Driving assistance devices

Abstract

To more appropriately execute a driving support of an own vehicle by more accurately estimating a possibility of presence of a moving person.SOLUTION: A driving support device 1 comprises: a sight line detection section 11 for detecting a sight line of a crew member of a first following vehicle V2 on an opposing lane L2; a moving person estimation section 12 for estimating a possibility of presence of a traversal moving person around a leading vehicle V1 based on the detected sight line; and a driving support section 13 for performing speed reduction control, etc., of an own vehicle V in a case where the possibility of the presence of the traversal moving person is estimated.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a driving assistance device that assists a vehicle in driving. [Background technology]

[0002] When an oncoming vehicle is stopped in the oncoming lane ahead of the vehicle, it is possible that a moving person (pedestrian, cyclist, etc.) may suddenly appear in the vehicle's lane from behind the oncoming vehicle (a blind spot from the vehicle's perspective). For this reason, when a blind spot is created that cannot be seen from the vehicle due to the oncoming vehicle, it is considered to perform control such as slowing down the vehicle. Such a device is described, for example, in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6371329 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, due to traffic congestion or the like, multiple oncoming vehicles may be stopped in a line in the oncoming lane ahead of the host vehicle. In this case, the host vehicle may continuously perform deceleration control or the like when passing by the line of vehicles in the oncoming lane, which may be bothersome to the occupants of the host vehicle. Therefore, in this technical field, there is a need for a driving assistance device that can more accurately estimate the possibility of the presence of a moving person and more appropriately perform driving assistance for the host vehicle in a situation where a line of vehicles exists in the oncoming lane adjacent to the host vehicle's lane. [Means for solving the problem]

[0005] One aspect of the present disclosure is a driving assistance device that provides driving assistance for a vehicle in a situation where a line of vehicles is present in an oncoming lane adjacent to the vehicle's lane, and in a situation where a first oncoming vehicle is present in the oncoming lane ahead of the vehicle and a second oncoming vehicle is present behind the first oncoming vehicle, the device includes: a gaze detection unit that detects the gaze of an occupant of the second oncoming vehicle; a moving person estimation unit that estimates whether there is a possibility of a moving person being present around the first oncoming vehicle based on the detected gaze; and a driving assistance unit that, if it estimates that there is a possibility of a moving person being present, notifies the occupant of the vehicle, controls the steering of the vehicle, and / or controls the deceleration of the vehicle.

[0006] In the above driving assistance device, the moving person estimation unit may estimate that there is a possibility of a moving person being present when the detected direction of the line of sight moves from a blind spot area that is blocked by the first oncoming vehicle and cannot be seen from the vehicle's perspective toward the vehicle's own lane. [Effects of the Invention]

[0007] According to one aspect of the present disclosure, it is possible to more accurately estimate the possibility of the presence of a moving person and more appropriately perform driving assistance for the vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram illustrating an example of a driving assistance device according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram for explaining a situation in which there is a line of oncoming vehicles in the oncoming lane ahead of the host vehicle. [Figure 3] FIG. 3 is a schematic diagram for explaining a situation where a pedestrian crossing is present ahead of the vehicle. [Figure 4] FIG. 4 is a schematic diagram for explaining how steering control is performed based on the possibility of the presence of a crossing pedestrian. [Figure 5] FIG. 5 is a flowchart showing the flow of the process of driving assistance control based on the estimation result of a crossing person. [Figure 6]Fig. 6(a) is a flowchart showing the process of estimating whether or not there is a crosswalk based on the presence or absence of a crosswalk, and Fig. 6(b) is a flowchart showing the process of estimating whether or not there is a crosswalk based on the line of sight of an occupant of an oncoming vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, exemplary embodiments will be described with reference to the drawings. In each drawing, the same or corresponding elements are denoted by the same reference numerals, and redundant description will be omitted.

[0010] The driving assistance device 1 shown in FIG. 1 provides driving assistance for a host vehicle V. The host vehicle V may be an autonomously driven vehicle capable of autonomous driving. As shown in FIG. 2, the driving assistance device 1 provides driving assistance for the host vehicle V in a situation where a line of oncoming vehicles exists on an oncoming lane L2 adjacent to the host vehicle lane L1. The oncoming vehicles constituting the line of vehicles on the oncoming lane L2 are, in order from the front, a lead vehicle V1, a first following vehicle V2, a second following vehicle V3, and a third following vehicle V4. The lead vehicle V1 to the third following vehicle V4 are stopped on the oncoming lane L2 due to traffic congestion or the like. The following describes an example in which a total of four oncoming vehicles, the lead vehicle V1 to the third following vehicle V4, form a line of vehicles on the oncoming lane L2. However, the number of oncoming vehicles constituting the line of vehicles on the oncoming lane L2 is not limited to four.

[0011] When the driving assistance device 1 directly detects a crossing person (moving person) attempting to cross the host vehicle lane L1 from the oncoming lane L2, the driving assistance device 1 performs deceleration control of the host vehicle V in preparation for the crossing person jumping out onto the host vehicle lane L1. The crossing person here includes a pedestrian, a cyclist, etc. The following describes a case in which the driving assistance device 1 estimates the possibility of the presence of a crossing person based on the line of sight of an occupant of an oncoming vehicle in the oncoming lane L2, and performs driving assistance for the host vehicle V based on the estimation result. In other words, even when a blind spot area is created by an oncoming vehicle, the driving assistance device 1 can estimate whether or not there is a possibility that a crossing person is present in the blind spot area by using the line of sight of the occupant of the oncoming vehicle.

[0012] Specifically, the driving assistance device 1 estimates whether or not there is a possibility that a crossing person H1 is attempting to cross the host lane L1 between the leading vehicle V1 and the first following vehicle V2 from within a blind spot area (vehicle shadow) that is blocked by the leading vehicle V1 and cannot be seen from the host vehicle V. Similarly, the driving assistance device 1 estimates whether or not there is a possibility that a crossing person H2 is attempting to cross the host lane L1 between the first following vehicle V2 and the second following vehicle V3 from within a blind spot area that is blocked by the first following vehicle V2 and cannot be seen from the host vehicle V. Furthermore, the driving assistance device 1 estimates whether or not there is a possibility that a crossing person H3 is attempting to cross the host lane L1 between the second following vehicle V3 and the third following vehicle V4 from within a blind spot area that is blocked by the second following vehicle V3 and cannot be seen from the host vehicle V. When the driving assistance device 1 estimates that there is a possibility that at least one of the crossing persons H1 to H3 is present, it performs driving assistance for the vehicle V, such as deceleration control, in preparation for the crossing person H1 or the like jumping out into the vehicle's lane L1.

[0013] 1, in this embodiment, a driving assistance device 1 is mounted on, as an example, a vehicle V. The driving assistance device 1 includes an external sensor 2, an actuator 3, an alarm device 4, and an assistance ECU (Electronic Control Unit) 5.

[0014] The external sensor 2 is a detector that detects the external conditions of the host vehicle V. The external sensor 2 is equipped with a camera that captures at least an image in front of the host vehicle V. The actuator 3 includes various controllers for controlling the speed and steering of the host vehicle V. The notification device 4 is a device that issues various notifications (notifications) to the occupants of the host vehicle V. Examples of the notification device 4 that can be used include a monitor, a speaker, and a lamp.

[0015] The assistance ECU 5 is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The assistance ECU 5, for example, loads a program recorded in the ROM into the RAM and executes the program loaded into the RAM with the CPU, thereby realizing various functions. The assistance ECU 5 may be composed of multiple electronic units. Functionally, the assistance ECU 5 includes a gaze detection unit 11, a moving person estimation unit 12, and a driving assistance unit 13.

[0016] The gaze detection unit 11 detects the gaze (direction of gaze) of an occupant (e.g., a driver) of an oncoming vehicle in the oncoming lane L2 based on an image captured by the camera of the external sensor 2. The gaze detection unit 11 can detect the direction of gaze of the occupant based on well-known image processing techniques or the like.

[0017] More specifically, the gaze detection unit 11 detects the gaze of an occupant of a first following vehicle V2 in a situation where a lead vehicle (first oncoming vehicle) V1 and a first following vehicle (second oncoming vehicle) V2 are present behind the lead vehicle V1 on the oncoming lane L2 ahead of the host vehicle V. Similarly, the gaze detection unit 11 detects the gaze of an occupant of a second following vehicle V3 in a situation where a first following vehicle (first oncoming vehicle) V2 and a second following vehicle (second oncoming vehicle) V3 are present behind the first following vehicle V2 on the oncoming lane L2 ahead of the host vehicle V. Furthermore, the gaze detection unit 11 detects the gaze of an occupant of a third following vehicle V4 in a situation where a second following vehicle (first oncoming vehicle) V3 and a third following vehicle (second oncoming vehicle) V4 are present behind the second following vehicle V3 on the oncoming lane L2 ahead of the host vehicle V. In this way, the line of sight detection unit 11 sequentially detects the line of sight of the occupants of each of the first following vehicle V2 to the third following vehicle V4 as the host vehicle V travels.

[0018] The moving person estimation unit 12 estimates whether or not there is a possibility that a crossing person is present around the oncoming vehicle in the oncoming lane L2, based on the line of sight detected by the line of sight detection unit 11. Here, for example, if a crossing person H1 is present around the leading vehicle V1, it is conceivable that the occupants of the first following vehicle V2 will follow the movement of the crossing person H1 around the leading vehicle V1 with their eyes. Therefore, the moving person estimation unit 12 can estimate whether or not there is a possibility that a crossing person is present, based on the detected line of sight movement.

[0019] First, a case of estimating whether or not there is a possibility that a crossing person H1 is present around the leading vehicle V1 will be described. The moving person estimation unit 12 estimates whether or not there is a possibility that a crossing person H1 is present around the leading vehicle (first oncoming vehicle) V1 based on the line of sight of the occupant of the first following vehicle (second oncoming vehicle) V2.

[0020] More specifically, the moving person estimation unit 12 can estimate whether or not there is a possibility that a crossing moving person H1 is present around the leading vehicle V1, based on the moving direction of the gaze of the occupant of the first following vehicle V2 detected by the gaze detection unit 11. Here, when the direction of the gaze of the occupant of the first following vehicle (second oncoming vehicle) V2 detected by the gaze detection unit 11 is moving toward the own lane L1, the moving person estimation unit 12 estimates that there is a possibility that a crossing moving person H1 is present around the leading vehicle (first oncoming vehicle) V1.

[0021] Note that the movement of the occupant's line of sight toward the own lane here may mean a monotonous change toward the own lane. This monotonous change may mean that the line of sight always changes toward the own lane L1 without turning back from a state in which the line of sight is moving toward the own lane L1 toward the oncoming lane L2.

[0022] Furthermore, the moving person estimation unit 12 can estimate whether or not there is a possibility that a crossing moving person H1 is present by taking into consideration not only the above-mentioned direction of gaze movement but also the angular velocity of the change in gaze direction detected by the gaze detection unit 11. Here, if the angular velocity of the change in gaze direction when the detected gaze direction of the occupant of the first following vehicle (second oncoming vehicle) V2 moves toward the own lane L1 is within a predetermined angular velocity range, the moving person estimation unit 12 estimates that there is a possibility that a crossing moving person H1 is present around the leading vehicle (first oncoming vehicle) V1. Here, the angular velocity of the change in gaze direction refers to the amount of change in the gaze direction (angle) with respect to time. Furthermore, the predetermined angular velocity range can be determined based on the rate of change in the gaze direction (angle) when the occupant of the first following vehicle V2 follows the crossing moving person H1 moving between the leading vehicle V1 and the first following vehicle V2 with his or her eyes.

[0023] Furthermore, the moving person estimation unit 12 can estimate whether or not there is a possibility that a crossing moving person H1 is present by considering the above-mentioned gaze movement direction and / or angular velocity of the gaze direction, as well as from which area the gaze direction moved toward the own vehicle lane L1. Here, the moving person estimation unit 12 estimates that a crossing moving person H1 is present around the leading vehicle (first oncoming vehicle) V1 when the gaze direction of the detected occupant of the first following vehicle (second oncoming vehicle) V2 moves toward the own vehicle lane L1 from a blind spot area that is blocked by the leading vehicle (first oncoming vehicle) V1 and cannot be seen from the own vehicle V. Note that here, the case where the gaze direction moves from a blind spot area created by the leading vehicle V1 toward the own vehicle lane L1 includes a case where the gaze direction moves from a position other than the blind spot area into the blind spot area and then moves from the blind spot area toward the own vehicle lane L1.

[0024] Similarly, the moving person estimation unit 12 can estimate whether there is a possibility that a crossing moving person H2 is present around the first following vehicle V2, and whether there is a possibility that a crossing moving person H3 is present around the second following vehicle V3.

[0025] Furthermore, the moving person estimation unit 12 can estimate whether there is a possibility that a crossing moving person is about to cross the crosswalk, based on the presence or absence of a crosswalk ahead of the vehicle V. The moving person estimation unit 12 can separately estimate the possibility of the presence of a crossing moving person based on the line of sight of an occupant of an oncoming vehicle as described above, and estimate the possibility of the presence of a crossing moving person based on the presence or absence of a crosswalk.

[0026] Specifically, as shown in FIG. 3, the moving person estimation unit 12 detects a crosswalk C ahead of the host vehicle V based on an image captured by the camera of the external sensor 2. In this example, the crosswalk C crosses between the first following vehicle V2 and the second following vehicle V3. The moving person estimation unit 12 also determines whether a portion of the detected crosswalk C is in a blind spot due to an oncoming vehicle in the oncoming lane L2. If a portion of the crosswalk C is in a blind spot due to an oncoming vehicle, the moving person estimation unit 12 estimates that there is a possibility that a crossing moving person is present. Note that in the example shown in FIG. 3, when viewed from the host vehicle V, a portion of the crosswalk C is in a blind spot due to the first following vehicle V2. Therefore, the moving person estimation unit 12 estimates that there is a possibility that a crossing moving person H4 is present who is about to cross the crosswalk C.

[0027] When the moving person estimation unit 12 estimates that there is a possibility that a crossing person is present, the driving assistance unit 13 performs at least one of the following: notifying the occupants of the vehicle V, steering control of the vehicle V, and deceleration control of the vehicle V. Specifically, the driving assistance unit 13 uses the notification device 4 to notify the occupants of the vehicle V (e.g., the driver) that a crossing person is present. This notification can be performed by various methods, such as displaying on a monitor, outputting a sound, or turning on a lamp.

[0028] Furthermore, the driving assistance unit 13 can perform deceleration control and steering control of the host vehicle V by outputting a control signal or the like to the actuator 3. By decelerating the host vehicle V in advance through deceleration control, the driving assistance unit 13 can make it easier to immediately stop the host vehicle V even if a crossing person jumps out into the host vehicle lane L1. Furthermore, the steering control performed by the driving assistance unit 13 may be to control the steering of the host vehicle V so as to increase the distance between the host vehicle V and the oncoming lane L2 in the vehicle width direction. For example, as shown in FIG. 4, it is assumed that it is estimated that a crossing person H2 may be present around the first following vehicle V2 based on the line of sight of the occupant of the second following vehicle V3. In this case, the driving assistance unit 13 performs steering control to move the host vehicle V to the left so as to increase the distance between the host vehicle V and the oncoming lane L2 (to move away from the line of vehicles on the oncoming lane L2).

[0029] Next, a description will be given of the flow of the processing of driving assistance control based on the estimation result of a crossing mover, which is performed by the driving assistance device 1. The processing shown in Fig. 5 is repeatedly executed, for example, after the host vehicle V is in a state where it can travel (for example, after the ignition switch is turned on). Furthermore, when the processing shown in Fig. 5 reaches an end, the processing is restarted from the start after a predetermined time has elapsed.

[0030] 5, the gaze detection unit 11 determines whether or not there is a line of oncoming vehicles on the oncoming lane L2 ahead of the host vehicle V, based on an image captured by the camera of the external sensor 2 (S101). If there is no line of vehicles (S101: NO), the driving assistance device 1 restarts the process from the start after a predetermined time. On the other hand, if there is a line of vehicles (S101: YES), the moving person estimation unit 12 estimates whether or not there is a possibility that there is a crossing moving person about to cross the crosswalk, based on the presence or absence of a crosswalk (S102). The processing flow of this step S102 will be described in detail later.

[0031] The driving assistance unit 13 determines whether or not it is estimated in the processing of step S102 that there is a possibility that a crossing person is present (S103). If there is a possibility that a crossing person is present (S103: YES), the driving assistance unit 13 performs driving assistance such as decelerating the host vehicle V at a position in front of the crosswalk (S104).

[0032] Furthermore, if it is determined in step S103 that there is no possibility that a crossing person exists (S103: NO), the moving person estimation unit 12 estimates whether or not there is a possibility that a crossing person exists around the oncoming vehicle based on the line of sight of an occupant of the oncoming vehicle (S105). The processing flow of this step S105 will be described in detail later. The driving assistance unit 13 determines whether or not it has been estimated in the processing of step S105 that there is a possibility that a crossing person exists (S106). If there is a possibility that a crossing person exists (S106: YES), the driving assistance unit 13 performs the processing of S104. On the other hand, if it is determined in step S106 that there is no possibility that a crossing person exists (S106: NO), the driving assistance device 1 restarts the processing from the start after a predetermined time has elapsed.

[0033] Next, the details of the processing flow performed in step S102 of Fig. 5 will be described. As shown in Fig. 6(a), the moving person estimation unit 12 performs processing to detect a crosswalk ahead of the host vehicle V based on an image captured by the camera of the external sensor 2 (S201). If a crosswalk is detected (S201: YES), the moving person estimation unit 12 determines whether or not a portion of the crosswalk is in a blind spot due to an oncoming vehicle in the oncoming lane L2 (S202). If a portion of the crosswalk is in a blind spot (S202: YES), the moving person estimation unit 12 estimates that there is a possibility that a crossing moving person is present who is about to cross the crosswalk (S203).

[0034] On the other hand, if a pedestrian crossing is not detected in the processing of step S201, the moving person estimation unit 12 estimates that there is no possibility that a crossing moving person is present who is about to cross the pedestrian crossing (S204). Also, if it is determined in the processing of step S202 that the entire pedestrian crossing is visible and there are no blind spots in the pedestrian crossing (S202: NO), the moving person estimation unit 12 estimates that there is no possibility that a crossing moving person is present (S204).

[0035] Next, the details of the processing flow performed in step S105 of FIG. 5 will be described. As shown in FIG. 6(b), the gaze detection unit 11 detects the gaze direction of an occupant of an oncoming vehicle on the oncoming lane L2 based on an image captured by the camera of the external sensor 2 (S301). The moving person estimation unit 12 determines whether the gaze direction of the occupant of the oncoming vehicle is facing forward (S302). If the occupant's gaze is facing forward (S302: YES), the moving person estimation unit 12 determines whether the occupant's gaze is moving toward the own lane L1 (S303). Here, the moving person estimation unit 12 can make this determination by determining whether the occupant's gaze is monotonically moving toward the own lane L1. Also, here, the moving person estimation unit 12 can make this determination by determining whether the gaze of the occupant of the oncoming vehicle is moving toward the own lane L1 from a blind spot area that is a blind spot as seen from the own vehicle V.

[0036] If the occupant's line of sight is moving toward the own vehicle lane L1 (S303: YES), the moving person estimation unit 12 determines whether the angular velocity of the change in the line of sight direction moving toward the own vehicle lane L1 is within a predetermined angular velocity range (S304). If the angular velocity of the change in the line of sight direction is within the predetermined angular velocity range (S304: YES), the moving person estimation unit 12 estimates that there is a possibility that a crossing moving person is present around the oncoming vehicle on the oncoming lane L2 (S305).

[0037] On the other hand, if the occupant's line of sight is not directed forward (S302: YES), the moving person estimation unit 12 estimates that there is no possibility that a crossing person exists around the oncoming vehicle on the oncoming lane L2 (S306). Also, if it is determined in the processing of step S303 that the occupant's line of sight has not moved toward the own lane L1 (S303: NO), the moving person estimation unit 12 estimates that there is no possibility that a crossing person exists around the oncoming vehicle on the oncoming lane L2 (S306). Furthermore, if it is determined in the processing of step S304 that the angular velocity of the change in the line of sight direction is not within a predetermined angular velocity range (S304: NO), the moving person estimation unit 12 estimates that there is no possibility that a crossing person exists around the oncoming vehicle on the oncoming lane L2 (S306).

[0038] As described above, the gaze detection unit 11 detects the gaze of an occupant in the oncoming lane. Then, the moving person estimation unit 12 estimates whether or not there is a possibility that a crossing person is present around the oncoming vehicle ahead of the oncoming vehicle based on the detected gaze of the occupant of the oncoming vehicle. This allows the driving assistance device 1 to more accurately estimate whether or not there is a possibility that a crossing person is present based on the gaze of the occupant of the oncoming vehicle, even if the crossing person cannot be directly detected by the external sensor 2 or the like because of a blind spot caused by the oncoming vehicle. This allows the driving assistance device 1 to more accurately estimate the possibility that a crossing person is present and more appropriately perform driving assistance for the host vehicle V.

[0039] The moving person estimation unit 12 estimates that there is a possibility that a crossing person is present when the gaze of an occupant of an oncoming vehicle moves toward the own lane L1. Here, it is considered that when a crossing person is present, the occupant of the oncoming vehicle follows the movement of the crossing person with his or her eyes. In other words, when the gaze of an occupant of an oncoming vehicle moves toward the own lane L1, it can be said that there is a high possibility that a crossing person moving toward the own lane L1 is present. In this way, by performing estimation based on the movement direction of the gaze of the occupant of the oncoming vehicle, the driving assistance device 1 can more accurately estimate a crossing person who is highly likely to jump out into the own lane L1 and who is highly in need of driving assistance from the driving assistance unit 13.

[0040] The moving person estimation unit 12 estimates that a crossing person is present when the angular velocity of the change in the gaze direction of an occupant of an oncoming vehicle as the gaze direction moves toward the own lane L1 is within a predetermined angular velocity range. In this case, the moving person estimation unit 12 can more accurately estimate the possibility of the presence of a crossing person by excluding cases where the occupant of the oncoming vehicle is looking at something other than a crossing person.

[0041] The moving person estimation unit 12 estimates that a crossing moving person is present when the direction of the line of sight of an occupant of an oncoming vehicle moves from a blind spot area that is a blind spot as seen from the own vehicle V toward the own lane L1 side. In this case, the driving assistance device 1 can more accurately estimate the possibility that a crossing moving person is present in the blind spot area.

[0042] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments. [Explanation of symbols]

[0043] 1...driving assistance device, 11...gaze detection unit, 12...moving person estimation unit, 13...driving assistance unit, H1 to H4...crossing moving person (moving person), L1...own vehicle lane, L2...oncoming lane, V...own vehicle, V1...leading vehicle (first oncoming vehicle), V2...first following vehicle (first oncoming vehicle, second oncoming vehicle), V3...second following vehicle (first oncoming vehicle, second oncoming vehicle), V4...third following vehicle (second oncoming vehicle).

Claims

1. A driving assistance device that provides driving assistance for a vehicle in a situation where a line of vehicles exists in an oncoming lane adjacent to the vehicle's lane, a gaze detection unit that detects the gaze of an occupant of a first oncoming vehicle in the oncoming lane ahead of the host vehicle and a second oncoming vehicle behind the first oncoming vehicle; a moving person estimation unit that estimates whether or not there is a possibility that a moving person is present around the first oncoming vehicle based on the detected line of sight; a driving assistance unit that, when it is estimated that there is a possibility that the moving person is present, performs at least one of notifying an occupant of the vehicle, steering control of the vehicle, and deceleration control of the vehicle.

2. The driving assistance device according to claim 1 , wherein the moving person estimation unit estimates that the moving person may be present when the detected direction of the line of sight is moving toward the own vehicle lane.

3. 3. The driving assistance device according to claim 2, wherein the moving person estimation unit estimates that the moving person may be present when an angular velocity of a change in the gaze direction when the detected gaze direction moves toward the own vehicle lane side is within a predetermined angular velocity range.

4. 4. The driving assistance device according to claim 2, wherein the moving person estimation unit estimates that the moving person may be present when the detected direction of the line of sight moves from a blind spot area that is blocked by the first oncoming vehicle and cannot be seen from the vehicle's own lane toward the vehicle's own lane.

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