ASSISTANCE DEVICE, VEHICLE, PROGRAM, AND ASSISTANCE METHOD

Abstract

To provide a support device, a vehicle, a program, and a support method that appropriately support regarding traveling dangerous spots for vehicles.SOLUTION: A control device includes: a receiving unit for receiving information indicating traveling dangerous spots transmitted from outside of a vehicle 20; a calculation unit for calculating a distance and a direction from the vehicle 20 to the traveling dangerous spots 110 and 120 based on the traveling dangerous spots 110 and 120 and a current position of the vehicle 20; a detection unit for detecting the traveling dangerous spots within a detection range set within a range where a distance from the vehicle 20 is greater than or equal to a first distance L2 and is less than or equal to a second distance L1; and a support control unit for performing traveling support when the traveling dangerous spots are detected within the detection range. The first distance L2 is a traveling distance required to reduce the speed of the vehicle to a predetermined speed or less from the current position of the vehicle until reaching the traveling dangerous spots 110 120.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

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

[0003] In preventive safety technology, it is important to provide appropriate support when a dangerous driving point exists. The present application aims to solve the above problem by providing appropriate support regarding dangerous driving points for vehicles. This will ultimately contribute to the development of sustainable transportation systems. [Means for solving the problem]

[0004] In a first aspect of the present invention, there is provided an assistance device. The assistance device includes a receiving unit that receives information indicating a traveling hazard point transmitted from outside the vehicle. The assistance device includes a calculating unit that calculates a distance and a direction from the vehicle to the traveling hazard point based on the traveling hazard point and the current position of the vehicle. The assistance device includes a detecting unit that detects the traveling hazard point within a detection range that is set so that the distance from the vehicle is equal to or greater than a first distance and equal to or less than a second distance. The assistance device includes an assistance control unit that performs traveling assistance when the traveling hazard point is detected within the detection range. The first distance is a traveling distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle to the traveling hazard point.

[0005] The assistance device may further include a range change unit that increases the spread angle of the detection range from the current position of the vehicle and increases the second distance as the traveling speed of the vehicle increases.

[0006] The assistance device may further include a range change unit that changes the size of the detection range depending on whether the travel route of the vehicle is a straight road or a curved road.

[0007] The range change unit may widen the detection range when the vehicle's travel route is a curved road compared to when the vehicle's travel route is a straight road.

[0008] The range change unit may increase the spread angle of the detection range from the current position of the vehicle when the vehicle's travel route is a curved road compared to when the vehicle's travel route is a straight road.

[0009] The assistance device may further include a transmitter that, when it detects that a point through which the vehicle has traveled is dangerous for driving, transmits information indicating the detected dangerous point to an outside of the vehicle as information indicating a dangerous point for driving. The assistance control unit may suppress the driving assistance when it detects that a point through which the vehicle has traveled is dangerous for driving.

[0010] When the driving assistance is being performed, even if the receiving unit receives information indicating a new dangerous driving point, the assistance control unit may continue the driving assistance until the vehicle passes the dangerous driving point, and suppress driving assistance based on the information indicating the new dangerous driving point.

[0011] In a second aspect of the present invention, there is provided a vehicle, the vehicle comprising any one of the assistance devices described above.

[0012] In a third aspect of the present invention, there is provided a program that causes a computer to function as the above-described support device.

[0013] In a fourth aspect of the present invention, there is provided a method. The method includes a step of receiving information indicating a traveling hazard point transmitted from outside the vehicle. The method includes a step of calculating a distance and a direction from the vehicle to the traveling hazard point based on the traveling hazard point and the current position of the vehicle. The method includes a step of detecting the traveling hazard point within a detection range set so that the distance from the vehicle is equal to or greater than a first distance and equal to or less than a second distance. The method includes a step of providing traveling assistance when the traveling hazard point is detected within the detection range. The first distance is a traveling distance required for the vehicle to decelerate its speed to a predetermined speed or less from the current position of the vehicle to the traveling hazard point.

[0014] In a fourth aspect of the present invention, there is provided a program that causes a computer to function as a higher-level support device.

[0015] The above summary of the invention does not list all of the features of the present invention, and subcombinations of these features may also be inventions. [Brief explanation of the drawings]

[0016] [Figure 1]1A and 1B are diagrams illustrating a usage scenario of a support device 40 according to an embodiment. [Figure 2] The vehicle 20 is shown traveling in the forward direction. [Figure 3] 2 shows the system configuration of a vehicle 20. [Figure 4] The detection range 400 is changed depending on the speed. [Figure 5] 1 shows a detection range 500 that is set when the vehicle 20 is traveling on a curved road. [Figure 6] 10 shows the data structure of detection range data that is referenced when range change unit 220 sets the detection range. [Figure 7] An example of a computer 2000 is shown. DETAILED DESCRIPTION OF THE INVENTION

[0017] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0018] FIG. 1 schematically shows a usage scenario of an assistance device 40 according to one embodiment. Vehicle 20 is equipped with assistance device 40. Vehicle 20a is equipped with assistance device 40a. Vehicle 20b is equipped with assistance device 40b. Assistance device 40, assistance device 40b, and assistance device 40c have communication functions and provide inter-vehicle communication between vehicle 20, vehicle 20a, and vehicle 20b. Assistance device 40, assistance device 40b, and assistance device 40c have driving assistance functions that control driving assistance for each vehicle.

[0019] Vehicle 20a is a vehicle traveling ahead on the traveling path of vehicle 20. Vehicle 20b is a vehicle traveling on a path different from the traveling path of vehicle 20. Support device 40, support device 40a, and support device 40b can notify other vehicles of the slip point where each vehicle has slipped.

[0020] In Fig. 1, when assistance device 40a detects that vehicle 20a has slipped due to a puddle or the like while traveling, it transmits slip point information indicating slip point 110, the point where the slip occurred, to surrounding vehicles. When assistance device 40b detects that vehicle 20b has slipped due to a puddle or the like while traveling, it transmits slip point information indicating slip point 120, the point where the slip occurred, to surrounding vehicles. The slip point information may include latitude and longitude information of the slip point.

[0021] Assume that the vehicle 20 is traveling on a straight road. When the assistance device 40 receives slip point information, it sets a detection range 100 in which to detect the slip point. The detection range 100 is a range located ahead of the vehicle 20 along the traveling direction of the vehicle 20 from the current position P0 of the vehicle 20. Specifically, the detection range 100 is a range obtained by excluding a sector-shaped range with a central angle θ1 surrounded by a straight line P0P1, an arc of a radius L1, and a straight line P0P2, and a sector-shaped range with a central angle θ1 surrounded by a straight line P0P3, an arc of a radius L2, and a straight line P0P4. Here, P3 is on the straight line P0P1, and P4 is on the straight line P0P2. The detection range 100 is a range that is symmetrical left and right in the traveling direction of the vehicle 20.

[0022] L2 is the distance that the vehicle 20 travels until the speed of the vehicle 20 decelerates to a predetermined speed when the vehicle 20 decelerates at a predetermined deceleration rate. In this way, L2 is set according to the vehicle speed of the vehicle 20. Like L2, L1 is set according to the vehicle speed of the vehicle 20. L1 is set longer than L2.

[0023] The assistance device 40 provides driving assistance when the slip point 110 is within the detection range 100. On the other hand, the assistance device 40 does not provide driving assistance when the slip point 110 is not within the detection range 100. As shown in FIG. 1 , the slip point 110 and the slip point 120 are not within the detection range 100, so the assistance device 40 does not provide driving assistance.

[0024] In addition, when the assistance device 40 is providing driving assistance, even if new slip point information is received from another vehicle, the assistance device 40 may continue providing driving assistance until the vehicle 20 passes the slip point 110, and may not provide driving assistance based on information indicating a new dangerous driving point.

[0025] When a slip point is detected, the assistance device 40 may transmit slip point information indicating the detected slip point to an external device of the vehicle 20. When a slip point is detected, the assistance device 40 may not provide driving assistance.

[0026] 2 shows a state in which the vehicle 20 is traveling in the forward direction. As the vehicle 20 travels, when a slip point 110 comes within the detection range 100, the assistance device 40 provides driving assistance. For example, the assistance device 40 outputs an alarm to the driver of the vehicle 20 to warn him or her to be careful of slipping.

[0027] This makes it possible to issue a warning when the vehicle speed of the vehicle 20 can be reduced to a predetermined speed before the vehicle 20 reaches the slip point 110. Furthermore, it is possible to prevent unnecessary warnings regarding the slip point 120 from being output.

[0028] 3 shows the system configuration of the vehicle 20. The vehicle 20 includes a sensor 29, an assistance device 40, a communication device 250, and an alarm device 270.

[0029] The sensors 29 include a yaw rate sensor 24, a GNSS receiver 25, and a vehicle speed sensor 26. The vehicle speed sensor 26 detects the vehicle speed of the vehicle 20. The yaw rate sensor 24 detects the yaw rate of the vehicle 20. The GNSS receiver 25 acquires current position information of the vehicle 20. The alarm device 270 is, for example, a device equipped with an HMI (Human Machine Interface) function. The communication device 250 is responsible for communication with the outside of the vehicle 20. The communication device 250 performs inter-vehicle communication by direct communication with, for example, a PC 5 or the like. The communication device 250 includes a receiving unit 251 and a transmitting unit 252.

[0030] The assistance device 40 includes a processing unit 200 and a storage unit 290. The processing unit 200 is realized by, for example, an arithmetic processing device including a processor. The storage unit 290 is realized by including a non-volatile storage medium. The processing unit 200 performs processing using information stored in the storage unit 290. The processing unit 200 may be realized by an ECU (Electronic Control Unit) including a microcomputer equipped with a CPU, ROM, RAM, I / O, buses, etc.

[0031] The processing unit 200 includes a calculation unit 210 , a range change unit 220 , a detection unit 230 , and a support control unit 240 .

[0032] The receiving unit 251 receives information indicating a dangerous driving point transmitted from outside the vehicle 20. A slip point is an example of a dangerous driving point. The dangerous driving point may be a slip point or any point where there is a risk of vehicle driving.

[0033] The calculation unit 210 calculates the distance and direction from the vehicle 20 to the dangerous traveling point based on the dangerous traveling point and the current position of the vehicle 20. The detection unit 230 detects the dangerous traveling point within a detection range set within a range in which the distance from the vehicle 20 is equal to or greater than a first distance and equal to or less than a second distance. The first distance is a traveling distance required to decelerate the speed of the vehicle 20 to a predetermined speed or less from the current position of the vehicle 20 until the dangerous traveling point is reached. The assistance control unit 240 performs traveling assistance when a dangerous traveling point is detected within the detection range. For example, the assistance control unit 240 notifies the driver of the presence of the dangerous traveling point through an HMI function provided in the warning device 270. The assistance control unit 240 may assist in driving the vehicle 20 itself. The assistance control unit 240 may assist in controlling the traveling speed of the vehicle 20. The assistance control unit 240 may assist in steering the vehicle 20.

[0034] The range modification unit 220 may increase the spread angle of the detection range from the current position of the vehicle 20 and increase the second distance as the traveling speed of the vehicle 20 increases. The range modification unit 220 may change the size of the detection range depending on whether the traveling route of the vehicle 20 is a straight road or a curved road. For example, the range modification unit 220 may increase the detection range when the traveling route of the vehicle 20 is a curved road compared to when the traveling route of the vehicle 20 is a straight road. The range modification unit 220 may increase the spread angle of the detection range from the current position of the vehicle 20 when the traveling route of the vehicle 20 is a curved road compared to when the traveling route of the vehicle 20 is a straight road.

[0035] When the transmitting unit 252 detects that a point through which the vehicle 20 has traveled is dangerous for driving, the transmitting unit 252 transmits information indicating the detected dangerous driving point as information indicating a dangerous driving point to the outside of the vehicle 20. For example, when the assistance device 40 detects slippage using the ABS function, the assistance device 40 may detect that a point through which the vehicle 20 has traveled is dangerous for driving. When the assistance control unit 240 detects that a point through which the vehicle 20 has traveled is dangerous for driving, the assistance control unit 240 may suppress driving assistance.

[0036] When the assistance control unit 240 is providing driving assistance, even if the receiving unit 251 receives information indicating a new dangerous driving point, the assistance control unit 240 may continue the driving assistance until the vehicle 20 passes the dangerous driving point, and may suppress driving assistance based on the information indicating the new dangerous driving point.

[0037] Fig. 4 shows a state in which the detection range 400 is changed according to the speed. The detection range 400 is the detection range when the vehicle 20 is traveling on a straight road and the vehicle speed of the vehicle 20 is faster than that shown in Fig. 1. The range change unit 220 can determine whether the vehicle 20 is traveling on a straight road based on the speed detected by the vehicle speed sensor 26 and the yaw rate detected by the yaw rate sensor 24.

[0038] Specifically, detection range 400 is the range obtained by excluding the sector-shaped range with central angle θ1' surrounded by line P0P1', an arc of radius L1', and line P0P2' and a sector-shaped range with central angle θ1' surrounded by line P0P3', an arc of radius L2', and line P0P4'. Here, P3' is on line P0P1', and P4' is on line P0P2'. Detection range 400 is a range that is symmetrical left and right in the direction of travel of vehicle 20.

[0039] The central angle θ1' is a straight line that defines the detection range 400, and is the angle formed by the left and right straight lines in the traveling direction of the vehicle 20. In other words, the central angle θ1' represents the spread angle of the detection range 400. L1' is the distance from the current position P0' of the vehicle 20 to the farthest point from the vehicle 20 in the detection range 400. The range modification unit 220 makes L1' longer than L1 and L2' longer than L2. Furthermore, the range modification unit 220 makes θ1' smaller than θ1. As a result, the faster the speed of the vehicle 20, the narrower the spread of the detection range in the direction perpendicular to the traveling direction of the vehicle 20. In this way, the range modification unit 220 changes the spread angle of the detection range depending on the speed of the vehicle 20.

[0040] The detection unit 230 determines whether the slip point is included within the detection range 400 based on the distance and direction from the vehicle 20 to the slip point 110 calculated by the calculation unit 210, and the current position of the vehicle 20. The assistance control unit 240 performs driving assistance when the slip point 110 is included within the detection range 400.

[0041] Generally, the faster the speed of the vehicle 20, the less abrupt the lateral change in the traveling direction of the vehicle 20. Therefore, by narrowing the detection range in the direction perpendicular to the traveling direction of the vehicle 20 as the speed of the vehicle 20 increases, it is possible to prevent unnecessary output of an alarm.

[0042] Similar to L2, the range change unit 220 changes L2' to the distance that the vehicle 20 travels until the speed of the vehicle 20 decelerates to the predetermined speed when the vehicle 20 decelerates at a predetermined deceleration rate. In this way, L2' is set according to the speed of the vehicle 20. This makes it possible to output an alarm only when the vehicle 20 is within a range where the speed of the vehicle 20 can be decelerated to the predetermined speed.

[0043] 5 shows a detection range 500 that is set when vehicle 20 is traveling on a curved road. Here, it is assumed that vehicle 20 is traveling behind vehicle 20b and receives slip point 120 from vehicle 20b. It is assumed that the speed of vehicle 20 is the same as the speed of vehicle 20 in FIG.

[0044] The range modification unit 220 determines whether the vehicle 20 is traveling on a curved road based on the speed detected by the vehicle speed sensor 26 and the yaw rate detected by the yaw rate sensor 24. The range modification unit 220 sets a sector-shaped detection range 500 centered on the current position P5 of the vehicle 20. Specifically, the detection range 500 is a sector-shaped range with a central angle θ2 that is surrounded by a straight line P5P6, an arc of radius L1, and a straight line P5P7. The range modification unit 220 sets θ2 to be greater than θ1.

[0045] As a result, when the vehicle 20 is traveling on a curved road, the detection range in the direction perpendicular to the traveling direction of the vehicle 20 can be made wider than when the vehicle 20 is traveling on a straight road. This makes it possible to prevent the slip point 120 from being missed.

[0046] 6 shows the data structure of detection range data that is referenced when setting the detection range by range change unit 220. The detection range data associates speed and maximum distance with the central angle when traveling on a straight road and the central angle when traveling on a curved road.

[0047] The speed is the speed of the vehicle 20. The maximum distance L1 is the distance from the current position of the vehicle 20 to the farthest point in the detection range. The central angle is the angle formed by the left and right straight lines that define the detection range.

[0048] 6, the faster the speed, the longer the maximum distance L1 is set by the range modification unit 220. The faster the speed, the narrower the central angle is set by the range modification unit 220. The range modification unit 220 increases the central angle when the vehicle 20 is traveling on a curved road compared to when the vehicle 20 is traveling on a straight road.

[0049] This makes it possible to efficiently warn the occupants of the vehicle 20 of slip points that pose a high risk to the driving of the vehicle 20, among slip points detected by other vehicles. Also, a warning can be issued when the vehicle speed of the vehicle 20 can be sufficiently reduced before the vehicle 20 reaches the slip point. This makes it possible to prevent unnecessary warnings about slip points from being issued. Therefore, it is possible to prevent the occupants of the vehicle 20 from feeling bothered by the warning.

[0050] In this embodiment, slip point information is transmitted and received via vehicle-to-vehicle communication. However, a configuration may also be adopted in which a server that stores slip point information is further provided. For example, upon receiving slip point information transmitted from each vehicle, the server may store the slip point indicated in the slip point information for a predetermined period of time. The server may also transmit the stored information indicating the slip point to a vehicle traveling toward the slip point. A vehicle traveling at a distance from another vehicle that has detected a slip point may not be able to receive slip point information via vehicle-to-vehicle communication. However, by providing a server that stores slip point information, the slip point information can be more reliably provided to the vehicle.

[0051] Vehicle 20 is an example of a vehicle that is a transportation device. The vehicle may be a car equipped with an internal combustion engine, an electric car, a fuel cell vehicle (FCV), or the like. The vehicle includes a bus, a truck, a two-wheeled vehicle, or the like. The vehicle may be a saddle-ride vehicle or the like, or may be a motorcycle. In addition to vehicles, transportation devices include aircraft, including unmanned aerial vehicles, ships, and other equipment. The transportation device may be any equipment that transports people or goods. The transportation device is an example of a mobile object. The mobile object is not limited to a transportation device, and may be any mobile equipment.

[0052] 7 shows an example of a computer 2000 in which multiple embodiments of the present invention may be embodied in whole or in part. A program installed on the computer 2000 may cause the computer 2000 to function as a system or each part of a system according to an embodiment, or as a device such as a support device or each part of the device, to perform operations associated with the system or each part of the system or the device or each part of the device, and / or to perform a process or steps of the process according to an embodiment. Such a program may be executed by the CPU 2012 to cause the computer 2000 to perform specific operations associated with some or all of the processing procedures and blocks of the block diagrams described herein.

[0053] The computer 2000 according to this embodiment includes a CPU 2012 and a RAM 2014, which are interconnected by a host controller 2010. The computer 2000 also includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the host controller 2010 via the input / output controller 2020.

[0054] The CPU 2012 operates according to programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0055] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000. The ROM 2026 stores a boot program and the like executed by the computer 2000 upon activation, and / or programs dependent on the hardware of the computer 2000. The input / output chip 2040 may also connect various input / output units such as a keyboard, mouse, and monitor to the input / output controller 2020 via input / output ports such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, an HDMI (registered trademark) port, etc.

[0056] The programs are provided via a computer-readable storage medium such as a CD-ROM, a DVD-ROM, or a memory card, or via a network. The RAM 2014, the ROM 2026, or the flash memory 2024 are examples of computer-readable storage media. The programs are installed in the flash memory 2024, the RAM 2014, or the ROM 2026 and executed by the CPU 2012. Information processing described in these programs is read by the computer 2000, and causes cooperation between the programs and the various types of hardware resources described above. An apparatus or a method may be configured by implementing operations or processing of information in accordance with the use of the computer 2000.

[0057] For example, when communication is performed between the computer 2000 and an external device, the CPU 2012 may execute a communication program loaded into the RAM 2014 and instruct the communication interface 2022 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2012, the communication interface 2022 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as the RAM 2014 or flash memory 2024, transmits the read transmission data to a network, and writes received data received from the network to a reception buffer processing area or the like provided on the recording medium.

[0058] The CPU 2012 may also cause all or a necessary portion of a file or database stored on a recording medium such as the flash memory 2024 to be read into the RAM 2014, and perform various types of processing on the data on the RAM 2014. The CPU 2012 then writes the processed data back to the recording medium.

[0059] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 2012 may perform various types of processing on data read from the RAM 2014, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described herein and specified by the instruction sequences of the programs, and write the results back to the RAM 2014. The CPU 2012 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored on the recording medium, the CPU 2012 may search for an entry that matches a condition specified by the attribute value of the first attribute from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0060] The above-described programs or software modules may be stored in a computer-readable storage medium on or near the computer 2000. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer-readable storage medium. The programs stored in the computer-readable storage medium may be provided to the computer 2000 via a network.

[0061] A program installed in the computer 2000 and causing the computer 2000 to function as the assistance device 40 may act on the CPU 2012 or the like to cause the computer 2000 to function as each unit of the assistance device 40. When the information processing described in these programs is loaded into the computer 2000, the computer 2000 functions as each unit of the assistance device 40, which is a specific means formed by the software and the various hardware resources described above working together. These specific means then perform calculations or processing of information according to the intended use of the computer 2000 in this embodiment, thereby constructing a specific assistance device 40 according to the intended use.

[0062] Various embodiments have been described with reference to block diagrams. In the block diagrams, each block may represent (1) a stage of a process where an operation is performed or (2) a portion of an apparatus responsible for performing the operation. Particular stages and portions may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuitry may include digital and / or analog hardware circuitry, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuitry may include reconfigurable hardware circuitry including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logic operations, flip-flops, registers, memory elements such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

[0063] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by an appropriate device, such that the computer-readable storage medium with instructions stored thereon constitutes at least a portion of an article of manufacture containing instructions that can be executed to provide means for performing the operations specified in a process or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray disc, memory stick, integrated circuit card, etc.

[0064] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0065] The computer-readable instructions may be provided to a processor or programmable circuitry of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, either locally or over a wide-area network (WAN) such as a local area network (LAN), the Internet, etc., and executed to provide means for performing the operations specified in the process steps or block diagrams described. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0066] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0067] It should be noted that the execution order of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order. [Explanation of symbols]

[0068] 20 vehicles 29 Sensors 24 Yaw rate sensor 25 GNSS receivers 26 Vehicle speed sensor 40 Support equipment 200 Processing section 210 Calculation Unit 220 Range change section 230 Detector 240 Support control section 250 Communication Equipment 251 Receiving unit 252 Transmitter 270 Alarm device 290 Storage section 2000 Computer 2010 Host Controller 2012 CPU 2014 RAM 2020 Input / Output Controller 2022 Communication Interface 2024 flash memory 2026 ROM 2040 Input / Output Chip

Claims

1. a receiving unit that receives information indicating a dangerous driving point transmitted from outside the vehicle; a calculation unit that calculates a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and a current position of the vehicle; a detection unit that detects the dangerous traveling point within a detection range that is set within a range in which the distance from the vehicle is equal to or greater than a first distance and equal to or less than a second distance; an assistance control unit that performs driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The detection range is set within a range having a spreading angle from the current position of the vehicle. Support equipment.

2. A support device, a receiving unit that receives information indicating a dangerous driving point transmitted from outside the vehicle; a calculation unit that calculates a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and a current position of the vehicle; a detection unit that detects the dangerous traveling point within a detection range that is set within a range in which the distance from the vehicle is equal to or greater than a first distance and equal to or less than a second distance; an assistance control unit that performs driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The support device includes: a range change unit that increases the spread angle of the detection range from the current position of the vehicle and increases the second distance as the traveling speed of the vehicle increases; The support device further comprises:

3. A support device, a receiving unit that receives information indicating a dangerous driving point transmitted from outside the vehicle; a calculation unit that calculates a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and a current position of the vehicle; a detection unit that detects the dangerous traveling point within a detection range that is set within a range in which the distance from the vehicle is equal to or greater than a first distance and equal to or less than a second distance; an assistance control unit that performs driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The support device includes: a range change unit that changes the size of the detection range depending on whether the vehicle's travel route is a straight road or a curved road; The support device further comprises:

4. The range change unit widens the detection range when the vehicle's travel route is a curved road compared to when the vehicle's travel route is a straight road. The support device according to claim 3 .

5. The range change unit increases the spread angle of the detection range from the current position of the vehicle when the vehicle's travel route is a curved road compared to when the vehicle's travel route is a straight road.

5. The support device according to claim 3 or 4.

6. A support device, a receiving unit that receives information indicating a dangerous driving point transmitted from outside the vehicle; a calculation unit that calculates a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and a current position of the vehicle; a detection unit that detects the dangerous traveling point within a detection range that is set within a range in which the distance from the vehicle is equal to or greater than a first distance and equal to or less than a second distance; an assistance control unit that performs driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The support device includes: a transmitting unit that, when detecting that a point through which the vehicle has traveled is dangerous for driving, transmits information indicating the detected dangerous point for driving to the outside of the vehicle as information indicating a dangerous point for driving; Furthermore, The assistance control unit suppresses the driving assistance when it detects that the location where the vehicle is traveling is dangerous for driving. Support equipment.

7. A support device, a receiving unit that receives information indicating a dangerous driving point transmitted from outside the vehicle; a calculation unit that calculates a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and a current position of the vehicle; a detection unit that detects the dangerous traveling point within a detection range that is set within a range in which the distance from the vehicle is equal to or greater than a first distance and equal to or less than a second distance; an assistance control unit that performs driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The support device includes: a range change unit that changes the spread angle of the detection range from the current position of the vehicle in accordance with the traveling speed of the vehicle; The support device further comprises:

8. When the driving assistance is being performed, even if the receiving unit receives information indicating a new dangerous driving point, the assistance control unit continues the driving assistance until the vehicle passes the dangerous driving point, and suppresses driving assistance based on the information indicating the new dangerous driving point.

8. An assistance device according to any one of claims 1 to 7.

9. A vehicle equipped with an assistance device according to any one of claims 1 to 8.

10. A program for causing a computer to function as the support device according to any one of claims 1 to 8.

11. receiving information indicating a dangerous driving point transmitted from outside the vehicle; calculating a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and the current position of the vehicle; detecting the dangerous traveling point within a detection range that is set within a range of a distance from the vehicle that is equal to or greater than a first distance and equal to or less than a second distance; a step of providing driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The detection range is set within a range having a spreading angle from the current position of the vehicle. How to help.

12. A support method, comprising: receiving information indicating a dangerous driving point transmitted from outside the vehicle; calculating a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and the current position of the vehicle; detecting the dangerous traveling point within a detection range that is set within a range of a distance from the vehicle that is equal to or greater than a first distance and equal to or less than a second distance; a step of providing driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The support method includes: increasing the angle of spread of the detection range from the current position of the vehicle and lengthening the second distance as the traveling speed of the vehicle increases; Further support methods include:

13. A support method, comprising: receiving information indicating a dangerous driving point transmitted from outside the vehicle; calculating a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and the current position of the vehicle; detecting the dangerous traveling point within a detection range that is set within a range of a distance from the vehicle that is equal to or greater than a first distance and equal to or less than a second distance; a step of providing driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The support method includes: changing the width of the detection range depending on whether the vehicle's travel route is a straight road or a curved road; Further support methods include:

14. A support method, comprising: receiving information indicating a dangerous driving point transmitted from outside the vehicle; calculating a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and the current position of the vehicle; detecting the dangerous traveling point within a detection range that is set within a range of a distance from the vehicle that is equal to or greater than a first distance and equal to or less than a second distance; a step of providing driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The support method includes: a step of transmitting information indicating the detected dangerous driving point to an outside of the vehicle when the point where the vehicle has traveled is detected as dangerous driving point information; Furthermore, The step of providing driving assistance includes suppressing the driving assistance when it is detected that a location where the vehicle is traveling is dangerous for driving. How to help.

15. A support method, comprising: receiving information indicating a dangerous driving point transmitted from outside the vehicle; calculating a distance and a direction from the vehicle to the dangerous traveling point based on the dangerous traveling point and the current position of the vehicle; detecting the dangerous traveling point within a detection range that is set within a range of a distance from the vehicle that is equal to or greater than a first distance and equal to or less than a second distance; a step of providing driving assistance when the dangerous driving point is detected within the detection range; Equipped with the first distance is a travel distance required for the vehicle to decelerate to a predetermined speed or less from the current position of the vehicle until the vehicle reaches the dangerous traveling point, The support method includes: changing a spread angle of the detection range from the current position of the vehicle in accordance with a traveling speed of the vehicle; Further support methods include:

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