set destination through autonomous driving control. When performing driving assistance using the driving assistance function, the driving assistance device 19 uses its information provision function to display an image showing the vehicle's driving environment on the display device 18. FIG. 2A is a diagram showing an example of an image displayed on the display device 18. The image shown in FIG. 2A is a bird's-eye view image obtained by setting a virtual viewpoint diagonally above and behind the vehicle V and capturing an image of the front of the vehicle V from that viewpoint. The bird's-eye view image displays information such as the lanes and signs of the road on which the vehicle V is traveling, the traveling position of the vehicle V, and obstacles present around the vehicle V. In the following description, the vehicle V will also be referred to as the host vehicle V in order to distinguish it from other vehicles.

[0030] 2A is a two-dimensional image created by computer graphics (CG), the image showing the driving environment of the vehicle V displayed on the display device 18 is not limited to this. For example, the image showing the driving environment may be a three-dimensional image, or may be an image acquired by the imaging device 11. Furthermore, an image created by CG may be superimposed on the image acquired by the imaging device 11 and displayed.

[0031] The driving scene shown in FIG. 2A corresponds to an actual driving scene of vehicle V. That is, in the driving scene shown in FIG. 2A, vehicle V is driving on a road with one lane on each side. The vehicle's driving direction in lane L1 is from the bottom to the top of the drawing (from the front to the back), and the vehicle's driving direction in lane L2 is from the top to the bottom of the drawing (from the back to the front). The road on which vehicle V is driving intersects with another road with one lane on each side ahead of vehicle V. On the road with one lane on each side, the vehicle's driving direction in lane L3 is from the left to the right of the drawing, and the vehicle's driving direction in lane L4 is from the right to the left of the drawing.

[0032] As shown in FIG. 2A, intersection X is the area where two roads intersect. The intersection X shown in FIG. 2A is assumed to have no traffic lights. The intersection X is provided with a crosswalk C1 for pedestrians and cyclists to cross the road with lanes L1 and L2 in the left-right direction of the drawing, and crosswalks C2 and C3 for pedestrians and cyclists to cross the road with lanes L3 and L4 in the up-down direction of the drawing. In the driving scene shown in FIG. 2A, vehicles traveling on lane L1 can turn left or right at intersection X, vehicles traveling on lane L3 can go straight or turn right at intersection X, and vehicles traveling on lane L4 can go straight or turn left at intersection X.

[0033] In the driving scene shown in FIG. 2A, it is assumed that the destination Px of vehicle V has been set by an occupant of vehicle V to a position at the end of lane L3 going straight to the right side of the drawing. In this case, navigation device 16 sets a driving route R for vehicle V using the driving assistance function of assistance unit 20. For example, navigation device 16 sets the driving route R shown in FIG. 2A. Driving route R is a route that goes straight on lane L1, turns right at intersection X, travels on lane L3, and arrives at destination Px. In the driving scene shown in FIG. 2A, it is assumed that vehicle V is traveling on lane L1 along the driving route R, as shown in FIG. 2A.

[0034] In the driving scene shown in FIG. 2A, a pedestrian Y1 at position P1 walks from position P1 to position P2 and crosses the crosswalk C1, and a pedestrian Y2 at position P3 walks from position P3 to position P4 and crosses the crosswalk C3. Furthermore, another vehicle Z is parked at position P5 in front of the crosswalk C2 in lane L3. In this case, the driving assistance device 19 is included as a part of the Feelings The information providing device provides appropriate information to the vehicle occupants, and the driving assistance function executes driving assistance to drive the vehicle V to the destination Px. This driving assistance including information provision is realized mainly by the functions of the acquisition unit 21, the recognition unit 22, the determination unit 23, and the notification unit 24.

[0035] The acquisition unit 21 has an intersection area acquisition function that acquires an intersection area where the travel route R set by the autonomous travel control intersects with an area where other moving bodies can move. Other moving bodies are traffic participants other than the vehicle V, such as other vehicles, motorcycles, bicycles, and pedestrians. The area where other moving bodies can move is an area where traffic participants other than the vehicle V can move when moving from their current position to their destination. For example, an area where pedestrians can move is an area where pedestrians can walk, such as a sidewalk, a crosswalk, or a footbridge. The area where other vehicles and motorcycles can move is a drivable area of ​​the road, just like the vehicle V.

[0036] The driving assistance device 19 acquires the travel route R from the navigation device 16 using the intersection area acquisition function of the acquisition unit 21. Next, an intersection area where the travel route R intersects with an area in which other moving bodies can move is acquired. The intersection of the travel route R with the area in which other moving bodies can move means that when a traffic participant other than vehicle V is present in the area in which that traffic participant can move, vehicle V comes into contact with the other moving body when vehicle V travels along the travel route R. In other words, this means that the travel route R of vehicle V and the area in which traffic participants other than vehicle V can move are on the same plane, and when viewed in a planar view, the travel route R of vehicle V overlaps with part or all of the area in which traffic participants other than vehicle V can move.

[0037] For example, if there is a crosswalk on travel route R, and a pedestrian is on the crosswalk, vehicle V will come into contact with the pedestrian as it travels along travel route R. Therefore, a crosswalk that exists on travel route R is an intersection area. In contrast, if there is a pedestrian bridge on travel route R, vehicle V will not come into contact with the pedestrian even if vehicle V travels along travel route R while the pedestrian is walking on the pedestrian bridge. This is because the road on which vehicle V travels and the pedestrian bridge on which pedestrians walk are not on the same plane.

[0038] The map information 14 includes road information of the roads that the vehicle V passes through when traveling along the travel route R. The map information 14 also includes information on areas on the roads that the vehicle V passes through that traffic participants other than the vehicle V can move through, and information on their attributes. Therefore, the driving assistance device 19 can extract intersection areas that exist on the travel route R using the intersection area acquisition function of the acquisition unit 21.

[0039] Specific examples of intersection areas include an intersection where the road on which vehicle V is traveling intersects with a road on which other vehicles are traveling, and a crosswalk installed on the road on which vehicle V is traveling. Also, when vehicle V enters a facility located facing the road, if there is a sidewalk between the roadway and the facility, the part of the sidewalk facing the facility becomes an intersection area. In other words, if a pedestrian is walking on the sidewalk between the facility and the roadway, when vehicle V enters the facility, vehicle V and the pedestrian will come into contact, and therefore the sidewalk becomes an intersection area.

[0040] In the driving scene shown in FIG. 2A, if there is another vehicle in intersection X and vehicle V enters intersection X, there is a risk that vehicle V will come into contact with the other vehicle. Therefore, intersection X is an intersection area. Also, if a pedestrian or a bicycle is crossing crosswalk C1 when vehicle V enters intersection X, there is a risk that vehicle V will come into contact with the pedestrian or bicycle. Therefore, crosswalk C1 is an intersection area. Similarly, if vehicle V turns left at intersection X, crosswalk C2 is an intersection area, and if vehicle V turns right at intersection X, crosswalk C3 is an intersection area.

[0041] The recognition unit 22 has a driving environment recognition function that recognizes the driving environment around the vehicle V. The driving assistance device 19 acquires the detection results of the imaging device 11 and the distance measuring device 12 using the driving environment recognition function of the recognition unit 22, and performs processing such as pattern matching and sensor fusion on the acquired detection results to recognize the driving environment of the vehicle V. For example, the driving assistance device 19 detects other vehicles traveling around the vehicle V from the detection results of the imaging device 11, and detects the distance from the vehicle V to the other vehicles and the direction in which the other vehicles exist relative to the vehicle V from the detection results of the distance measuring device 12, and recognizes the position of the other vehicles relative to the vehicle V. Furthermore, the driving assistance device 19 detects a pedestrian crossing a crosswalk in front of the vehicle V from the detection results of the imaging device 11, and detects the distance from the vehicle V to the pedestrian from the detection results of the distance measuring device 12, and recognizes the position of the other vehicles relative to the vehicle V. pedestrians Recognize the location of

[0042] A traffic light may be installed at an intersection X, which is an intersection area. In order to recognize the state of the traffic light as part of the driving environment, the driving assistance device 19 uses the driving environment recognition function of the recognition unit 22 to determine whether or not a traffic light exists ahead of the vehicle V from the detection result of the imaging device 11 and the map information 14. If it is determined that a traffic light exists ahead of the vehicle V, the driving assistance device 19 detects the state of the traffic light as part of the driving environment. The state of the traffic light is, for example, the state of the traffic light lights, and specifically, the state of the traffic light lights is red (i.e., a state in which the vehicle V must stop before the intersection X), yellow (i.e., a state in which the vehicle V cannot enter the intersection X unless it cannot stop), or green (i.e., a state in which the vehicle V can enter the intersection X). The state of the traffic light is detected from the image acquired by the imaging device 11.

[0043] In the case of the driving scene shown in Fig. 2A, the driving assistance device 19 detects, for example, a preceding vehicle and a following vehicle traveling in lane L1, an oncoming vehicle traveling in lane L2, and vehicles traveling in lanes L3 and L4 as other vehicles using the driving environment recognition function of the recognition unit 22. Then, the position of the other vehicles traveling around vehicle V is recognized based on the direction and distance of the other vehicles relative to vehicle V. In the driving scene shown in Fig. 2A, other vehicle Z stopped at position P5 in front of crosswalk C2 in lane L3 is recognized as another vehicle traveling around vehicle V.

[0044] The driving assistance device 19 also detects pedestrians crossing the crosswalks C1, C2, and C3, and recognizes the presence of pedestrians as part of the driving environment of the vehicle V. In the driving scene shown in FIG. 2A, a pedestrian Y1 about to cross the crosswalk C1 and a pedestrian Y2 crossing the crosswalk C3 are detected, and therefore, the pedestrians Y1 and Y2 are recognized as pedestrians around the vehicle V. Furthermore, the driving assistance device 19 determines whether or not a traffic light is installed at the intersection X. In the driving scene shown in FIG. 2A, no traffic light is installed at the intersection X, and therefore, it is recognized that no traffic light exists at the intersection X.

[0045] The determination unit 23 has a passing determination function that determines whether or not the vehicle V can pass through the intersection area based on the driving environment of the vehicle V recognized by the driving environment recognition function. The driving assistance device 19 determines whether or not an obstacle exists in the intersection area using the passing determination function of the determination unit 23, and if it is determined that no obstacle exists in the intersection area, it determines that the vehicle V can pass through the intersection area. On the other hand, if it is determined that an obstacle exists in the intersection area, it determines that the vehicle V cannot pass through the intersection area.

[0046] In addition, the driving assistance device 19 determines whether or not a traffic light is installed in the intersection area (specifically, intersection X) using the passage determination function of the determination unit 23. The driving assistance device 19 acquires traffic light position information from, for example, map information 14, compares the position of the intersection area with the position of the traffic light, and determines whether or not a traffic light is installed in the intersection area. If it determines that a traffic light is installed in the intersection area (specifically, intersection X), it determines whether or not the state of the traffic light is instructing a vehicle to stop. If it determines that the state of the traffic light is instructing a vehicle to stop (i.e., red light state), it determines that the vehicle V cannot pass through the intersection area, and if it determines that the state of the traffic light is not instructing a vehicle to stop (i.e., green light state), it determines that the vehicle V can pass through the intersection area.

[0047] Regarding the yellow light state, whether or not the vehicle V can stop before the intersection X is determined based on the traveling state of the vehicle V (particularly the traveling speed of the vehicle V) and the distance from the vehicle V to the intersection area (intersection X). If it is determined that the vehicle V cannot stop before the intersection X, the driving assistance device 19 determines that the traffic light state does not indicate a stop and that the vehicle V can pass through the intersection area (intersection X). On the other hand, if it is determined that the vehicle V can stop before the intersection area (intersection X), the driving assistance device 19 determines that the traffic light state indicates a stop and that the vehicle V cannot pass through the intersection area.

[0048] Therefore, when it is necessary to determine the presence or absence of an obstacle in an intersection area, such as an intersection where traffic lights are installed, and the status of the traffic lights, the driving assistance device 19 determines that the vehicle V can pass through the intersection area when it determines that no obstacle is present in the intersection area and that the status of the traffic lights is not a state instructing the vehicle to stop. In contrast, when it determines that an obstacle is present in the intersection area or that the status of the traffic lights is a state instructing the vehicle to stop, the driving assistance device 19 determines that the vehicle V cannot pass through the intersection area. The determination of the presence or absence of an obstacle in the intersection area and the status of the traffic lights may be made simultaneously, or the status of the traffic lights may be determined first and then the presence or absence of an obstacle in the intersection area may be determined.

[0049] As described above, the driving assistance device 19 detects the intersection X and the crosswalk C1 in the driving scene shown in FIG. 、C2 and C 3 is an intersection area, and it is recognized that there is no traffic light at intersection X. In the driving scene shown in FIG. 2A, since there is no traffic light at intersection X, the driving assistance device 19 determines whether there are any obstacles at intersection X and crosswalks C1, C2, and C3.

[0050] Regarding the presence or absence of obstacles, as described above, in the driving scene shown in Fig. 2A, the driving assistance device 19 recognizes that there is another vehicle Z stopped at position P5 in front of the crosswalk C2 on lane L3, a pedestrian Y1 about to cross the crosswalk C1, and a pedestrian Y2 crossing the crosswalk C3. Based on this recognition, the driving assistance device 19 determines that pedestrians Y1 and Y2 are present at the crosswalks C1 and C3, respectively, and that the vehicle V cannot pass through the crosswalks C1 and C3. The driving assistance device 19 also determines that there is a possibility that the stopped another vehicle Z will enter the crosswalks C1 to C3 and the intersection X. Therefore, in the driving scene shown in Fig. 2A, the driving assistance device 19 determines that the vehicle V cannot pass through the intersection area.

[0051] Furthermore, the driving assistance device 19 determines whether or not multiple intersection areas exist at one point using the passage determination function of the determination unit 23. The existence of multiple intersection areas at one point means, for example, that multiple intersection areas exist adjacent to each other. Specifically, as in the driving scene shown in FIG. 2A, when crosswalks C1 to C3 are provided at intersection X, the driving assistance device 19 determines that multiple intersection areas exist at one point. In contrast, when only one crosswalk is provided at a location that is not an intersection of roads, there is no intersection area adjacent to the crosswalk that is the intersection area, and therefore it is determined that multiple intersection areas do not exist at one point. An example of a location where multiple intersection areas do not exist (i.e., where only one intersection area exists) is a location where a crosswalk is provided in front of a facility facing the road for the convenience of facility users.

[0052] The notification unit 24 has a notification function of notifying the on-board terminal and / or electronic terminal in the vehicle V of whether the vehicle V can pass through the intersection area. The on-board terminal and electronic terminal in the vehicle V are, for example, the display device 18, but are not limited thereto, and include a display portion of an instrument panel, a terminal for providing information to the occupants of the vehicle V when executing driving assistance of the above-mentioned assistance level 3 or 4, and the like. The driving assistance device 19 notifies the occupants of the vehicle V of whether the vehicle V can pass through the intersection area using the on-board terminal and / or electronic terminal in the vehicle V through the notification function of the notification unit 24. Furthermore, while the vehicle V travels from its current position to the intersection area, the driving assistance device 19 repeatedly performs a passage determination process using the passage determination function. Then, the information provided to the on-board terminal and / or electronic terminal in the vehicle V (i.e., the occupants of the vehicle V) is changed according to the obtained determination result.

[0053] Specifically, the information provided by the driving assistance device 19 to the occupant of the vehicle V includes information indicating whether or not an obstacle is present in the intersection area, information indicating the type of obstacle (i.e., traffic participants) present in the intersection area, information indicating the lighting status of traffic lights installed in the intersection area, and information indicating whether or not the vehicle V can pass through the intersection area. This information is displayed on the display device 18 to be shown to the occupant of the vehicle V, but may alternatively be output as audio from a speaker provided in the display device 18. For example, when the vehicle V is approaching the intersection area, the occupant is notified of the approach of the vehicle V by audio such as "The intersection is coming soon." In addition, when the vehicle V can pass through the intersection area, the occupant is notified by audio such as "You can pass through the intersection ahead as is." The audio is a recorded voice or a synthesized voice.

[0054] These pieces of information may be displayed together with the distance from the vehicle V to the intersection area. Alternatively or in addition, these pieces of information may be displayed at the position of the intersection area on the driving route R displayed on the display device 18. Alternatively or in addition, these pieces of information may be displayed superimposed on an image of the outside of the vehicle acquired from the imaging device 11. Furthermore, the display device 18 on which these pieces of information are displayed may include not only a display mounted on the vehicle V but also a display on a terminal carried by an occupant of the vehicle V. Furthermore, in the case of an unmanned taxi, in which the driving assistance device 19 performs all driving tasks of the vehicle V and a supervisor monitors the driving of the vehicle V from a remote location away from the vehicle V, the above-mentioned information may be displayed on a display provided in a terminal for monitoring the driving of the vehicle V.

[0055] In the driving scene shown in FIG. 2A , as described above, the driving assistance device 19 determines that the crosswalk C1 cannot be crossed due to the presence of the pedestrian Y1. Based on this determination result, the driving assistance device 19 notifies the occupant of the vehicle V that the vehicle V cannot cross the crosswalk C1 and will stop before the crosswalk C1 using the notification function of the notification unit 24. The driving assistance device 19 notifies the occupant that the vehicle V will stop before the crosswalk C1, for example, by changing the color of the display portion of the driving route R displayed on the display device 18. In the driving route R shown in FIG. 2A , as an example, the portion of the display portion of the driving route R up to the crosswalk C1 is lightly hatched as a drivable portion, and the portion of the crosswalk C1 and beyond the crosswalk C1 is darkly hatched as an impediment to driving.

[0056] In addition, the driving assistance device 19 displays an image (icon) I1 with the word "STOP" as shown in FIG. 2A on the display device 18 to notify the occupant that the vehicle V will stop before the crosswalk C1. The position at which the image I1 is displayed is the position of the intersection X on the travel route R displayed on the display device 18. Alternatively or in addition to this, the driving assistance device 19 outputs a voice message from the speaker of the display device 18 saying, "The vehicle will stop before the crosswalk ahead," to notify the occupant that the vehicle V will stop before the crosswalk C1.

[0057] The driving assistance device 19 notifies the occupant by the above-mentioned display and sound to stop the vehicle in front of the crosswalk C1, and then causes the vehicle V to travel along the travel route R using the driving assistance function of the assistance unit 20. Specifically, the driving speed of the vehicle V is controlled via the vehicle speed control device 171 of the vehicle control device 17, and the vehicle V is stopped in front of the crosswalk C1. During this time, the steering control device 172 also controls the steering wheel of the vehicle V.

[0058] FIG. 2B is an example of an image displayed on the display device 18 when the vehicle V stops in front of the crosswalk C1. In the driving scene shown in FIG. 2B, a pedestrian Y1 is walking at position P1a of the crosswalk C1 toward position P2. Furthermore, a pedestrian Y2 is walking at position P3a of the crosswalk C3 toward position P4. The driving assistance device 19 recognizes the positions of the pedestrians Y1 and Y2 from the detection results of the imaging device 11 and the distance measuring device 12. Then, the driving assistance device 19 determines that the vehicle V cannot pass through the crosswalks C1 and C3 because the pedestrians Y1 and Y2 are present at the crosswalks C1 and C3, respectively. The driving assistance device 19 controls the driving operation of the vehicle V via the vehicle control device 17 so as to maintain the stopped state of the vehicle V.

[0059] In addition, in the driving scene shown in FIG. 2B, another vehicle Z is stopped at position P5 on lane L3. The driving assistance device 19 recognizes the other vehicle Z stopped at position P5 and infers the reason why the other vehicle Z continues to be stopped at position P5 in the driving scene shown in FIG. 2B, which is the same as in the driving scene shown in FIG. 2A. In the driving scene shown in FIG. 2B, the driving assistance device 19 infers that the other vehicle Z is stopped in front of crosswalk C2 to avoid stopping in intersection X. If the other vehicle Z were to go straight through intersection X, it would stop in front of crosswalk C3 to avoid contact with pedestrian Y2, and if the other vehicle Z were to turn right at intersection X, it would stop in front of crosswalk C1 to avoid contact with pedestrian Y1. In other words, the other vehicle Z would stop in intersection X whether it was going straight or turning right.

[0060] 2C is an example of an image displayed on the display device 18 after the vehicle V stops in front of the crosswalk C1 and pedestrians Y1 and Y2 finish crossing the crosswalks C1 and C3, respectively. In the driving scene shown in FIG. 2C, the pedestrian Y1 is walking at position P2, and the pedestrian Y2 is walking at position P4. The driving assistance device 19 recognizes the positions of the pedestrians Y1 and Y2 from the detection results of the imaging device 11 and the distance measuring device 12. Then, the driving assistance device 19 determines that the vehicle V can pass through the crosswalks C1 and C3 because there are no obstacles at the crosswalks C1 and C3.

[0061] In addition, in the driving scene shown in FIG. 2C, another vehicle Z is stopped at position P5 on lane L3. The driving assistance device 19 recognizes the other vehicle Z stopped at position P5 and determines whether the other vehicle Z will depart and enter intersection X in the driving scene shown in FIG. 2C. In the driving scene shown in FIG. 2B, the driving assistance device 19 infers that the other vehicle Z has stopped in front of the crosswalk C2 because it needs to stop at intersection X to avoid contact with pedestrians Y1 and Y2. In the driving scene shown in FIG. 2C, pedestrians Y1 and Y2 have finished crossing the crosswalk, and the other vehicle Z does not need to stop at intersection X to avoid contact with pedestrians Y1 and Y2. Therefore, the driving assistance device 19 determines that the other vehicle Z will depart and enter intersection X. On the other hand, if obstacles other than the pedestrians Y1 and Y2 exist at the intersection X and the crosswalks C1 to C3, the driving assistance device 19 determines that the other vehicle Z will continue to be stopped in front of the crosswalk C2.

[0062] In the driving scene shown in FIG. 2C , as described above, the driving assistance device 19 autonomously controls the driving operation of the vehicle V via the vehicle control device 17 so that the vehicle V departs after the other vehicle Z has passed through the intersection X. This is to reliably avoid contact between the vehicle V and the other vehicle Z. However, in the driving scene shown in FIG. 2C , the occupants of the vehicle V expect the vehicle V to depart once the pedestrians Y1 and Y2 have crossed the crosswalk. Because the intersection X shown in FIG. 2C does not have a traffic light, the occupants of the vehicle V believe that they can pass through the intersection X as long as there are no obstacles between the intersection X and the crosswalks C1 and C3 on the driving route R of the vehicle V. In particular, in the driving scene shown in FIG. 2C , the occupants of the vehicle V are waiting inside the vehicle V for the vehicle V to depart while the pedestrian Y1 walks from position P1a to position P2 shown in FIG. 2B and the pedestrian Y2 walks from position P3a to position P4 shown in FIG. 2B. Therefore, pedestrians Y1 and Y2 will have a stronger expectation that vehicle V will depart once they have finished crossing the crosswalk.

[0063] However, in the driving scene shown in FIG. 2C , even after pedestrians Y1 and Y2 have finished crossing the crosswalk, the image I1 notifying the occupants of vehicle V that vehicle V is stopped remains displayed on the display device 18, and vehicle V continues to be stopped. This is because, as described above, the driving assistance device 19 determines that another vehicle Z is entering intersection X and performs control to cause vehicle V to depart after the other vehicle Z has passed intersection X. At this time, the occupants of vehicle V become anxious because vehicle V continues to be stopped contrary to their expectations, as they may suspect that the autonomous driving control by the driving assistance device 19 is not being performed appropriately, resulting in vehicle V being stopped. In particular, at a location such as intersection X shown in FIG. 2C where there are no traffic lights and crosswalks C1 to C3 in addition to intersection X, it is necessary to determine whether multiple intersection areas are passable or not in a relatively short time. This is because vehicle V cannot depart unless all intersection areas are determined to be passable. Therefore, in a driving scene such as that shown in Fig. 2C, it is difficult for the occupants of vehicle V to intuitively understand the reason for stopping vehicle V, and the occupants are likely to feel uneasy. In addition, if another vehicle Z is delayed in departing, or if another vehicle Z is a parked vehicle, the departure of vehicle V will be delayed, and the occupants of vehicle V will feel uneasy.

[0064] Therefore, in order to reduce the anxiety felt by the occupants, the notification unit 24 of this embodiment has a function of notifying the occupants of the vehicle V of the reason why the vehicle V cannot pass through the intersection area if the determination unit 23 determines that the vehicle V cannot pass through the intersection area and the stopping time of the vehicle V is longer than a predetermined time. When the driving assistance device 19 determines that the vehicle V cannot pass through the intersection area using the passing determination function of the determination unit 23, the driving assistance device 19 acquires the stopping time of the vehicle V using the notification function of the notification unit 24. Then, if the stopping time of the vehicle V is longer than the predetermined time, the occupants of the vehicle V are notified of the reason why the vehicle V cannot pass through the intersection area. On the other hand, if the stopping time of the vehicle V is equal to or shorter than the predetermined time, the occupants of the vehicle V are not notified of the reason why the vehicle V cannot pass through the intersection area.

[0065] The stop time of the vehicle V refers to the time that has elapsed since the vehicle V stopped in front of an intersection area that is determined to be impassable. Whether the vehicle V is stopped is determined, for example, based on the traveling speed of the vehicle V acquired from the state detection device 13 and the position information of the vehicle V acquired from the position detection device 15. Specifically, if the traveling speed of the vehicle V acquired from the state detection device 13 is 0 km / h and the position information of the vehicle V acquired from the position detection device 15 has not changed, the vehicle V is determined to be stopped. The driving assistance device 19 stores the time when it is determined that the vehicle V has stopped in the RAM 193 or the like using the driving assistance function of the assistance unit 20. Then, as necessary, the time that has elapsed since it was determined that the vehicle V has stopped is acquired as the stop time.

[0066] The predetermined time that serves as the standard for notifying the occupants of vehicle V of the cause of stopping can be set to an appropriate value within a range that does not cause anxiety to the occupants of vehicle V while stopped when they are unable to grasp the cause of vehicle V's stopping. For example, the predetermined time is set to the time when a traffic light is generally in a state that indicates a stop (i.e., a red light). Alternatively, the stopping time required to pass through each intersection area is recorded, and the average value of the stopping times recorded for each intersection area is set to the predetermined time. Alternatively, the time that the occupants can wait for departure without feeling anxious is determined in advance through an experiment, and the stopping time determined from the experiment is set to the predetermined time.

[0067] The reason why the vehicle V cannot pass through the intersection area is other moving objects that are present in the intersection area that is determined to be impassable to the vehicle V. For example, these include bicycles and pedestrians walking on the crosswalk, and other vehicles and motorcycles present in the intersection.

[0068] In the driving scene shown in Fig. 2C, it is assumed that a predetermined time has passed since vehicle V stopped in the driving scene shown in Fig. 2B. In this case, the driving assistance device 19 determines that vehicle V cannot pass crosswalk C1 using the passage determination function of the determination unit 23, and therefore acquires the stopping time of vehicle V using the notification function of the notification unit 24. Then, since the stopping time of vehicle V has already exceeded the predetermined time, the driving assistance device 19 notifies the occupants of vehicle V that another vehicle Z is the cause of vehicle V being unable to pass intersection X. This is because, as described above, driving assistance device 19 determines that other vehicle Z will depart and enter intersection X.

[0069] When the driving assistance device 19 notifies the occupant of a factor that prevents the vehicle V from passing through the intersection area using the notification function of the notification unit 24, the driving assistance device 19 highlights the display portion of the other vehicle Z with a dashed rectangular image I2, as shown in FIG. 2C . When notifying the occupant of a factor that prevents the vehicle V from passing through the intersection area using the display device 18, the driving assistance device 19 highlights the factor by changing the color of the display portion of the factor. Alternatively or additionally, the driving assistance device 19 surrounds the display portion of the factor with a rectangular or circular image. Alternatively or additionally, the driving assistance device 19 notifies the occupant of the factor by outputting a voice message from the speaker of the display device 18 saying, "You are stopped due to the presence of another vehicle Z ahead on the left." When changing the color of the display portion of the factor, the driving assistance device 19 changes the color from the original color to a more attention-grabbing color (e.g., red).

[0070] When notifying the driver of the cause of the vehicle V being unable to pass through the intersection X, the driving assistance device 19 continues to notify the cause until it is determined that the vehicle V can pass through the intersection area. In the driving scene shown in FIG. 2C, the other vehicle Z passes through the intersection X, and until it is determined that the vehicle V can enter the intersection X, the other vehicle Z is displayed with a high degree of emphasis in the image I2. In addition, if there are multiple causes of the vehicle V being unable to pass through the intersection area, the driver of the driving assistance device 19 notifies the driver of the cause of the vehicle V being unable to pass through the intersection area for each cause. The notification of each factor is continued depending on the result of the determination for each factor. For example, in the driving scene shown in FIG. 2C, if pedestrian Y1 and other vehicle Z are factors that prevent vehicle V from passing through intersection X, the notification of each factor is continued depending on the result of the determination for each factor. For example ... in the driving scene shown in FIG. 2C, if pedestrian Y1 and other vehicle Z are factors that prevent vehicle V from passing through intersection X, the notification of each factor is continued depending on the result of the determination for each factor. After that, if it is determined that the pedestrian Y1 does not become an obstacle when entering the intersection X and that only the other vehicle Z is the factor that prevents the vehicle V from passing through the intersection X, the display of the pedestrian Y1 is returned to normal and only the other vehicle Z continues to be displayed in an emphasized manner.

[0071] Furthermore, when the driving assistance device 19 notifies the display device 18 of factors that prevent the vehicle V from passing through the intersection area through the notification function of the notification unit 24, the driving assistance device 19 reduces the contrast of the display portion of the driving route R beyond the intersection area relative to the display portion surrounding the driving route R. Alternatively or additionally, the driving assistance device 19 increases the contrast of the display portion of the intersection area relative to the display portion of the driving route R. Alternatively or additionally, the driving assistance device 19 increases the degree of emphasis of the display portion of the intersection area relative to the display portion of the driving route R. For example, in the driving scene shown in FIG. 2C , the driving assistance device 19 reduces the contrast of the display portion of the driving route R beyond the crosswalk C3 relative to the display portion of the lane L3. Alternatively or additionally, the driving assistance device 19 increases the contrast of the display portions of the crosswalks C1 and C3 and the intersection X relative to the driving route R, and increases the degree of emphasis by surrounding them with rectangular images.

[0072] More specifically, the driving assistance device 19 reduces the contrast of the display portion of the intersection area relative to the display portion of the travel route R, and increases the degree of emphasis on the display portion of the factors that prevent the vehicle V from passing through the intersection area. For example, in the travel scene shown in FIG. 2C , the degree of emphasis on the other vehicle Z is increased in the image I2, and the contrast of the display portions of the crosswalks C1 and C3 and the intersection X is reduced relative to the display portion of the travel route R. This allows the factors that prevent the vehicle V from passing through the intersection area to be displayed with greater emphasis.

[0073] In order to prevent the driver assistance device 19 from overemphasizing the cause and causing discomfort to the occupants of the vehicle V, when it determines that the vehicle V cannot pass through the intersection area, the driver assistance device 19 may start notifying the driver assistance device 19 of the cause when the vehicle V has been stopped for a predetermined time. Furthermore, when the cause is an obstacle such as another vehicle Z, the driver assistance device 19 classifies the obstacle into a stationary obstacle and other obstacles using the driving environment recognition function of the recognition unit 22. The driver assistance device 19 may then notify the stationary obstacle and the other obstacles in different ways. A stationary obstacle is an obstacle that is installed in place and does not move by itself. When a stationary obstacle is the cause of stopping the vehicle V, the vehicle V cannot continue traveling along the travel route R unless it avoids the stationary obstacle. Therefore, by displaying the stationary obstacle in a different manner from other obstacles, the driver assistance device 19 urges the occupants of the vehicle V to take action to avoid the obstacle.

[0074] FIG. 2D is an example of an image displayed on the display device 18 when another vehicle Z departs and passes through the crosswalk C2, the intersection X, and the crosswalk C3. In the driving scene shown in FIG. 2D, the other vehicle Z departs from position P5, travels straight through the intersection X, and travels to position P6. Pedestrians Y1 and Y2 are assumed to be walking outside the screen of the display device 18. In this case, the driving assistance device 19 recognizes that the other vehicle Z is traveling at position P6 based on the detection results of the imaging device 11 and the distance measuring device 12, and determines that the other vehicle Z has passed the intersection X. Next, the driving assistance device 19 detects obstacles at the intersection X and the crosswalks C1 and C3 on the driving route R, and determines whether or not there are obstacles at the intersection X and the crosswalks C1 and C3. In the driving scene shown in FIG. 2D, no object that could be an obstacle to the vehicle V is detected, so it is determined that the vehicle V can pass through the intersection X. Accordingly, the display of the image I1 notifying the occupants that the vehicle V has stopped is stopped (hidden).

[0075] When the driving assistance device 19 determines that the vehicle V can pass through the intersection area, it changes the display portion of the intersection area on the display device 18. Alternatively or additionally, the driving assistance device 19 displays an indication that the intersection area is passable, superimposed on the display portion of the intersection area. In the driving scene shown in FIG. 2D , for example, the driving assistance device 19 reduces the degree of emphasis of the display portion of the intersection X, and displays an image indicating that the intersection X is passable, superimposed on the display portion of the intersection X. Alternatively or additionally, the driving assistance device 19 changes the color of the display portion of the driving route R. For example, the color of the display portion of the driving route R shown in FIG. 2D is changed from dark hatching, which indicates impassable portions, to light hatching, which indicates drivable portions.

[0076] An example of the driving route R with the color of the display portion changed is shown in Fig. 2E. In the driving scene shown in Fig. 2E, vehicle V starts from a stopping position just before crosswalk C1 and enters intersection X. Driving assistance device 19 causes vehicle V to travel along driving route R using the driving assistance function of assistance unit 20. Vehicle V passes through intersection X and crosswalks C1 and C3 under control of the drive device and steering device via vehicle control device 17, and reaches destination Px under autonomous driving control.

[0077] [Processing in driving assistance systems] 3A to 3D, the procedure for processing information by the driving assistance device 19 will be described. FIGS. 3A to 3D are examples of flowcharts showing information processing executed in the driving assistance system 10 of this embodiment. The processing described below is executed at predetermined time intervals by the CPU 191, which is the processor of the driving assistance device 19.

[0078] First, in step S1 of FIG. 3A, the intersection area acquisition function acquires the travel route R from the navigation device 16. Then, in step S2, the area in which other moving bodies can move is acquired from the map information 14. Then, in step S3, the intersection area is acquired. Next, in step S4, the travel environment recognition function acquires the current position of the vehicle V from the position detection device 15. Then, in step S5, the notification function displays the travel route R on the display device 18. Then, in step S6, the autonomous driving control determines whether the vehicle V can travel to the intersection area. If the autonomous driving control determines that the vehicle V cannot travel to the intersection area, for example, if an unavoidable obstacle is present ahead of the vehicle V, the routine ends and the driver begins manual driving. On the other hand, if the autonomous driving control determines that the vehicle V can travel to the intersection area, the routine proceeds to step S7.

[0079] In step S7, the notification function displays on display device 18 that it is possible to travel up to just before the intersection area, and in the subsequent step S8, the driving assistance function causes vehicle V to travel along the set travel route R. In step S9, it is determined whether the distance from vehicle V to the intersection area is equal to or less than a predetermined distance. If it is determined that the distance from vehicle V to the intersection area is longer than the predetermined distance, the process proceeds to step S8, where vehicle V continues to travel along travel route R until the distance from vehicle V to the intersection area becomes equal to or less than the predetermined distance. On the other hand, if it is determined that the distance from vehicle V to the intersection area is equal to or less than the predetermined distance, the process proceeds to step S10.

[0080] In step S10, the passing determination function determines whether or not a traffic light is installed in the intersection area. If it is determined that a traffic light is installed in the intersection area, the process proceeds to step S21 in FIG. 3B. On the other hand, if it is determined that a traffic light is not installed in the intersection area, the process proceeds to step S51 in FIG. 3C. In the following description, the intersection area determined to have a traffic light installed is intersection X where a pedestrian crossing is installed.

[0081] If it is determined in step S10 of FIG. 3A that a traffic light is installed in the intersection area, the process proceeds to step S21 of FIG. 3B. In step S21 of FIG. 3B, the passing determination function determines whether the traffic light status indicates a stop. If it is determined that the traffic light status indicates a stop, the process proceeds to step S22, where the vehicle V is caused to travel along the set travel route R. In the following step S23, it is determined whether the vehicle V has reached a pedestrian crossing, and if it is determined that the vehicle V has not reached the pedestrian crossing, the process proceeds to step S21, where the traffic light status is detected while continuing to travel along the travel route R. On the other hand, if it is determined that the vehicle V has reached the pedestrian crossing, the process proceeds to step S24, where the vehicle V is stopped in front of the pedestrian crossing. Thereafter, the process proceeds to step S21, where the traffic light status is detected.

[0082] If it is determined in step S21 that the traffic light state does not indicate a stop, the process proceeds to step S25. In step S25, it is determined whether or not the vehicle V will proceed straight through the intersection X. If it is determined that the vehicle V will proceed straight through the intersection X, the process proceeds to step S26, where obstacles present at the intersection X are detected, and in the subsequent step S27, it is determined whether or not the vehicle V can pass through the intersection X. If it is determined that the vehicle V can pass through the intersection X, the process proceeds to step S40, where the vehicle V is caused to travel along the travel route R and pass through the intersection X. On the other hand, if it is determined that the vehicle V cannot pass through the intersection X, the process proceeds to step S26, where obstacle detection is repeated. Note that if the vehicle V has reached the intersection X, the vehicle V is caused to stop just before the intersection X.

[0083] On the other hand, if it is determined in step S25 that the vehicle V will not go straight through the intersection X, it is determined in step S28 whether the vehicle V will turn right at the intersection X. If it is determined that the vehicle V will turn right at the intersection X, the process proceeds to step S29. On the other hand, if it is determined that the vehicle V will not turn right at the intersection X (i.e., will turn left), the process proceeds to step S34.

[0084] In step S29, the notification function displays on display device 18 that it is possible to travel to the center of intersection X, and in the following step S30, the driving assistance function causes vehicle V to travel to the center of intersection X. In step S31, the driving environment recognition function detects an oncoming vehicle from the detection results of imaging device 11 and distance measuring device 12, and in the following step S32, it is determined whether or not the oncoming lane is passable. If it is determined that there is no oncoming vehicle and the oncoming lane is passable, the process proceeds to step S34. On the other hand, if there is an oncoming vehicle and it is determined that the oncoming lane is not passable, the process proceeds to step S33, where vehicle V is stopped in the center of intersection X. Then, the process proceeds to step S31, where an oncoming vehicle is detected again.

[0085] If it is determined that the oncoming lane is passable and the process proceeds to step S34, a notification function displays on display device 18 that it is possible to travel to a position in front of the crosswalk. In the following step S35, vehicle V is caused to travel to a position in front of the crosswalk. In the following step S36, pedestrians and bicycles crossing the crosswalk are detected, and in step S37, it is determined whether the crosswalk is passable. If there are no pedestrians or bicycles and it is determined that the crosswalk is passable, the process proceeds to step S39, where display device 18 displays that intersection X is passable, and then the process proceeds to step S40. On the other hand, if there are pedestrians and bicycles and it is determined that the crosswalk is not passable, the process proceeds to step S38, where vehicle V is stopped in a position in front of the crosswalk. Then, the process proceeds to step S36, where pedestrians and bicycles are detected again.

[0086] On the other hand, if it is determined in step S10 of Fig. 3A that no traffic light is installed in the intersection area, the process proceeds to step S51 of Fig. 3C. In step S51 of Fig. 3C, the passing determination function determines whether or not there are multiple intersection areas ahead of the vehicle V. If it is determined that there are multiple intersection areas ahead of the vehicle V, the process proceeds to step S61 of Fig. 3D. On the other hand, if it is determined that there are not multiple intersection areas ahead of the vehicle V, the process proceeds to step S52. In step S52, the driving environment recognition function detects obstacles present in the intersection area, and in the subsequent step S53, the passing determination function determines whether or not the intersection area is passable.

[0087] If it is determined that the intersection area is passable, the process proceeds to step S56, where the notification function displays on the display device 18 that the intersection area is passable, and then in step S57, the driving assistance function causes the vehicle V to travel so as to pass through the intersection area. On the other hand, if it is determined that the intersection area is not passable, the process proceeds to step S54, where it is determined whether or not it is necessary to stop before the intersection area. If it is determined that stopping is not necessary, the process proceeds to step S52, where obstacle detection is performed again. On the other hand, if it is determined that stopping is necessary, the process proceeds to step S55, where the vehicle V is stopped before the intersection area, and the process proceeds to step S52.

[0088] If it is determined in step S51 of Fig. 3C that there are multiple intersection areas ahead of vehicle V, the process proceeds to step S61 of Fig. 3D. In step S61 of Fig. 3D, the driving environment recognition function detects obstacles present in the intersection area, and in the following step S62, the passage determination function determines whether the intersection area is passable. If it is determined that the intersection area is passable, the process proceeds to step S69, the notification function displays on display device 18 that the intersection area is passable, and in the following step S70, the driving assistance function causes vehicle V to travel so as to pass through the intersection area.

[0089] On the other hand, if it is determined that the intersection area is not passable, the process proceeds to step S63, where it is determined whether or not it is necessary to stop the vehicle V before the intersection area. If it is determined that stopping is not necessary, the process proceeds to step S61, where obstacle detection is performed again. On the other hand, if it is determined that stopping is necessary, the process proceeds to step S64, where the vehicle V is stopped before the intersection area.

[0090] After vehicle V is stopped in front of the intersection area, in step S65, the notification function determines whether the stopping time of vehicle V is longer than a predetermined time. If it is determined that the stopping time of vehicle V is longer than the predetermined time, the process proceeds to step S66, where obstacles in the intersection area are classified into stationary obstacles and other obstacles, and in the following step S67, the cause of the stopping is recognized, and in step S68, the cause of the stopping is displayed on display device 18. Thereafter, the process proceeds to step S61, where obstacle detection is performed again. On the other hand, if it is determined that the stopping time of vehicle V is shorter than the predetermined time, the process proceeds to step S61, where obstacle detection is performed again.

[0091] [Embodiments of the present invention] As described above, this embodiment provides an information providing device including: an acquisition unit 21 that acquires an intersection area where a travel route R set by autonomous travel control intersects with an area in which other moving bodies can move; a recognition unit 22 that recognizes the travel environment around the vehicle V; a determination unit 23 that determines whether the vehicle V can pass through the intersection area based on the travel environment; and, when the determination unit 23 determines that the vehicle V cannot pass through the intersection area, if the stop time of the vehicle V is longer than a predetermined time, a notification unit 24 that notifies an in-vehicle terminal and / or an electronic terminal in the vehicle V of the reason why the vehicle V cannot pass through the intersection area. This makes it possible to reduce anxiety felt by the occupants until the vehicle V departs.

[0092] Furthermore, according to the information providing device of this embodiment, when notifying the driver of the cause using the display device 18, the notification unit 24 reduces the contrast of the display portion of the intersection area relative to the display portion of the travel route R, and increases the degree of emphasis of the display portion of the cause. This allows the occupant of the vehicle V to intuitively understand the cause of the vehicle V stopping.

[0093] Furthermore, according to the information providing device of this embodiment, when the determination unit 23 determines that the vehicle V cannot pass through the intersection area, the notification unit 24 starts notifying the cause at the time when the stopping time exceeds the predetermined time. This makes it possible to prevent the cause of the vehicle V stopping from being displayed with excessive emphasis, thereby preventing the occupants of the vehicle V from feeling uncomfortable.

[0094] Furthermore, according to the information providing device of this embodiment, when the determination unit 23 determines that the vehicle V can pass through the intersection area, the notification unit 24 changes the display portion of the intersection area on the display device 18 or displays a message indicating that the intersection area is passable on the display portion of the intersection area. This allows the occupant of the vehicle V to intuitively understand that the vehicle V can pass through the intersection area.

[0095] Furthermore, according to the information providing device of this embodiment, when notifying the driver of the cause using the display device 18, the notification unit 24 performs at least one of the following: lowering the contrast of the display portion of the travel route R beyond the intersection area relative to the display portion around the travel route R; increasing the contrast of the display portion of the intersection area relative to the display portion of the travel route R; and increasing the degree of emphasis of the display portion of the intersection area. This allows the occupant of the vehicle V to intuitively understand the cause of the vehicle V stopping.

[0096] Furthermore, according to the information providing device of this embodiment, when notifying the cause using the display device 18, the notification unit 24 performs at least one of changing the color of the display portion of the cause and surrounding the display portion of the cause with a rectangle or a circle. This allows the occupant of the vehicle V to intuitively understand the cause of the vehicle V stopping.

[0097] Furthermore, according to the information providing device of this embodiment, when the cause is an obstacle, the recognition unit 22 classifies the obstacle into a stationary obstacle and other obstacles, and the notification unit 24 notifies the stationary obstacle and the other obstacles in different manners. This makes it possible to prompt the occupant of the vehicle V to perform a driving operation to avoid the stationary obstacle.

[0098] Furthermore, according to the information providing device of this embodiment, the notification unit 24 continues to notify the cause until the determination unit 23 determines that the vehicle V can pass through the intersection area. This makes it possible to more reliably notify the occupants of the vehicle V of the cause of the stop.

[0099] Furthermore, according to the information providing device of this embodiment, when there are a plurality of factors, the determination unit 23 determines for each factor whether the vehicle V can pass through the intersection area, and the notification unit 24 continues to notify of each factor according to the determination result of the determination unit 23. This makes it possible to notify for each factor of stopping.

[0100] Furthermore, according to the information providing device of this embodiment, the notification unit 24 displays the cause on at least one of a display mounted on the vehicle V, a display provided on a terminal for monitoring the traveling of the vehicle V, and a display on a terminal of an occupant of the vehicle. This allows the cause of the stop to be notified to a person supervising the traveling of the vehicle.

[0101] Furthermore, this embodiment provides an information provision method executed by a processor, in which the processor acquires an intersection area where a travel route R set by autonomous travel control intersects with an area in which other moving bodies can move, recognizes the travel environment around the vehicle V, determines whether the vehicle V can pass through the intersection area based on the travel environment, and if it determines that the vehicle V cannot pass through the intersection area, and if the vehicle V has been stopped for a period of time longer than a predetermined period of time, notifies an in-vehicle terminal and / or an electronic terminal in the vehicle V of the reason why the vehicle V cannot pass through the intersection area. This makes it possible to reduce the anxiety felt by the occupants until the vehicle V departs. [Explanation of symbols]

[0102] 10...Driver assistance system 11...imaging device 12…Distance measuring device 13...Status detection device 14...Map information 15...Position detection device 16...Navigation device 17...Vehicle control device 171...Vehicle speed control device 172...Steering control device 18...Display device 19...Driving assistance device (information provision device) 191...CPU (processor) 192...ROM 193...RAM 20…Support Department 21…Acquisition part 22...Recognition part 23…Judgment section 24…Notification section C1, C2, C3...Pedestrian crossings I1, I2...Image L1, L2, L3, L4...lanes P1, P1a, P2, P3, P3a, P4, P5, P6...Position Px…Destination R...Route V...Vehicle (own vehicle) X…Intersection Y1, Y2...Pedestrians Z...Other vehicles

Claims

1. An acquisition unit that acquires an intersection area where a travel route intersects with an area in which another moving body can move; a recognition unit that recognizes the driving environment around the vehicle; a determination unit that determines whether the vehicle can pass through the intersection area based on the traveling environment; a notification unit that, when the determination unit determines that the vehicle cannot pass through the intersection area, notifies an in-vehicle terminal and / or an electronic terminal in the vehicle of a reason why the vehicle cannot pass through the intersection area, When notifying the driver of the cause using a display device, the notification unit reduces the contrast of a display portion of the intersection area relative to a display portion of the travel route and increases the degree of emphasis of the display portion of the cause.

2. 2. The information providing device according to claim 1, wherein, when the determination unit determines that the vehicle cannot pass through the intersection area, the notification unit starts notifying the cause at a point in time when the vehicle has been stopped for a predetermined time.

3. 3. The information providing device according to claim 1, wherein, when the determination unit determines that the vehicle can pass through the intersection area, the notification unit changes a display portion of the intersection area on the display device or displays an indication that the intersection area is passable on the display portion of the intersection area.

4. When notifying the cause using the display device, the notification unit: reducing the contrast of a portion of the displayed travel route beyond the intersection area relative to a surrounding display portion of the travel route; The information providing device according to claim 1 , wherein the information providing device performs at least one of: increasing a degree of emphasis of the displayed portion of the intersection region;

5. 3. The information providing device according to claim 1, wherein when notifying the cause using the display device, the notification unit performs at least one of changing a color of a display portion of the cause and surrounding the display portion of the cause with a rectangle or a circle.

6. When the cause is an obstacle, the recognition unit classifies the obstacle into a stationary obstacle and another obstacle; The information providing device according to claim 1 , wherein the notification unit notifies the stationary obstacle and other obstacles in different modes.

7. The information providing device according to claim 1 , wherein the notification unit continues to notify the driver of the cause until the determination unit determines that the vehicle can pass through the intersection area.

8. When there are a plurality of factors, the determination unit determines whether or not the vehicle can pass through the intersection area for each of the factors; The information providing device according to claim 7 , wherein the notification unit continues to notify each cause depending on the determination result of the determination unit.

9. 3. The information providing device according to claim 1, wherein the notification unit displays the cause on at least one of a display mounted on the vehicle, a display provided on a terminal for monitoring the vehicle's travel, and a display on a terminal of an occupant of the vehicle.

10. 1. A method for providing information executed by a processor, comprising: The processor: An intersection area where the travel route intersects with an area in which other moving bodies can move is obtained; Recognizes the driving environment around the vehicle, determining whether the vehicle can pass through the intersection area based on the driving environment; If it is determined that the vehicle cannot pass through the intersection area, notify an in-vehicle terminal and / or an electronic terminal in the vehicle of the reason why the vehicle cannot pass through the intersection area; an information providing method for notifying the driver of the cause using a display device, wherein the contrast of a display portion of the intersection area relative to a display portion of the travel route is reduced and the degree of emphasis of the display portion of the cause is increased.

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