Driving assistance system, driving assistance method and program

Abstract

To provide a driving support system, etc. for dynamically and flexibly presenting a route for avoiding danger.SOLUTION: A navigation system 100 detects a location of an own vehicle and presents a guide route from the location of the own vehicle to a destination. The driving support system includes a peripheral vehicle information acquiring part 153, an attention vehicle detection part 154b and a route setting part 154c, or an avoidance route setting part. The peripheral vehicle information acquisition part 153 acquires peripheral vehicle information relating to peripheral vehicles of the own vehicle. The attention vehicle detection part 154b detects an attention vehicle based on the peripheral vehicle information. The route setting part 154c sets an avoidance route to the destination on the condition that the own vehicle and the attention vehicle are separated at least by a preset distance on a travel route of the own vehicle.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a driving assistance system, a driving assistance method, and a program. [Background technology]

[0002] Technologies have been proposed to reduce the likelihood of events such as vehicle traffic accidents occurring. For example, the driving support device described in Patent Document 1 detects that a nearby vehicle has deviated from normal traffic. The accident content identification unit predicts the occurrence of accidents due to deviations from normal traffic flow, and identifies accidents that occur due to deviations from normal traffic flow. The workaround decision unit decides on a workaround, and issues a warning and a workaround, and controls the engine. The system controls the brake control unit, transmission control unit, and other control units to assist in the execution of avoidance measures.

[0003] The driving assistance program described in Patent Document 2 is a program for determining a route candidate from a departure point to a destination point. When multiple routes are selected, the route with the shortest travel time from the departure point to the destination is selected. The driver assistance program extracts routes where the increase in travel time is within a specified range compared to the travel time of the destination. Ram finds the location on the extracted route where the frequency of dangerous driving exceeds a predetermined frequency. Routes with fewer obstacles and more rest facilities are presented as safe routes. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-115484 [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-151566 Summary of the Invention [Problem to be solved by the invention]

[0005] However, even if the above-mentioned technology is used, if a nearby vehicle that is driving recklessly is driving the own vehicle, When tailgating a vehicle by capturing or tracking it, the vehicle must travel along the guide route. However, it is difficult to avoid surrounding vehicles. Even in places where there is no risk, you may suddenly encounter vehicles tailgating nearby, so It is not possible to avoid encountering nearby vehicles in advance.

[0006] The present invention has been made to solve such problems, and is a method for avoiding danger. It provides a driving assistance system that dynamically and flexibly presents roads. [Means for solving the problem]

[0007] The driving assistance system according to the present invention detects the position of the vehicle and calculates the destination from the position of the vehicle. The driving assistance system includes a surrounding vehicle information acquisition unit and a target vehicle information acquisition unit. The surrounding vehicle information acquisition unit acquires information about surrounding vehicles of the own vehicle. The attention vehicle detection unit acquires information about the surrounding vehicles. The avoidance route setting unit detects a position where the host vehicle and the target vehicle are located on the travel route of the host vehicle in advance. An avoidance route to the destination is set on the condition that the distance is greater than the set distance.

[0008] The driving assistance method according to the present invention detects the position of a vehicle and calculates a route from the position of the vehicle to a destination. The driving assistance method includes a surrounding vehicle information acquisition step and a target vehicle detection step. The surrounding vehicle information acquisition step includes: The surrounding vehicle information regarding the surrounding vehicles of the own vehicle is acquired. The avoidance route setting step detects the target vehicle based on the information. The vehicle will be able to travel to the destination on the condition that it is separated from the destination by a predetermined distance on the route. Set up an escape route.

[0009] The program according to the present invention detects the position of the vehicle and calculates the distance from the position of the vehicle to the destination. A driving assistance program that causes a computer to execute a driving assistance method that presents a guide route. The driving assistance method includes a surrounding vehicle information acquisition step, a notable vehicle detection step, and an avoidance process. The surrounding vehicle information acquisition step acquires information about surrounding vehicles of the own vehicle. The attention vehicle detection step acquires information about surrounding vehicles. The avoidance route setting step is performed by detecting whether the subject vehicle and the target vehicle are on the travel route of the subject vehicle. The system sets an avoidance route to the destination on the condition that the distance between the target and the destination is greater than a preset distance. [Effects of the Invention]

[0010] According to the present invention, a driving support system or the like that dynamically and flexibly presents a route to avoid danger is provided. can be provided. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a top view of a vehicle equipped with a driving assistance system. [Figure 2] 1 is a block diagram of a driving assistance system according to an embodiment; [Figure 3] 3 is a first flowchart showing a process performed by the driving assistance system. [Figure 4] 6 is a second flowchart showing the processing performed by the driving assistance system. [Figure 5] FIG. 2 is a diagram showing a first example of a guide route displayed by the driving assistance system. [Figure 6] FIG. 2 is a first diagram showing an example of an avoidance route displayed by the driving assistance system. [Figure 7] FIG. 2 is a second diagram showing an example of an avoidance route displayed by the driving assistance system. [Figure 8] FIG. 10 is a diagram showing a second example of a guide route displayed by the driving assistance system. [Figure 9] FIG. 10 is a third diagram showing an example of an avoidance route displayed by the driving assistance system. [Figure 10] FIG. 4 is a fourth diagram showing an example of an avoidance route displayed by the driving assistance system. DETAILED DESCRIPTION OF THE INVENTION

[0012] The present invention will be described below through embodiments of the invention. The present invention is not limited to the following embodiments. Furthermore, all of the configurations described in the embodiments do not solve the problems. It is not necessarily essential to solve the problem. The drawings and figures have been omitted and simplified as appropriate. The elements are given the same reference numerals, and repeated explanations are omitted as necessary.

[0013] <Embodiment> The configuration of the embodiment will be described below with reference to the drawings. 1 is a top view of a vehicle equipped with a driving assistance system. The navigation system 100 is an embodiment of a driving assistance system. The positions of both vehicles 900 are detected, and a guide route from the position of the vehicle 900 to the destination is displayed to the driver, who is the user. The vehicle 900, which is a moving body, is provided with a navigation system according to the embodiment. The navigation system 100 includes a positioning information receiving unit 110. , traffic information receiving unit 120, front camera 130, rear camera 140, control unit 150, display unit 160 and so on.

[0014] The positioning information receiving unit 110 and the traffic information receiving unit 120 are located in the dashboard of the vehicle 900. The positioning information receiving unit 110 is a GPS (Global Positioning System) GNSS (Global Navigation Satellite System), a satellite positioning system m) and an antenna for receiving positioning information for determining the position of the vehicle. The information receiving unit 120 is, for example, a vehicle information communication system (VICS (registered trademark)) in Japan. Antennas for receiving traffic information from a system called the Traffic Information and Communication System Traffic information includes congestion information, travel time for a specific section, traffic regulations, etc. The positioning information receiving unit 110 and the traffic information receiving unit 120 each receive desired information. The sensor 904 may be installed at any position on the vehicle 900 as long as it is installed so that the sensor 904 can be easily accessed.

[0015] The front camera 130 captures an image of the area in front of the vehicle 900 at a viewing angle of 180 degrees. 0 is installed at the upper center of the windshield in the cabin of the vehicle 900, The rear camera 140 can capture images of other vehicles passing in front of the vehicle 900. The rear camera 140 captures the image of the vehicle 900 from a 180-degree angle. It is installed at the top center of the rear window and can capture other vehicles passing behind vehicle 900. The front camera 130 and the rear camera 140 each have an objective lens for capturing an image of the image capture range, Each of the front camera 130 and the rear camera 131 includes an image sensor, an image processing circuit, etc. The camera 140 is not limited to the above-described configuration. In addition, instead of the rear camera 140, an omnidirectional camera that captures the surroundings of the vehicle 900 may be provided. stomach.

[0016] The control unit 150 is a control circuit housed at an arbitrary position in the vehicle 900. The control unit 150 appropriately controls each component of the computer system 100. Details of the control unit 150 will be described later. The display unit 160 is a display unit installed on the dashboard so as to present information to the driver. A device that includes, for example, a liquid crystal panel or an organic EL (Electro Luminescence) panel. nothing.

[0017] The configuration of the navigation system 100 will be further described with reference to FIG. FIG. 1 is a block diagram of a navigation system 100 according to an embodiment. The main components of the system 100 are the positioning information receiving unit 110 and the traffic information receiving unit 112. 120, a front camera 130, a rear camera 140, a control unit 150, and a display unit 160. The device has an operation unit 170, a speaker 180, and a map information storage unit 190.

[0018] When the positioning information receiving unit 110 receives a signal including the positioning information, the positioning information receiving unit 110 determines the position of the vehicle 9 from the received signal. The generated location information is used to receive positioning information. The traffic information receiving unit 120 receives the traffic information. The received traffic information is then supplied to the control unit 150.

[0019] The front camera 130 and the rear camera 140 capture images of their respective shooting ranges to generate photographic data. The generated photographing data is supplied to the control unit 150. The photographed data includes the appearance of surrounding vehicles existing around the vehicle 900. The surrounding vehicle information includes the shape of the subject included in the shooting range. The surrounding vehicle information further includes the distance between the camera and the subject, The front camera 130 and the rear camera 140 may include information about, for example, 30 frames of photographic data are generated per second, and the photographic data is sent to the control unit 1 every 1 / 30th of a second. Supply to 50.

[0020] The control unit 150 includes, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), A control circuit that implements a processing unit, buffer memory, and multiple interfaces. The control unit 150 executes various processes by executing programs stored therein. The main components of the system are a position detection unit 151, a traffic information acquisition unit 152, and a surrounding vehicle information acquisition unit 153. 53, a calculation unit 154, a display control unit 155, an operation control unit 156, a voice control unit 157, and a The control unit 150 has a diagram information acquisition unit 158. 150B are communicatively connected.

[0021] The position detection unit 151 detects the position information supplied from the positioning information receiving unit 110 and The location information is supplied to the calculation unit 154 and the map information acquisition unit 158. The traffic information acquisition unit 152 includes information about the latitude, route, and positioning time of both 900. The traffic information is received from the traffic information receiving unit 120, and the received traffic information is input to the calculation unit 1 The traffic information includes, for example, congestion information on roads around the vehicle 900, traffic The surrounding vehicle information acquisition unit 153 acquires information from the front camera 130 and the rear camera 131. The imaging data is acquired from 140 and supplied to the calculation unit 154 .

[0022] The calculation unit 154 performs various analyses and calculations based on the information received from each component, and outputs the analysis results and calculation results. The calculation unit 154 executes processing according to the calculation result. 4b and a path setting section 154c.

[0023] The analysis unit 154a performs a pre-processing on the captured image data received from the surrounding vehicle information acquisition unit 153. For example, the analysis unit 154a may analyze the image data by the set method. By detecting changes in brightness from the pixel values ​​of the captured images, other vehicles can be detected. Furthermore, the analysis unit 154a detects changes in the object for each frame, thereby obtaining the image of the object captured. Detect the movement of other vehicles.

[0024] The attention vehicle detection unit 154b detects attention vehicles from the analysis results of the analysis unit 154a. The vehicle is a vehicle that is set so that it can be detected from the surrounding vehicle information. For example, the target vehicle is Among the vehicles passing in front of or behind the vehicle 900, there is a high possibility of contact with the vehicle 900. Therefore, it is possible to determine that there is a substantial possibility that the driving of the vehicle 900 will be hindered. In this case, the vehicle of interest may be called a dangerous vehicle. Vehicles that sway from side to side or approach vehicle 900 abnormally from behind vehicle 900 The vehicle of interest detection unit 154b includes vehicles that drive aggressively and pass by. When the vehicle of interest is detected, information about the detected vehicle of interest is supplied to the route setting unit 154c.

[0025] The route setting unit 154c sets a route from the vehicle 900 to the destination in accordance with the set conditions. For example, the route setting unit 154c may set a travel route based on the location information of the vehicle 900 and the route set by the driver. The system receives information about the specified destination and generates a guide route from the location of the vehicle 900 to the destination. In addition, the route setting unit 154c determines whether the vehicle 900 that was traveling along the guidance route has already reached the guidance route. If the vehicle deviates from the road, the route setting unit 154c updates the guide route as needed. The route or the avoidance route is provided to the display control unit 155 .

[0026] The route setting unit 154c receives information about the attention vehicle from the attention vehicle detection unit 154b. If the vehicle is detected as a target vehicle, a condition to avoid the target vehicle is added and an avoidance route to the destination is generated. The route setting unit 154c also plays a role of an avoidance route setting unit. If both vehicles 900 deviate from the guided avoidance route, the avoidance route is reset.

[0027] When generating an avoidance route, the route setting unit 154c uses a target vehicle position estimation unit (target vehicle position setting unit) to estimate the position of the target vehicle. The role of both the position estimation unit and the route setting unit 154c is also included. The position of the target vehicle is estimated assuming that the target vehicle continues to travel along the guided route, and the target vehicle is The route setting unit 154c calculates an estimated position of the vehicle of interest in the route between the vehicle 900 and the vehicle of interest. The system calculates the distance or time interval between the vehicle and the vehicle on the avoidance route so that the vehicle does not approach the vehicle more than a preset distance or time interval. The estimated position is used to set up an avoidance route. 100 can prevent a vehicle from re-encountering a vehicle of interest that has been avoided.

[0028] When generating an avoidance route, the route setting unit 154c uses traffic information around the vehicle 900 to Congested roads can also be included in the avoidance route. Congested roads are roads where many vehicles are traveling at low speeds. This refers to the road area. Low speed here means, for example, 10 to 30 kilometers per hour. When the vehicle 900 enters a congested road, even if a vehicle of interest is traveling nearby, It is unlikely to create a dangerous situation where an accident will occur. Also, in the case of traffic jams that require vehicles to stop, There is a risk that a passenger of the vehicle of interest may get out of the vehicle of interest and approach the vehicle 900, but at a low speed Such situations can be prevented if the vehicle is traveling at a low speed.

[0029] When generating an avoidance route, the route setting unit 154c uses facility information in the vicinity of the vehicle 900 to It is also possible to extract evacuation facilities and include the extracted evacuation facilities in the avoidance route. This is a facility where the vehicle 900 can temporarily take shelter in order to avoid a vehicle of interest. 154c can set evacuation facilities in advance from facility information stored in the map information storage unit 190. Examples of evacuation facilities include police stations, shopping malls, convenience stores, and gas stations. The vehicle 900 may temporarily stop at a waiting facility, etc. In addition, if a police station is set as a waiting facility, the navigation The navigation system 100 provides a sense of security to the driver when the driver avoids a vehicle of interest. It is expected that this will have the effect of providing

[0030] The display control unit 155 controls the display unit 160 to display various information. For example, the display control unit 155 determines the location of the vehicle 900 based on the map information and the location information of the vehicle 900. Image data is generated by superimposing the vehicle 900 on a map of the area where the vehicle is to be located, and the generated image data is The display control unit 155 also displays the following information when the vehicle 900 travels to the destination. In addition, the display control unit 155 displays the time information on the display unit 160. It displays information such as road information, traffic information, and facility information included in the surrounding map.

[0031] The operation control unit 156 acquires operation information received by the operation unit 170, and The operation unit 170 receives instructions for each component according to the map. These include scrolling, zooming in and out, and setting a destination.

[0032] The audio control unit 157 causes the speaker 180 to output a preset audio. The voice may include, for example, guidance on turning right or left along the traveling direction of the vehicle 900, or when a vehicle of interest is detected. This includes notifications of issues.

[0033] The map information acquisition unit 158 ​​acquires the map information stored in the map information storage unit 190 . For example, the map information acquisition unit 158 ​​acquires the location where the vehicle 900 is located based on the location information of the vehicle 900. The map information of the area around the location is acquired from the map information storage unit 190, and the acquired map information is displayed. The map information includes road information and facility information. Therefore, the map information acquisition unit 158 ​​can be called a road information acquisition unit, and a facility information acquisition unit. It can also be called a "tokube."

[0034] The display unit 160 displays various information under the control of the display control unit 155. , connected to the display control unit 155, and displays the signal supplied from the display control unit 155. 170 is an interface that accepts operations performed by the driver with respect to the navigation system 100. The operation unit 170 includes a touch sensor that is superimposed on the display unit 160, The operation unit 170 includes an operation button, etc. The operation unit 170 includes a microphone that accepts operations by voice input. The operation unit 170 may be a receiving unit for infrared or wireless communication, and may be a remote control. The operation unit 170 may receive a signal transmitted from the The operation control unit 156 receives operation information related to the operation of the device. The audio signal supplied from the audio control unit 157 is converted into audio and output.

[0035] The map information storage unit 190 is a non-volatile memory such as a flash memory or an SSD (Solid State Drive). The storage device includes a volatile memory and stores map information. Road information is information about the roads on which vehicle 900 travels, and information about the area around the road on which vehicle 900 travels. The information includes facility information, which is information about existing facilities. The road information includes road types, intersections, etc. The facility information includes information such as the name of the road, the location of traffic lights, and entrances and exits to expressways. Police stations, gas stations, parking lots, shopping malls, convenience stores, and other facilities Includes:

[0036] Next, the processing performed by the navigation system 100 will be described with reference to FIG. 3 is a first flowchart showing the processing performed by the driving assistance system. The flowchart shown in FIG. 3 illustrates the processing of the control unit 150. After the driver sets the destination and the control unit 150 sets the guide route to the destination, the vehicle 90 0 starts traveling along the guided route.

[0037] First, the control unit 150 determines whether the vehicle 900 is traveling along the route (step Step S10). Whether the vehicle 900 is traveling along the guide route is determined by the position detection unit 151. The detected position information is compared with the guide route set by the route setting unit 154c. If it is not determined that the vehicle 900 is traveling along the route (step S10: No), the control unit 150 resets the guide route (step S11), and then performs step S10 again. If it is determined that the vehicle 900 is traveling along the route (step S10: Yes), ), the control unit 150 proceeds to step S12.

[0038] Next, the surrounding vehicle information acquisition unit 153 of the control unit 150 acquires information from the front camera 130 and the rear camera 140. Then, the analysis unit 154a acquires the photographed data from the camera 140 (step S12). The photographed data is received from the surrounding vehicle information acquisition unit 153, and the position and movement of the surrounding vehicles are analyzed ( Step S13).

[0039] Next, the attention vehicle detection unit 154b detects the attention vehicle from the analysis result of the analysis unit 154a. If it is determined that the target vehicle has not been detected (step S14), Step S14: No), the control unit 150 receives the position information of the vehicle 900 and the position information of the destination. The vehicle 900 is checked to determine whether it has arrived at the destination (step S19). If it is not determined that the 900 has arrived at the destination (step S19: No), the control unit 150 On the other hand, if it is determined that the vehicle 900 has arrived at the destination (step S10), If the answer is YES in step S19, the control unit 150 ends the series of processes.

[0040] On the other hand, if it is determined in step S14 that the target vehicle has been detected (step S 14: Yes), the route setting unit 154c of the control unit 150 sets an avoidance route (step S15) The process of generating an avoidance route will be described in detail later.

[0041] After the route setting unit 154c sets the avoidance route, the control unit 150 It is determined whether the vehicle 900 is passing through the avoidance route (step S16). If it is not determined that the 5 and reset the avoidance route (step S15). If it is determined that the person is passing through the designated area (step S16: Yes), the control unit 150 Proceed to step S17.

[0042] In step S17, the path setting unit 154c of the control unit 150 sets Determine whether the distance D1 between the vehicle 900 and the estimated position of the target vehicle is greater than a threshold Dth. (Step S17) The threshold value Dth is set, for example, when the vehicle 900 and the target vehicle are visually confirmed to be different from each other. Specifically, the threshold Dth is set to, for example, 100 m. If the distance D1 is not greater than the threshold value Dth (step S17: No), the distance is: After the avoidance route and the guide route merge, the vehicle 900 traveling along the avoidance route Therefore, in this case, the control unit 150 performs step S Return to step 15 and set the avoidance route again. On the other hand, if the distance D1 is greater than the threshold Dth ( Step S17: Yes), the vehicle 900 traveling along the avoidance route is After the vehicle is swept away, there is a low possibility of encountering the vehicle again on the route. The unit 150 proceeds to step S18.

[0043] In step S18, the control unit 150 receives the position information of the vehicle 900 and the position information of the destination. and determines whether the vehicle 900 has arrived at the destination (step S18). If it is not determined that both vehicles 900 have arrived at the destination, the control unit 150 returns to step S16. On the other hand, if it is determined that the vehicle 900 has arrived at the destination, the control unit 150 returns to the previous step. Terminate.

[0044] Next, the avoidance route setting process will be described with reference to FIG. 4. FIG. 4 shows the driving assistance system 4 is a second flowchart showing the process performed by the 4 is a specific example including detailed processing of step S15. This is initiated after 900 detects a vehicle of interest.

[0045] First, in step S150, the control unit 150 determines whether the target vehicle is located ahead of the vehicle 900. It is determined whether the target vehicle is present in front of the vehicle 900 (step S150). If it is determined that the number of the EEPROM 100 is 100 (step S150: Yes), the control unit 150 proceeds to step S15. On the other hand, if the target vehicle is not located in front of the vehicle 900, i.e., it is located behind the vehicle 900, If it is determined that the number of the digits is 1 or more (step S150: No), the control unit 150 proceeds to step S155. nothing.

[0046] In step S151, the route setting unit 154c of the control unit 150 determines the route from map information or the like. An escape route is searched for (step S151). Assuming that the vehicle continues to travel along the inner route, the vehicle 900 located behind the vehicle of interest is temporarily set as the guide route. The navigation system searches for routes that lead to different routes. The navigation system 100 actively guides the vehicle 900 to a road different from that of the vehicle of interest.

[0047] Next, the route setting unit 154c estimates the position of the target vehicle ahead of the vehicle 900. (Step S152). Then, the route setting unit 154c determines whether the vehicle 900 will travel along the searched route. If this is the case, the vehicle 900 and the target vehicle are located within a predetermined distance or Calculate whether the distance is closer than the time interval.

[0048] Next, the route setting unit 154c of the control unit 150 determines whether the vehicle of interest can avoid the route that has been searched for. Whether or not the vehicle of interest can be avoided is determined based on the route searched for. Whether the distance between the estimated position of the target vehicle and the target vehicle when the target vehicle passes through the designated area is greater than a preset value. If it is determined that the target vehicle can be avoided (step S153: Yes), The route setting unit 154c sets the searched route as an avoidance route (step S154). On the other hand, if it is determined that the vehicle of interest is not able to avoid the obstacle (step S 153: No), the route setting unit 154c does not set the searched route as an avoidance route, and Proceed to step S155.

[0049] In step S155, the control unit 150 acquires traffic information (step S155 Furthermore, the control unit 150 calculates the surrounding area of ​​the position where the vehicle 900 is traveling from the acquired traffic information. It is determined whether there is a congested road on the side (step S156).

[0050] If there is a congested road around the location where the vehicle 900 is traveling (step S156: Yes), ), and the route setting unit 154c of the control unit 150 sets an avoidance route that passes through the congested road (step The vehicle of interest is traveling behind the vehicle 900 (step S157), and the avoidance route setting process is terminated. When a vehicle is tailgating a vehicle 900, the vehicle in question enters a congested road and Driving fast is expected to have a calming effect on the driver of the vehicle in question.

[0051] On the other hand, in step S156, it is determined that there are no congested roads around the position where the vehicle 900 is traveling. If not (step S156: No), the control unit 150 acquires facility information (step S1 58), and searches for a waiting facility. Then, the route setting unit 154c determines an avoidance route that passes through the waiting facility. A path is set (step S159), and the avoidance path setting process is terminated.

[0052] The avoidance route setting process has been described above, but the avoidance route setting process is not limited to the above process. The order of steps S151 and S152 does not matter. If it is determined in step S153 that the collision is not avoidable, the process may return to step S151. The processing of steps S155 to S157 or steps S158 and S15 At least one of the processes in step 9 may be omitted as appropriate.

[0053] Next, referring to FIG. 5, in the above-mentioned step S150, the vehicle of interest is in front of the vehicle 900. Figure 5 shows the situation when the driver assist system determines that the vehicle is in the opposite direction. 5 is a diagram showing a first example of a guide route displayed by the navigation system. A map presented to the driver by being displayed on the display unit 160 of the communication system 100. This is an example of a screen.

[0054] The screen 200 displays road information of the area where the vehicle 900 is traveling by using thick solid lines. In the map shown on the screen 200, the top of the drawing is north and the bottom of the drawing is south. At the bottom center of the screen 200, a passing vehicle 900 is displayed as an icon. The vehicle 900 is traveling from the bottom center of the screen toward the top (i.e., north). In addition, in the upper left corner of the screen 200, a check mark is displayed on the destination 201 set by the driver. -An icon resembling a flag is displayed superimposed on it.

[0055] The first congestion information 220 indicated by a gray arrow in the lower right corner of the screen 200 and the screen 200 The second congestion information 221 indicated by black arrows in the lower left corner of The first congestion information 220 indicates that the lane is congested. The second congestion information 221 indicates a driving speed of 10 kilometers per hour. The navigation system 100 takes into account such congestion information. Then, a guide route is generated.

[0056] The white line connecting vehicle 900 to destination 201 indicates that vehicle 900 is The guide route 210 is displayed so that it overlaps with the road. Therefore, if the vehicle 900 follows the guided route 210, it will From the bottom center of screen 200, head north and go straight through intersection P10, then turn left at the T-junction and After proceeding further, the driver turns right at the intersection P11. The driver heads to the destination 201 while visually checking the vehicle 900 and the guide route 210 superimposed on the map screen. On the way.

[0057] In this situation, FIG. 5 further shows that the navigation system 100 This indicates that a target vehicle has been detected ahead of vehicle 900. The icon indicates the vehicle of interest 800. In the above situation, the control unit 150 Proceed to step S151.

[0058] FIG. 6 is a first diagram showing an example of an avoidance route displayed by the driving assistance system. The screen 200 shows the state in which the control unit 150 has set the avoidance route, that is, the step shown in FIG. The figure shows the state after steps S151 to S154 are completed. is the avoidance route 211 generated by the route setting unit 154c. The dotted line shown on the road indicates the estimated position of the vehicle of interest 800 per unit time.

[0059] The avoidance route 211 is different from the travel route of the target vehicle 800 at the intersection P10 shown in the figure. Therefore, if the vehicle travels along the avoidance route 211, Vehicle 900 turns left at intersection P10 ahead and travels on a different road from vehicle 800. The avoidance route 211 is a route that may encounter the vehicle of interest 800 again at the T-junction P12 shown in the figure. Therefore, the route setting unit 154c sets the time when the vehicle 900 passes through the T-junction P12. and the time when the target vehicle 800 passes through the T-junction P12. The setting unit 154c sets the time intervals such that the difference between the times is greater than a preset interval. As a condition, an avoidance route 211 is set. By performing such processing, the navigation The application system 100 can reduce the possibility of encountering the vehicle of interest 800 again.

[0060] Next, a case where an avoidance route is reset will be described with reference to FIG. 7 is a second diagram showing an example of an avoidance route displayed by the assistance system. After the situation shown in FIG. 1, the vehicle 900 traveled along the avoidance route 211 before passing through the T-junction P12. As described with reference to FIG. 3, the navigation system 100 While both vehicles 900 are traveling along the avoidance route until they arrive at the destination, steps S16 and S17 are performed. Then, step S17 is executed. When the vehicle 900 is traveling along the avoidance route 211 shown in FIG. During this time, the time to pass through the T-junction P12 may change due to changes in traffic volume, etc. In this example, the control unit 150, which has executed step S17 described above, selects route R11 and goes to a T-junction. This shows an example in which it is determined that the interval D1 becomes equal to or smaller than the threshold value Dth as it approaches P12.

[0061] When the control unit 150 makes such a determination, the control unit 150 returns to step S17 in FIG. Then, the process moves to step S15. In the example shown in FIG. By taking route R12 instead of route R11, the estimated distance D1 Therefore, the control unit 150 calculates that the avoidance route 212 The generated avoidance path 212 is displayed on the display unit 160. By doing so, the navigation system 100 dynamically detects the possibility of encountering the target vehicle 800. This can reduce the possibility of

[0062] Next, referring to FIG. 8, an example of an avoidance route when a target vehicle is present behind the vehicle 900 will be described. FIG. 8 is a diagram showing a second example of a guide route displayed by the driving assistance system. FIG. 8 differs from the situation shown in FIG. 5 in that the target vehicle 800 is located behind the vehicle 900. The control unit 150 detects the target vehicle 800 behind the vehicle 900. The process proceeds from step S150 shown in FIG. 4 to step S155.

[0063] Referring to Fig. 9, when a target vehicle is behind, the vehicle takes an avoidance route that passes through a congested road. FIG. 9 shows an example of an avoidance route displayed by the driving assistance system. 9 is a diagram of the peripheral device 100. The screen 200 shown in FIG. 9 is a diagram of the peripheral device 100 that has been moved to step S155. As a result of searching for the congested road, the situation after the avoidance route is set in step S157 is shown. In this case, the route setting unit 154c determines the first congestion from the traffic information around the vehicle 900. The first congestion information 220 and the second congestion information 221 are searched, and an avoidance route 2 that passes through the first congestion information 220 is selected. Set 13.

[0064] The vehicle 900 turns right at the intersection P10 ahead, passes through a congested road, and passes through the intersection P The vehicle will turn left at intersection P14 and then turn left again at intersection P15. In this case, the vehicle of interest 80 Vehicle 900 may turn right at intersection P10 while following vehicle 900. By passing through a congested road, the traveling speed of the vehicle of interest 800 can be limited. Therefore, the navigation system 100 detects the target vehicle 80 while traveling on a congested road. It is expected to have the effect of suppressing driver excitement.

[0065] Next, referring to FIG. 10, when the target vehicle is behind, the vehicle is prevented from passing through a waiting facility. The case of traveling along a route will be explained. Figure 10 shows the avoidance route displayed by the driving assistance system. FIG. 4 is a fourth diagram showing an example of the above.

[0066] The screen 200 shown in FIG. 10 is displayed when the control unit 150 proceeds to step S158 and displays the status of the surrounding evacuation facilities. As a result of searching, the situation after the avoidance route is set in step S159 is shown. In this case, the route setting unit 154c selects the waiting facility 205 from the facility information around the vehicle 900. A search is performed and an avoidance route 214 that passes through the evacuation facility 205 is set.

[0067] Vehicle 900 goes straight ahead at intersection P10, turns right at T-junction P16, and enters evacuation facility 20. 5. The navigation system 100 notifies the vehicle 900 at the waiting facility 205. The vehicle of interest 800 may suggest stopping for a predetermined time. There is a possibility that the vehicle will turn right onto P16. However, vehicle 900 will be waiting at the waiting area 205. Therefore, it is expected that the target vehicle 800 will give up tracking the vehicle 900.

[0068] The embodiment has been described above. The configuration of the driving assistance system according to the embodiment is as follows. For example, the driving assistance system may include the control unit 150 shown in FIG. The driving assistance system may not include other components. The navigation system 100 according to the embodiment is incorporated into an automobile as shown in FIG. It may be configured as a single device, rather than being configured as a single unit.

[0069] The driving assistance system records images captured by the front camera 130 or the rear camera 140. In this case, for example, the driving assistance system may further include a recording device for recording the attention When a vehicle is detected, the captured image data of the detected vehicle of interest may be recorded. The unit 150 is not limited to an integrated configuration, and may be configured by connecting multiple devices in a communicable manner. The control unit 150 may further have a wireless communication function and may communicate with a vehicle 900 or a It may be realized by a computing device such as a computer located at a location. That is, the driving assistance system uses the photographic data generated by the front camera 130 and the rear camera 140. , even if it has a computing device that can acquire positioning information and traffic information through a communication device. In other words, the driving assistance system is compatible with smartphones and tablets with navigation functions. It may be a laptop, a notebook computer, or the like.

[0070] The surrounding vehicle information acquired by the surrounding vehicle information acquisition unit 153 may be acquired in place of the photographed data, or In addition to the photographic data, it may also be information generated by a distance measurement sensor using laser or infrared light. That is, the front camera 130 and the rear camera 140 may be replaced with or In addition to these, a distance measurement sensor may also be used.

[0071] As described above, according to the embodiment, a route to avoid danger is dynamically and flexibly provided. It is possible to provide a driving assistance system etc.

[0072] The above-mentioned program can be implemented using various types of non-transitory computer-readable media. The non-transitory computer-readable medium may be stored on a computer-readable medium. , including various types of tangible storage media. Examples of non-transitory computer-readable media include: magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives); Magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), and CD-Rs , CD-R / W, semiconductor memory (e.g., mask ROM, PROM (Programmable ROM) , EPROM (Erasable PROM), Flash ROM, RAM (Random Access Memory) ) The program can also be stored in various types of temporary computer-readable media. Examples of transitory computer-readable media include electrical signals, optical Transient computer-readable media include electrical wires, optical fibers, and the like. The program can be supplied to the computer via a wired or wireless communication channel.

[0073] The present invention is not limited to the above-described embodiment, and may be modified as appropriate within the scope of the invention. It is possible to change it. [Explanation of symbols]

[0074] 100 Navigation System 110 Positioning information receiving unit 120 Traffic information receiving unit 130 Front camera 140 Rear Camera 150 control section 150B Bus 151 Position detection unit 152 Traffic information acquisition department 153 Surrounding vehicle information acquisition unit 154 Arithmetic section 154a Analysis Department 154b Attention vehicle detection unit 154c Route setting section 155 Display control unit 156 Operation control section 157 Audio control section 158 Map information acquisition unit 160 Display section 170 Operation section 180 speakers 190 Map information storage unit 200 screens 201 Destination 205 Shelter 210 Guidance Route 211, 212, 213, 214 Evasion Route 800 Featured Vehicles 900 vehicles

Claims

1. A driving assistance system that detects the position of a vehicle and presents a guide route from the position of the vehicle to a destination. A support system, a surrounding vehicle information acquisition unit that acquires surrounding vehicle information regarding surrounding vehicles of the host vehicle; a vehicle-of-interest detection unit that detects a vehicle of interest based on the surrounding vehicle information; an avoidance route setting unit that estimates a position of the noted vehicle at a predetermined time when the noted vehicle is traveling toward the destination along the guidance route set by the host vehicle, and sets an avoidance route based on the estimated position of the noted vehicle, The avoidance route setting unit sets the avoidance route including a route that deviates from the guide route when the target vehicle is present ahead of the host vehicle. Driver assistance system.

2. a traffic information acquisition unit that acquires traffic information around the vehicle; The avoidance route setting unit sets a route that enters an area where other vehicles are traveling at a speed within a preset range based on the traffic information. The driving assistance system according to claim 1 .

3. a facility information acquisition unit that acquires facility information that is information about facilities present around the vehicle; The avoidance route setting unit sets the avoidance route including a stopover point for temporary evacuation based on the facility information. The driving assistance system according to claim 1 or 2.

4. A driving assistance method for detecting a position of a vehicle and presenting a guide route from the position of the vehicle to a destination, comprising: a surrounding vehicle information acquisition step of acquiring surrounding vehicle information regarding surrounding vehicles of the host vehicle; a target vehicle detection step of detecting a target vehicle based on the surrounding vehicle information; an avoidance route setting step of estimating a position of the noted vehicle at a predetermined time when the noted vehicle is traveling toward the destination along the guidance route set by the host vehicle, and setting an avoidance route based on the estimated position of the noted vehicle, The avoidance route setting step sets the avoidance route including a route deviating from the guide route when the target vehicle is present ahead of the host vehicle. Driving assistance methods.

5. A driving assistance program that causes a computer to execute a driving assistance method that detects a position of a vehicle and presents a guide route from the position of the vehicle to a destination, The driving assistance method includes: a surrounding vehicle information acquisition step of acquiring surrounding vehicle information regarding surrounding vehicles of the host vehicle; a target vehicle detection step of detecting a target vehicle based on the surrounding vehicle information; an avoidance route setting step of estimating a position of the noted vehicle at a predetermined time when the noted vehicle is traveling toward the destination along the guidance route set by the host vehicle, and setting an avoidance route based on the estimated position of the noted vehicle, The avoidance route setting step sets the avoidance route including a route deviating from the guide route when the target vehicle is present ahead of the host vehicle. Driver assistance programs.

Images