Driving assistance device and saddle-type vehicle

Abstract

To suppress an excessive notification.SOLUTION: A travel support device (10) comprises: a detection range element setting unit (22B) that sets a plurality of detection range elements (PA to PE) arrayed in a width direction in a rear side direction of an own vehicle 1; an object detection unit (23) that detects whether or not an object exists at each of width positions corresponding to each of the detection range elements (PA to PE); and a notification unit (12) that notifies the presence of the object when the object is determined to be a notification target based on a detection result of the object detection unit (23).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device and a saddle-ride type vehicle. [Background technology]

[0002] In recent years, systems for four-wheeled vehicles have become known that detect other vehicles present behind or to the side of the vehicle, which are prone to be in blind spots, and warn the driver of the vehicle. Similar blind spot monitoring systems are also being considered for saddle-ride vehicles such as motorcycles (for example, Patent Document 1). The technology described in Patent Document 1 identifies the relative position of a vehicle in an adjacent lane based on the inclination of the motorcycle, and notifies the user that a vehicle is in the user's blind spot when the user is changing lanes, etc. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-522681 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, a relatively small vehicle such as a motorcycle can take a variety of travel positions in the width direction even within the same lane, compared to a large vehicle. In conventional blind spot monitoring systems, when a vehicle such as a motorcycle drifts to the left or right in the same lane, the driver of the vehicle is alerted to the presence of a vehicle behind traveling in the same lane, which can result in excessive alerts. The present invention has been made in view of the above-mentioned circumstances, and aims to suppress excessive notifications. [Means for solving the problem]

[0005] To the rear side of your vehicle a detection area setting unit that sets a first detection area and, when an operation of a turn signal operation unit corresponding to an operation intended to change lanes of the host vehicle is performed, sets a second detection area that is longer rearward than the first detection area on a rear side of the host vehicle; , the road surface on which the vehicle is traveling Widthwise Spaced apart average and a plurality of detection points including a detection point on the inner side in the width direction located in the same lane as the host vehicle and a detection point on the outer side in the width direction located in a lane adjacent to the lane of the host vehicle. detection point Configure the detection point a setting unit and the detection unit point and an alarm unit that notifies the presence of the object when the object is determined to be an object to be notified based on the detection result of the object detection unit. The object detection unit detects when the turn signal operation unit is operated and detects the plurality of detection If the object does not exist at a width position corresponding to a detection point on the outer side in the width direction located at the lane change destination, and the object exists at a width position corresponding to a detection point on the inner side in the width direction located at the lane change destination, the object is determined not to be an object to be notified. We provide a driving assistance device that The present invention also provides a driving assistance device that includes a detection point setting unit that sets a plurality of detection points lined up in the width direction on the rear side of the vehicle, an object detection unit that detects whether an object is present at each width position corresponding to each of the detection points, and a notification unit that notifies the presence of the object when the object is determined to be an object to be notified based on the detection result of the object detection unit, wherein the detection point setting unit sets a rear detection point at the rear of the center on the left and right of the vehicle, and the object detection unit determines that the object is not an object to be notified when the object is present at the width position corresponding to the rear detection point. In addition, the above-mentioned driving support equipment Place The detection point The setting unit turn signal When the operation unit is operated, the detection point To provide a saddle-ride type vehicle that sets [Effects of the Invention]

[0006] Excessive notifications can be suppressed. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing a driving assistance device according to an embodiment of the present invention together with a peripheral configuration; [Figure 2] FIG. 2 is a diagram schematically illustrating a detection area and a detection point. [Figure 3] 10A and 10B are diagrams schematically showing detection areas and detection points when the vehicle is traveling at different positions. [Figure 4] 10A and 10B are diagrams schematically showing detection areas and detection points when the vehicle is traveling at different positions. [Figure 5] 4 is a flowchart showing the operation of the driving support device when a turn signal is operated. [Figure 6] FIG. 6 is a diagram illustrating the processing of steps SP2 to SP4 in FIG. [Figure 7] FIG. 6 is a diagram illustrating the processing of steps SP2 to SP4 in FIG. [Figure 8] FIG. 6 is a diagram illustrating the processing of steps SP2 to SP4 in FIG. [Figure 9] FIG. 6 is a diagram illustrating the processing of steps SP2 to SP4 in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 is a block diagram showing a driving support device 10 according to an embodiment of the present invention together with its peripheral configuration. The driving support device 10 is a device mounted on a vehicle 1, and is one of the devices that detects objects corresponding to other vehicles present around the vehicle 1 and notifies the driver of the detection results. The other vehicles to be detected are vehicles present in positions that are likely to become blind spots while the vehicle is traveling. That is, the driving support device 10 is a device having a BSI (Blind Spot Information) function that notifies the driver (rider) of the vehicle 1 of the presence of other vehicles that are in positions that are likely to become blind spots while driving. Therefore, the driving support device 10 can also be called a driving support device, a blind spot monitoring device, an in-vehicle device, and the like.

[0009] In this embodiment, the vehicle 1 is a motorcycle, and the other vehicle to be detected is any vehicle including a four-wheeled vehicle or a motorcycle. However, vehicle 1 does not have to be limited to motorcycles, and may be a saddle-ride type vehicle including vehicles other than motorcycles, or a small vehicle including vehicles other than saddle-ride type vehicles. Furthermore, the present invention is preferably applied to vehicles that may assume various travel positions in the width direction within the same lane. Therefore, vehicle 1 can be widely applied to vehicles that may travel on road surfaces that are wide compared to the vehicle width. Furthermore, vehicle 1 may be applied to vehicles other than small vehicles, such as four-wheeled vehicles.

[0010] As shown in FIG. 1, the vehicle 1 includes, as components related to the driving assistance device 10, a surrounding information acquisition unit 2 that acquires surrounding information about the vehicle 1, an on-board sensor 3 that acquires information about the vehicle 1, and an operation unit 4 that is operated by the driver of the vehicle 1. In the following description, the vehicle 1 equipped with the driving assistance device 10 will be referred to as the "host vehicle 1" where appropriate.

[0011] The surrounding information acquisition unit 2 includes a sensor device that acquires information capable of detecting other vehicles present around the host vehicle 1. Objects that the sensor device can detect include at least other vehicles. The range that the sensor device can detect includes at least the left, right, and rear of the host vehicle 1. The sensor device is not particularly limited, but may be, for example, at least one of a radar, a lidar sensor, an ultrasonic sensor, and a camera. In this embodiment, based on the detection results of the sensor device, it is possible to identify not only the presence of other vehicles but also the position of the other vehicles relative to the host vehicle 1.

[0012] The process of detecting the presence of other vehicles from the detection results of the sensor devices and the process of detecting the positions of other vehicles may be performed on the surrounding information acquisition unit 2 side or on the driving support device 10 side. In addition, with regard to each process, well-known processes can be widely applied, except for the process related to the detection points described below.

[0013] The on-board sensors 3 include sensors that detect information related to the traveling of the vehicle 1, such as sensors that detect the vehicle speed and engine RPM (corresponding to the power unit RPM), etc. By using the information from the vehicle speed sensor, it is possible to determine whether the vehicle 1 is traveling or stopped, whether it is operating (for example, with the ignition on), etc. The operation unit 4 includes a turn signal operation unit 4A for operating turn signals that function as direction indicators provided on the vehicle 1. Generally, before changing lanes, the driver of the vehicle 1 operates the turn signal operation unit 4A to activate the turn signal on the side corresponding to the lane to which the driver will change lanes, and after changing lanes, operates the turn signal operation unit 4A to stop activation of the turn signal.

[0014] For example, a push-to-cancel type turn signal switch is used for the turn signal operation unit 4A, but other types of turn signal switches may also be used. Note that the turn signal operation unit 4A is an example of an operation unit to which an operation intended to change lanes of the vehicle 1 is input, and an operation intended to end lane changing is input, and is not limited to the configuration of this embodiment.

[0015] The driving support device 10 includes an information processing unit 11 that processes various types of information, and a notification unit 12 that performs notification processing for the driver of the vehicle 1. The information processing unit 11 includes a calculation unit 11A and a storage unit 11B. The calculation unit 11A is configured with a CPU or a microcomputer, and functions as a vehicle state detection unit 21, a detection range setting unit 22, and an object detection unit 23 by executing a control program stored in the storage unit 11B. The information processing unit 11 may be configured as a system-on-a-chip (SoC) that integrates the calculation unit 11A and the storage unit 11B. The vehicle state detection unit 21, the detection range setting unit 22, and the object detection unit 23 are not limited to being configured to be realized by software, and may be configured to be realized by hardware.

[0016] The vehicle state detection unit 21 performs processing to detect the state of the vehicle 1 from the detection results of the on-board sensors 3. For example, the vehicle state detection unit 21 can identify whether the vehicle 1 is moving or stopped from information such as the vehicle speed, and can identify whether the vehicle 1 is in operation (ignition on state) based on the operation of the ignition switch. The vehicle state detection unit 21 also has an operation detection unit 21A that detects the operation of the turn signal operation unit 4A. The operation detection unit 21A detects at least the operation of the turn signal operation unit 4A, and thereby can detect an operation intended to change lanes of the vehicle 1 and an operation intended to end the lane change, via the operation of the turn signal.

[0017] The detection range setting unit 22 performs processing to set a detection range for objects corresponding to other vehicles around the host vehicle 1. The detection range setting unit 22 includes a detection area setting unit 22A that sets a detection area, and a detection point setting unit 22B that sets a plurality of detection points. The detection area is information indicating the detection range of other vehicles located in and around the blind spot where it is desirable to alert the driver, based on the host vehicle 1. The detection points are set at intervals in the width direction of the road surface, and are information indicating the width position within the detection area. The information for setting the detection area and the detection points may be either information pre-stored in the storage unit 11B or information written in the control program. Note that the detection points are an example of a "detection range element" in the present invention, and the detection point setting unit 22B is an example of a "detection range element setting unit" in the present invention.

[0018] The object detection unit 23 performs processing to detect the presence of an object, such as another vehicle, and the position of that object based on the detection area and detection points set by the detection range setting unit 22. For example, the object detection unit 23 can identify the presence of another vehicle within the detection area and its position, consisting of the distance and direction to that vehicle, from reflected waves, etc. detected by the sensor device of the surrounding information acquisition unit 2, or can identify the presence of another vehicle within the detection area and its position, consisting of the distance and direction to that vehicle, by performing image recognition on image data acquired by the sensor device. Processing related to the detection points will be described later.

[0019] 2 to 4 are diagrams schematically showing the detection areas and detection points. 2 shows from above a situation in which a vehicle 1 is traveling in the center of a three-lane road 100. The lanes of the road 100 are indicated as a first lane S1, a second lane S2, and a third lane S3, and white lane boundary lines L2 and L3 are provided between the lanes S1 to S3, respectively, and outer lines L1 and L4 are provided at the ends of the lanes S1 and S3, respectively. When the turn signal operation unit 4A is not operated in a manner that corresponds to an operation intended to change lanes of the host vehicle 1, the detection area setting unit 22A sets a first detection area H1 on the rear side of the host vehicle 1 as a detection area, as shown in Fig. 2. Furthermore, when the turn signal operation unit 4A is operated in a manner that corresponds to an operation intended to change lanes of the host vehicle 1, the detection area setting unit 22A sets a second detection area H2 on the rear side of the host vehicle 1.

[0020] The first detection area H1 is set to a range of other vehicles within and around the blind spot where it is desirable to alert the driver of the vehicle 1 when the vehicle 1 does not change lanes. The second detection area H2 is set within the blind spot and the range of other vehicles in the vicinity thereof, where it is desirable to alert the driver of the vehicle 1 when the vehicle 1 changes lanes, and is set at least on either the left or right side corresponding to the destination of the lane change. The second detection area H2 is set to an area at least longer rearward than the first detection area H1.

[0021] The detection areas H1 and H2 shown in FIG. 2 are merely examples, but in this embodiment, the first detection area H1 is set to a range in which other vehicles traveling on the left and right sides of the vehicle 1 and in the vicinity behind it can be detected. The second detection area H2 is set to a range that allows detection of other vehicles traveling behind the vehicle 1 in the lane to which the vehicle is to change course. Detection areas employed in devices having known BSI functions can be applied as appropriate to each of the detection areas H1 and H2.

[0022] The detection point setting unit 22B sets a plurality of detection points PA, PB, PC, PD, and PE spaced apart in the width direction of the road surface on the rear sides of the vehicle 1. In this embodiment, five detection points PA to PE are set. The detection point PA is a detection point located at the outermost position in the width direction at the right rear of the vehicle 1, and is information indicating a width position closer to the outer side in the width direction within the second detection area H2 on the right side. The detection point PB is a detection point located on the right rear side of the vehicle 1, more inward in the width direction than the detection point PA, and is information indicating a width position closer to the inner side in the width direction within the second detection area H2 on the right side.

[0023] The detection point PC is a detection point located behind the center of the vehicle 1 on the left and right sides, and is information indicating a width position corresponding to a position between the left and right rear sides. The detection point PD is a detection point located on the left rear side of the vehicle 1, widthwise inward of the detection point PE, and is information indicating a widthwise position closer to the widthwise inner side of the second detection area H2 on the left side. The detection point PE is a detection point located on the outermost side in the width direction at the left rear of the vehicle 1, and is information indicating a width position closer to the outer side in the width direction within the second detection area H2 on the left side.

[0024] The positions of the detection points PA to PE are fixed relative to the vehicle 1 itself. The detection points PA to PE in this embodiment are set at positions that satisfy the following conditions. When vehicle 1 is traveling in the left-right center of lane S2, as shown in Figure 2, detection point PA is located within the area of ​​the first lane S1 adjacent to the right, and detection point PB is located in the same lane S2 as vehicle 1. Detection point PC is located on the vehicle width center LC. Detection points PE and PD are located at positions symmetrical to detection points PA and PB with respect to the vehicle width center LC of vehicle 1.

[0025] When vehicle 1 is traveling on the left side of lane S2, as shown in Figure 3, detection point PA is located within the area of ​​the first lane S1 adjacent to the right, and detection points PB and PC are located within the same lane S2 as vehicle 1. Furthermore, detection points PC and PE are located within lane S3 adjacent to the left. 4, when vehicle 1 is traveling on the right side of lane S2, detection points PA and PB are located within the area of ​​the first lane S1 adjacent to the right, and detection point PD is located within the same lane S2 as vehicle 1. Furthermore, detection point PE is located within lane S3 adjacent to the left.

[0026] Returning to FIG. 1 , the notification unit 12 is a device that notifies the driver of the vehicle 1 of the presence of another vehicle, which is an object to be notified, based on the output result of the object detection unit 23. The notification unit 12 includes at least one of a display device and an audio output device provided in the vehicle 1, and notifies the driver of the presence of the other vehicle by at least one of a display and an audio. For example, the display device provided in the notification unit 12 is provided in a meter unit provided in the vehicle 1, and notifies the driver of the presence of the other vehicle by lighting a predetermined indicator. Furthermore, for example, the audio output device provided in the notification unit 12 is provided in a meter unit or the like of the vehicle 1, and notifies the driver of the presence of the other vehicle by outputting a predetermined warning sound. Note that the notification unit 12 is not limited to a display device and an audio output device, and may be configured to transmit information via communication to a device carried by the driver, and notify the driver from the device. A wide variety of known notification devices can be applied to the notification unit 12.

[0027] Next, the operation of the driving support device 10 when the turn signal is operated will be described. Fig. 5 is a flowchart showing the operation of the driving support device 10 when a turn signal is operated. The operation shown in Fig. 5 is repeatedly executed when, for example, the operation detection unit 21A detects a turn signal operation corresponding to an operation intended to change lanes of the host vehicle 1 under a situation in which the vehicle state detection unit 21 detects that the ignition is turned on or the engine is started (power unit is started), etc.

[0028] First, when the operation detection unit 21A of the driving support device 10 detects an operation of a turn signal corresponding to an operation intended to change lanes of the vehicle 1, the detection range setting unit 22 executes a process of setting a detection range (step SP1). In step SP1, if a turn signal operation corresponding to an operation intending to change lanes to the right is detected, the detection range setting unit 22 sets a right detection area H2 (see FIGS. 2 to 4) and detection points PA, PB, and PC (see FIGS. 2 to 4). Also, if a turn signal operation corresponding to an operation intending to change lanes to the left is detected, the detection range setting unit 22 sets a left detection area H2 (see FIGS. 2 to 4) and detection points PE, PD, and PC (see FIGS. 2 to 4). In the following description, when there is no need to particularly distinguish between the detection points PA to PE, they will simply be referred to as "detection point P."

[0029] Next, the driving assistance device 10 detects whether or not an object corresponding to another vehicle exists at each of the set detection points P using the object detection unit 23 (step SP2). In this case, the object detection unit 23 detects whether or not an object exists at each width position corresponding to each of the set detection points P. Next, the object detection unit 23 determines whether or not the detection result satisfies a predetermined determination condition DJ (step SP3). The determination condition DJ will be described later.

[0030] If the determination condition DJ is satisfied, the driving support device 10 executes a process of notifying the driver of the vehicle 1 of the presence of another vehicle, which is an object to be notified, by the notification unit 12 (step SP4), and then proceeds to the process of step SP5. On the other hand, if the determination condition DJ is not satisfied, the driving support device 10 does not execute the notification process and proceeds to the process of step SP5.

[0031] In the process of step SP5, the driving support device 10 determines whether or not the operation detection unit 21A has detected a turn signal operation corresponding to an operation intended to end the lane change of the vehicle 1, and if not detected (step SP5: NO), the process proceeds to step SP2. As a result, the processes of steps SP2 to SP5 are repeated until an operation intended to end the lane change is performed. On the other hand, if a blinker operation corresponding to an operation intended to end the lane change is detected (step SP5: YES), the driving assistance device 10 ends the operation shown in FIG.

[0032] The processing of steps SP2 to SP4 will be described in detail with reference to FIGS. Figure 6 shows a case where vehicle 1 is traveling in the center of second lane S2 and changes lanes to first lane S1, which corresponds to the right lane. The left side of Figure 6 illustrates a first situation ST1 in which another vehicle Va is present in first lane S1, the lane to which vehicle 1 is changing lanes. The right side of Figure 6 illustrates a second situation ST2 in which another vehicle Va is present in the same second lane S2 as vehicle 1. Note that the other vehicle Va is a four-wheeled vehicle.

[0033] The other vehicle Va in the first situation ST1 is a rear vehicle traveling at a position corresponding to the rear side of the host vehicle 1, and is a vehicle for which it is desirable to notify the driver of the host vehicle 1 of the presence of the other vehicle Va when changing lanes. On the other hand, the other vehicle Va in the second situation ST2 is a rear vehicle (or a trailing vehicle) traveling in the same lane as the vehicle 1, and it is preferable to avoid notifying the driver of the vehicle 1 of the presence of the other vehicle Va when changing lanes.

[0034] In the first situation ST1, as shown in Fig. 6, the object detection unit 23 detects that an object consisting of another vehicle Va is present at a width position corresponding to the detection point PA on the outer side in the width direction (corresponding to "detection point PA: object present" in Fig. 6), and that an object consisting of another vehicle Va is not present at a width position corresponding to the detection point PB on the inner side in the width direction (corresponding to "detection point PB: object not present" in Fig. 6). In addition, the object detection unit 23 detects that an object consisting of another vehicle Va is not present at a width position corresponding to the detection point PC directly behind the vehicle 1 (corresponding to "detection point PC: object not present" in Fig. 6).

[0035] The determination condition DJ describes the condition for determining that a detected object is an object to be notified. Specifically, the judgment condition DJ describes the conditions for determining that an object is an object to be notified as follows: an object is present at a width position corresponding to the detection point PA on the right side, which is the outermost in the width direction ("detection point PA: object present"), and an object is present at a width position corresponding to the detection point PE on the left side, which is the outermost in the width direction ("detection point PE: object present"). In the case of the first situation ST1, the determination condition DJ is satisfied, so it is possible to properly notify the driver of the host vehicle 1 of the presence of the other vehicle Va that is the rear vehicle ahead of the host vehicle 1 and about to change lanes.

[0036] In the second situation ST2, as shown in Fig. 6, the object detection unit 23 detects that an object consisting of another vehicle Va is not present at a width position corresponding to the detection point PA on the outer side in the width direction (corresponding to "detection point PA: no object" in Fig. 6), and that an object consisting of another vehicle Va is present at a width position corresponding to the detection point PB on the inner side in the width direction (corresponding to "detection point PB: object present" in Fig. 6). In addition, the object detection unit 23 detects that an object consisting of another vehicle Va is present at a width position corresponding to the detection point PC directly behind the vehicle 1 ("detection point PC: object present" in Fig. 6). In the case of the second situation ST2, the judgment condition DJ is not satisfied, so it is possible to avoid a situation in which the driver of the host vehicle 1 is not notified of the presence of another vehicle Va that is not traveling in the lane ahead.

[0037] Furthermore, even if a process is applied that selects whether or not to execute a process to notify the driver of the vehicle 1 of the presence of another vehicle Va depending on whether or not an object is present in the detection area H2, the same results as in this embodiment can be obtained. In other words, in the first situation ST1, the driver of the vehicle 1 can be appropriately notified of the presence of another vehicle Va that is a rear vehicle at the lane change destination, and in the second situation ST2, it is possible to avoid the situation where the driver of the vehicle 1 is not notified of the presence of another vehicle Va that is not traveling at the lane change destination.

[0038] Figure 7 shows a case where vehicle 1 is traveling on the left side of lane 2 S2 and then changes lanes to lane 1 S1, which corresponds to the right lane. The left side of Figure 7 illustrates a third situation ST3 in which another vehicle Va, a vehicle behind, is present in lane 1 S1, the lane into which vehicle 1 will change lanes. The right side of Figure 7 illustrates a fourth situation ST4 in which another vehicle Va, a vehicle behind, is present in lane 2 S2, the same lane as vehicle 1.

[0039] In the third situation ST3, as shown in FIG. 7, the object detection unit 23 detects that an object consisting of another vehicle Va is present at the width position corresponding to the detection point PA ("Detection point PA: object present" in FIG. 7), and that an object consisting of another vehicle Va is not present at the width positions corresponding to the detection points PB and PC ("Detection point PB: no object", "Detection point PC: no object" in FIG. 7). In the case of the third situation ST3, the determination condition DJ is satisfied, so it is possible to properly notify the driver of the host vehicle 1 of the presence of the other vehicle Va that is the rear vehicle ahead of the host vehicle 1 and about to change lanes. Even if a process is applied that selects whether or not to execute a process to notify the driver of the vehicle 1 of the presence of another vehicle Va depending on whether or not an object is present in the detection area H2, the driver of the vehicle 1 can be appropriately notified of the presence of another vehicle Va, which is a rear vehicle that is about to change lanes, as in this embodiment.

[0040] In the fourth situation ST4, as shown in Figure 7, the object detection unit 23 detects that there is no object consisting of another vehicle Va at the width position corresponding to detection point PA (corresponding to "detection point PB: no object" in Figure 6), and that there is an object consisting of another vehicle Va at the width position corresponding to detection points PB, PC (corresponding to "detection point PB: object present" and "detection point PC: object present" in Figure 7). In the case of the fourth situation ST4, the judgment condition DJ is not satisfied, so it is possible to avoid a situation in which the driver of the host vehicle 1 is notified of the presence of another vehicle Va that is not traveling in the lane ahead.

[0041] In the fourth situation ST4, another vehicle Va traveling in the same second lane S2 as the vehicle 1 is present in the second detection area H2 at the lane change destination. Therefore, if a process is applied that selects whether or not to execute a process to notify the driver of the host vehicle 1 of the presence of the other vehicle Va depending on whether or not an object is present in the detection area H2, a situation may arise in which the driver of the host vehicle 1 is notified of the presence of the other vehicle Va traveling in the same second lane S2 as the vehicle 1, resulting in excessive notification. In contrast to this, in this embodiment, it is possible to avoid a situation in which the presence of another vehicle Va traveling in the same second lane S2 as the vehicle 1 is notified, and therefore excessive notification can be suppressed.

[0042] Figure 8 shows a case where vehicle 1 is traveling on the right side of lane 2 S2 and then changes lanes to lane 1 S1, which corresponds to the right lane. The left side of Figure 8 illustrates a fifth situation ST5 in which another vehicle Va, a vehicle behind, is present in lane 1 S1, the lane into which vehicle 1 will change lanes. The right side of Figure 8 illustrates a sixth situation ST6 in which another vehicle Va, a vehicle behind, is present in lane 2 S2, the same lane as vehicle 1.

[0043] In the fifth situation ST5, as shown in Figure 8, the object detection unit 23 detects that an object consisting of another vehicle Va is present at the width position corresponding to detection point PA (corresponding to "detection point PA: object present" in Figure 8), and that an object consisting of another vehicle Va is not present at the width positions corresponding to detection points PB and PC ("detection point PB: no object" and "detection point PC: no object" in Figure 8). In the case of the fifth situation ST5, the determination condition DJ is satisfied, so it is possible to properly notify the driver of the host vehicle 1 of the presence of another vehicle Va ahead of the host vehicle 1 in the lane change direction. Even if a process is applied that selects whether or not to execute a process to notify the driver of the vehicle 1 of the presence of another vehicle Va depending on whether or not an object is present in the detection area H2, the driver of the vehicle 1 can be appropriately notified of the presence of another vehicle Va ahead of the lane change, as in this embodiment.

[0044] In the sixth situation ST6, as shown in FIG. 8, the object detection unit 23 detects that an object consisting of another vehicle Va is not present at the width position corresponding to detection points PA and PB (corresponding to "detection point PA: no object" and "detection point PB: no object" in FIG. 8), and that an object consisting of another vehicle Va is present at the width position corresponding to detection point PC (corresponding to "detection point PC: object present" in FIG. 8). In the case of the sixth situation ST6, the judgment condition DJ is not satisfied, so it is possible to avoid a situation in which the driver of the host vehicle 1 is not notified of the presence of another vehicle Va that is not traveling in the lane ahead. Even if a process is applied that selects whether or not to execute a process to notify the driver of the vehicle 1 of the presence of another vehicle Va depending on whether or not an object is present in the detection area H2, as in this embodiment, it is possible to avoid a situation in which the driver of the vehicle 1 is not notified of the presence of another vehicle Va that is not traveling in the lane change direction.

[0045] FIG. 9 shows a seventh situation ST7 in which the other vehicle Va is a motorcycle. As shown in Figure 9, when multiple motorcycles consisting of vehicle 1 and another vehicle Va are traveling with a gap between them, the motorcycles may travel with a shift to the left or right, in other words, they may travel in a staggered pattern. The seventh situation ST7 can also be said to be a situation in which the other vehicle Va in the fourth situation ST4 has been replaced by a motorcycle.

[0046] In the seventh situation ST7, as shown in FIG. 9, the object detection unit 23 detects that an object consisting of another vehicle Va does not exist at the width position corresponding to detection point PA ("Detection point PB: no object" in FIG. 9), that an object consisting of another vehicle Va exists at the width position corresponding to detection point PB ("Detection point PB: object present" in FIG. 9), and that an object consisting of another vehicle Va does not exist at the width position corresponding to detection point PC ("Detection point PC: no object" in FIG. 9). In the case of the seventh situation ST7, the judgment condition DJ is not satisfied, so it is possible to avoid a situation in which the driver of the host vehicle 1 is notified of the following motorcycle traveling in the same second lane S2 as the host vehicle 1 in a staggered arrangement. In other words, it is possible to avoid a situation in which the driver of the host vehicle 1 is not notified of the presence of another vehicle Va that is not traveling in the lane ahead.

[0047] In the seventh situation ST7, as in the fourth situation ST4, there is another vehicle Va, a motorcycle traveling in the same second lane S2 as the host vehicle 1, in the second detection area H2 at the lane change destination. Therefore, if a process were applied that selects whether or not to execute a process to notify the driver of the host vehicle 1 of the presence of the other vehicle Va depending on whether or not an object is present in the detection area H2, a situation could arise in which the following motorcycle traveling in the same second lane S2 as the host vehicle 1 in a staggered arrangement would be notified to the driver of the host vehicle 1, resulting in excessive notifications. In contrast, in this embodiment, the staggered arrangement can avoid a situation in which the presence of another vehicle Va consisting of a motorcycle traveling in the same second lane S2 as the vehicle 1 is notified, thereby reducing excessive notifications.

[0048] 6 to 9 show the case where the vehicle 1 changes lanes to the first lane S1 corresponding to the right lane, but the case where the vehicle 1 changes lanes to the third lane S3 corresponding to the left lane is a situation symmetrical to that shown in Figures 6 to 9. The object detection unit 23 detects whether or not an object is present at each width position corresponding to the detection point PE on the outer side in the width direction, the detection point PD on the inner side in the width direction, and the detection point PC, and if a determination condition DJ is satisfied based on the detection result, it notifies the presence of another vehicle. Therefore, even in situations symmetrical to those shown in Figures 6 to 9 above, the driver of the vehicle 1 can be appropriately notified of the presence of another vehicle Va that is a rear vehicle at the lane change destination, and it is possible to avoid a situation in which the driver of the vehicle 1 is not notified of the presence of another vehicle Va that is not traveling at the lane change destination.

[0049] In this embodiment, an example has been given of a case where a detected object is regarded as an object to be notified when the judgment condition DJ is satisfied, but this is not limited to this. For each width position corresponding to each of the detection points PA to PE, and for each combination of detection results of whether or not an object is present, information describing whether or not the detected object is to be regarded as an object to be notified may be stored, and based on this information, processing to notify is performed if the detected object is regarded as an object to be notified, and processing to notify is not performed if the detected object is not regarded as an object to be notified. Specifically, the information may describe combinations in which the detected object is considered to be an object to be notified, as well as combinations in which the detected object is not considered to be an object to be notified (combinations in which no notification is to be made, as shown in Figures 6 to 9), and the selection of whether or not to notify may be made based on this information.

[0050] As described above, the driving assistance device 10 of this embodiment includes a detection point setting unit 22B that sets a plurality of detection points P aligned in the width direction on the rear side of the vehicle 1, an object detection unit 23 that detects whether or not an object is present at each width position corresponding to each of the detection points P, and a notification unit 12 that notifies the presence of the object when the object is determined to be an object to be notified based on the detection result of the object detection unit 23. This makes it possible to avoid a situation in which the presence of a rear vehicle traveling in the same lane is notified in a vehicle 1 that can take various traveling positions in the width direction within the same lane, and to suppress excessive notifications.

[0051] Furthermore, the object detection unit 23 detects whether or not an object is present at each width position corresponding to each detection point P, and if these detection results satisfy the determination condition DJ that functions as a predetermined condition, it determines that the object is an object to be notified, so that it is possible to determine whether or not an object is an object to be notified by simple processing. Furthermore, by appropriately setting the determination condition DJ as described above, it is possible to appropriately notify the driver of the host vehicle 1 of the presence of another vehicle Va that is a rear vehicle at the lane change destination, and it is possible to avoid a situation where the driver of the host vehicle 1 is not notified of the presence of another vehicle Va that is not traveling at the lane change destination.

[0052] In this case, if an object is present at a width position corresponding to the widthwise outermost detection points PA, PE among the multiple detection points P, the object detection unit 23 determines that the object is an object to be notified, and therefore can appropriately notify the driver of the vehicle 1 of the presence of another vehicle Va, which is a rear vehicle in an adjacent lane.

[0053] Furthermore, when an object is not present at the width position corresponding to the widthwise outermost detection points PA and PE among the plurality of detection points P, and an object is present at the width position corresponding to the widthwise innermost detection points PB and PD, the object detection unit 23 determines that the object is not an object to be notified, thereby appropriately avoiding a situation in which the driver of the vehicle 1 is not notified of the presence of another vehicle Va that is not traveling in an adjacent lane.

[0054] Furthermore, the detection point setting unit 22B sets a detection point PC that functions as a rear detection point behind the center of the left and right of the host vehicle 1, and when an object is present at a width position corresponding to the detection point PC, the object detection unit 23 determines that the object is not an object to be notified, thereby appropriately avoiding a situation in which the presence of another vehicle Va that is not traveling in an adjacent lane is notified to the driver of the host vehicle 1. The rear detection point is an example of a "rear detection range element" of the present invention.

[0055] In addition, the detection point setting unit 22B sets a detection point P when an operation intended to change lanes of the vehicle 1 is performed, so that when changing lanes, the driver of the vehicle 1 can be appropriately notified of the presence of another vehicle Va that is a rear vehicle at the lane change destination, and it is possible to avoid a situation in which the presence of a rear vehicle traveling in the same lane is notified, thereby suppressing excessive notifications.

[0056] In addition, when an operation intended to change lanes of the vehicle 1 is performed, the object detection unit 23 may be configured to detect whether or not an object is present at each width position corresponding to each of the detection points P set by the detection point setting unit 22B, and for example, when an operation intended to change lanes of the vehicle 1 is performed, the object detection unit 23 may be configured to switch whether or not to detect at an already set detection point P. In addition, the notification unit 12 may be configured to notify of the presence of an object based on the detection results of the object detection unit 23 when an operation intended to change lanes of the vehicle 1 is performed, and may be configured to switch whether or not to notify of the presence of an object based on the detection results of the object detection unit 23 when an operation intended to change lanes of the vehicle 1 is performed. In either case, when changing lanes, the driver of the vehicle 1 can be appropriately notified of the presence of another vehicle Va behind the vehicle at the lane change destination, and the situation of notifying the driver of the vehicle 1 of the presence of a vehicle behind the vehicle traveling in the same lane can be avoided, making it easier to suppress excessive notifications.

[0057] Furthermore, among the multiple detection points P, the widthwise outermost detection points PA and PE are located in other lanes (e.g., first lane S1, third lane S3) adjacent to the widthwise outer side of the lane (e.g., second lane S2) when the vehicle 1 is traveling at the left-right center of the lane (e.g., second lane S2) or at a position shifted to the left or right from the left-right center within the lane (e.g., second lane S2), and the widthwise innermost detection points PB and PD are located within the lane (e.g., second lane S2) when the vehicle 1 is traveling at the left-right center of the lane (e.g., second lane S2) or at a position shifted to the left or right from the left-right center within the lane (e.g., second lane S2). As a result, even if the host vehicle 1 is traveling at various travel positions in the width direction within the same lane (for example, the second lane S2), other vehicles Va traveling behind in adjacent lanes (for example, the first lane S1, the third lane S3), and other vehicles Va traveling behind in the same lane as the host vehicle 1 (including motorcycles traveling in a staggered arrangement relative to the host vehicle 1) can be identified with high accuracy, thereby effectively suppressing excessive alerts.

[0058] Furthermore, since the vehicle 1 is a saddle-type vehicle such as a motorcycle, it is possible to provide a driving assistance device 10 that can prevent a situation in which a saddle-type vehicle that can travel in various travel positions in the width direction within the same lane is notified of the presence of a vehicle traveling behind in the same lane, thereby suppressing excessive notifications.

[0059] Furthermore, vehicle 1, which is a saddle-type vehicle, is equipped with a driving assistance device 10 and an operation unit 4 that receives operations intended to change lanes, and detection point setting unit 22B of driving assistance device 10 sets detection point P when operation unit 4 is operated, so that when changing lanes, it is possible to provide a saddle-type vehicle that can appropriately notify the driver of vehicle 1 of the presence of another vehicle Va that is a rear vehicle at the lane change destination, and also avoid a situation in which the presence of a rear vehicle traveling in the same lane is notified, thereby suppressing excessive notification.

[0060] The above-described embodiment shows one aspect of the present invention, and the present invention is not limited to the above-described embodiment, and the configuration of details, etc. may be changed as appropriate. For example, in the above embodiment, a case where both the detection area H2 and the detection points PA to PE are set has been described, but the present invention is not limited to this, and the setting of the detection area H2 may be omitted. In short, the present invention sets a plurality of detection points PA to PE spaced apart in the width direction, detects whether or not an object is present at each width position corresponding to each of the detection points PA to PE, and notifies the presence of the object when it is determined that the object is an object to be notified based on these detection results.

[0061] In the above embodiment, five detection points PA to PE are set as an example of the detection range elements of the present invention, but the number, position, and shape of the detection range elements may be changed as appropriate within a range that can suppress excessive reporting. The detection range elements are not limited to information indicating points, but may be information specifying a range wider than a point, for example, a linear area extending in the longitudinal direction of the vehicle, or a circular or elliptical area. Furthermore, the present invention is not limited to a mode in which the plurality of detection range elements are spaced apart, and the plurality of detection range elements may be adjacent to each other. The positions of the detection range elements can also be varied depending on the speed of the host vehicle (vehicle speed). For example, when the vehicle speed is relatively high, the detection range elements may be set at positions relatively far from the host vehicle, and when the vehicle speed is relatively low, the detection range elements may be set at positions relatively close to the host vehicle. Note that the positions of the detection range elements are preferably determined taking into consideration the time it takes for the host vehicle to come into contact with another vehicle, calculated from the vehicle speed and distance, and the time required for a person to react (for example, the time required to avoid contact).

[0062] [Configuration supported by the above embodiment] The above embodiment supports the following configurations.

[0063] (Configuration 1) A driving assistance device comprising: a detection range element setting unit that sets a plurality of detection range elements arranged in a width direction on the rear side of a vehicle; an object detection unit that detects whether an object is present at each width position corresponding to each of the detection range elements; and a notification unit that notifies the presence of the object when the object is determined to be an object to be notified based on the detection result of the object detection unit. According to this configuration, even when various driving positions can be taken in the width direction within the same lane, excessive notification can be suppressed.

[0064] (Configuration 2) The driving assistance device according to Configuration 1, wherein the object detection unit detects whether or not an object is present at each width position corresponding to each of the detection range elements, and determines that the object is an object to be notified if the detection results satisfy predetermined conditions. According to this configuration, it is possible to determine whether an object is an object to be notified by simple processing.

[0065] (Configuration 3) The driving assistance device according to configuration 1 or 2, wherein the object detection unit determines that the object is an object to be notified when the object is present at a width position corresponding to the width-outermost detection range element among the plurality of detection range elements. According to this configuration, the driver of the own vehicle can be appropriately notified of the presence of another vehicle behind in an adjacent lane.

[0066] (Configuration 4) A driving assistance device described in any one of configurations 1 to 3, wherein the object detection unit determines that the object is not an object to be notified when the object is not present at a width position corresponding to the widthwise outermost detection range element among the plurality of detection range elements, and the object is present at a width position corresponding to the widthwise innermost detection range element. This configuration makes it possible to appropriately avoid a situation in which the driver of the vehicle is not notified of the presence of another vehicle that is not traveling in an adjacent lane.

[0067] (Configuration 5) A driving assistance device described in any one of configurations 1 to 4, wherein the detection range element setting unit sets a rear detection range element behind the center of the left and right of the vehicle, and the object detection unit determines that the object is not an object to be notified when the object is present at a width position corresponding to the rear detection range element. According to this configuration, the presence of another vehicle that is not traveling in an adjacent lane is detected by the own vehicle. Both This can appropriately avoid situations where the driver needs to be notified.

[0068] (Configuration 6) The driving assistance device according to any one of configurations 1 to 5, wherein the detection range element setting unit sets the detection range element when an operation intended to change lanes of the host vehicle is performed. According to this configuration, when changing lanes, the vehicle behind the vehicle in the lane change destination is notified. Both This allows the driver of the vehicle to be appropriately notified of the presence of a vehicle behind the vehicle, and also avoids a situation in which the presence of a vehicle behind the vehicle traveling in the same lane is notified, thereby suppressing excessive notifications.

[0069] (Configuration 7) A driving assistance device according to any one of configurations 1 to 5, wherein the object detection unit detects whether or not an object is present at each width position corresponding to each of the detection range elements set by the detection range element setting unit when an operation intended to change lanes of the vehicle is performed. With this configuration, when changing lanes, the driver of the vehicle can be appropriately notified of the presence of another vehicle behind the vehicle at the lane change destination, and the situation of notifying the driver of the presence of a vehicle behind the vehicle traveling in the same lane can be avoided, making it easier to suppress excessive notifications.

[0070] (Configuration 8) The notification The department , the vehicle Both When an operation intended to change lanes is performed, the object detection Department 6. The driving support device according to any one of configurations 1 to 5, which notifies the presence of the object based on a detection result. With this configuration, when changing lanes, the driver of the vehicle can be appropriately notified of the presence of another vehicle behind the vehicle at the lane change destination, and the situation of notifying the driver of the presence of a vehicle behind the vehicle traveling in the same lane can be avoided, making it easier to suppress excessive notifications.

[0071] (Configuration 9) A driving assistance device according to any one of configurations 1 to 8, wherein the widthwise outermost detection range element among the plurality of detection range elements is located within another lane adjacent to the widthwise outer side of the lane when the host vehicle is traveling at the left-right center of the lane or at a position shifted to the left or right from the left-right center within the lane, and the widthwise innermost detection range element is located within the lane when the host vehicle is traveling at the left-right center of the lane or at a position shifted to the left or right from the left-right center within the lane. With this configuration, even if the vehicle is traveling in various widthwise positions within the same lane, other vehicles behind the vehicle traveling in adjacent lanes and other vehicles traveling in the same lane as the vehicle can be identified with high accuracy, effectively suppressing excessive alerts.

[0072] (Configuration 10) The driving assistance device according to any one of configurations 1 to 9, wherein the host vehicle is a saddle-ride type vehicle. This configuration makes it possible to provide a driving assistance device that can prevent a saddle-type vehicle, which can travel in various widthwise positions within the same lane, from being notified of the presence of a vehicle traveling behind it in the same lane, and that can suppress excessive notifications.

[0073] (Configuration 11) A saddle-type vehicle comprising a driving assistance device according to any one of configurations 1 to 10 and an operation unit that accepts an operation intended to change lanes, wherein the detection range element setting unit sets the detection range element when the operation unit is operated. This configuration makes it possible to provide a saddle-type vehicle that can appropriately notify the driver of the presence of another vehicle behind the vehicle when changing lanes, and can also avoid notifying the driver of the presence of a vehicle behind that is traveling in the same lane, thereby suppressing excessive notifications. [Explanation of symbols]

[0074] 1 vehicle (saddle-type vehicle) 2 Surrounding information acquisition unit 3. In-vehicle sensors 4 Control section 4A Turn signal operation unit 10 Driving assistance device 11 Information Processing Department 11A calculation section 11B Storage section 12. Information Department 21 Vehicle condition detection unit 21A Operation detector 22 Detection range setting section 22A Detection area setting section 22B Detection point setting section (detection range element setting section) 23 Object detection unit 100 roads H1, H2 detection area PA,PB,PD,PE Detection points (detection range elements) PC detection point (rear detection point (rear range element)) S1~S3 lanes DJ judgment conditions

Claims

1. a detection area setting unit (22A) that sets a first detection area (H1) on the rear side of the vehicle (1), and when an operation of a turn signal operation unit (4A) corresponding to an operation intended to change lanes of the vehicle (1) is performed, sets a second detection area (H2) on the rear side of the vehicle (1), the second detection area being longer rearward than the first detection area (H1); a detection point setting unit (22B) that sets a plurality of detection points (PA, PB, PC, PD, PE) arranged at intervals in the width direction of a road surface on which the host vehicle (1) is traveling, the detection points being information indicating width positions within the set detection area, the detection points including detection points on the inner side in the width direction located in the same lane as the host vehicle (1) and detection points on the outer side in the width direction located in a lane adjacent to the lane of the host vehicle (1); an object detection unit (23) that detects whether or not an object is present at each width position corresponding to each of the detection points (PA, PB, PC, PD, PE); a notification unit (12) that notifies the presence of the object when the object is determined to be an object to be notified based on the detection result of the object detection unit (23), The object detection unit (23) is a driving assistance device that determines that the object is not an object to be notified when the turn signal operation unit (4A) is operated and the object is not present at a width position corresponding to a widthwise outer detection point located at the destination of the lane change among the plurality of detection points (PA, PB, PC, PD, PE), and the object is present at a width position corresponding to a widthwise inner detection point located at the destination of the lane change.

2. a detection point setting unit (22B) that sets a plurality of detection points (PA, PB, PC, PD, PE) arranged in a width direction on the rear side of the vehicle (1); an object detection unit (23) that detects whether or not an object is present at each width position corresponding to each of the detection points (PA, PB, PC, PD, PE); a notification unit (12) that notifies the presence of the object when the object is determined to be an object to be notified based on the detection result of the object detection unit (23), the detection point setting unit (22B) sets a rear detection point (PC) at the rear of the center of the left and right of the vehicle (1); The object detection unit (23) is a driving assistance device that determines that an object is not an object to be notified when the object is present at a width position corresponding to the rear detection point (PC).

3. Among the plurality of detection points (PA, PB, PC, PD, PE), the outermost detection point (PA, PE) in the width direction is located in another lane adjacent to the lane on the outer side in the width direction when the host vehicle (1) is traveling at a position in the left-right center of the lane or a position shifted to the left or right from the left-right center within the lane, The innermost detection points (PB, PD) in the width direction are located within the lane when the vehicle (1) is traveling at the center position of the lane and at a position shifted to the left or right from the center position within the lane. The driving assistance device according to claim 1 .

4. The vehicle (1) is a saddle-ride type vehicle. The driving assistance device according to claim 1 .

5. A driving assistance device (10) according to claim 2, The detection point setting unit (22B) sets the detection points (PA, PB, PC, PD, PE) when an operation of a turn signal operation unit (4A) corresponding to an operation intended to change lanes of the vehicle (1) is performed. Saddle-type vehicle.

Images