Information providing device and information providing method

Abstract

This information providing device and information providing method acquire an intersection area, which intersects with an area allowing another moving object to move, on a travel route (R) set by autonomous travel control, determine, on the basis of a travel environment around an own vehicle (V), whether or not the own vehicle (V) is allowed to pass through the intersection area, and provide information to notify an on-vehicle terminal and / or an electronic terminal in the own vehicle (V) that the own vehicle (V) is approaching the intersection area. While the own vehicle (V) is traveling to the intersection area, the information to be notified is changed, in accordance with the result of determination as to whether or not the own vehicle (V) is allowed to pass through the intersection area.

Description

[Technical Field]

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

[0002] When displaying the stopped state of a vehicle with an automatic driving function, it is known to detect the surrounding conditions of the vehicle, and when the vehicle will be stopped in the future in the surrounding conditions while it is in automatic driving, to display a stop sign extending upward from the road surface of the surrounding conditions on a display device (Patent Document 1). [Prior art documents] [Patent documents]

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

[0004] For example, when a vehicle passes through a crosswalk without traffic lights, it may slow down to check that there are no pedestrians. In such a case, in the above-mentioned conventional technology, whether the vehicle needs to stop depends on whether a pedestrian is present at the crosswalk. Therefore, information is not provided to the vehicle occupants until a pedestrian is detected crossing the crosswalk and it is determined that the vehicle needs to stop. As a result, in the above-mentioned conventional technology, the vehicle approaches the crosswalk without providing any information to the vehicle occupants, which causes a problem of anxiety for the vehicle occupants.

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

[0006] The present invention acquires an intersection area on a travel route where the intersection area intersects with an area in which other moving bodies can move, determines whether the vehicle can pass through the intersection area based on the travel environment around the vehicle, and provides information to an on-board terminal and / or electronic terminal in the vehicle notifying that the vehicle is approaching the intersection area, and while the vehicle is traveling to the intersection area, changes the information depending on the determination result of whether the vehicle can pass through the intersection area, the intersection area includes an intersection with traffic lights, and when the vehicle turns right or left at the intersection with traffic lights, detects obstacles present at the intersection and the status of the traffic lights, and if it is determined based on the status of the traffic lights that the vehicle can pass through the intersection, reduces the degree of emphasis of the displayed portion of the information, and if it is determined based on the detection result of obstacles present at the intersection after reducing the degree of emphasis, , this The above problem is solved by stopping the provision of the information. [Effects of the Invention]

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0028] [Function block function] Hereinafter, the functions realized by the functional blocks of the control unit 20, the acquisition unit 21, the recognition unit 22, the determination unit 23, and the provision unit 24 will be described with reference to FIGS. 2A to 2C.

[0029] The control unit 20 has a function of driving the vehicle to a set destination by autonomous driving control (i.e., a driving assistance function). When performing driving assistance using the driving assistance function, the driving assistance device 19 displays an image showing the driving environment of the host vehicle on the display device 18. FIG. 2A is a diagram showing an example of an image displayed on the display device 18. The image shown in FIG. 2A is a bird's-eye view image acquired by setting a virtual viewpoint diagonally above and behind the host vehicle V and capturing an image of the area in front of the host vehicle V from that viewpoint. The bird's-eye view image displays information such as the lanes and signs of the road on which the host vehicle V is traveling, the driving position of the host vehicle V, and obstacles present around the host vehicle V.

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

[0031] The driving scene shown in FIG. 2A corresponds to an actual driving scene of the host vehicle V. That is, in the driving scene shown in FIG. 2A, the host vehicle V is driving on a road with two lanes on each side. The vehicle's driving direction in lanes L1 and L2 is from the bottom to the top of the drawing (from the front to the back), and the vehicle's driving direction in lanes L3 and L4 is from the top to the bottom of the drawing (from the back to the front). The road on which the host vehicle V is driving intersects with a road with one lane on each side ahead of the host vehicle V. On the road with one lane on each side, the vehicle's driving direction in lane L5 is from the right side to the left side of the drawing, and the vehicle's driving direction in lane L6 is from the left side to the right side of the drawing.

[0032] As shown in FIG. 2A, the area where two roads intersect is intersection C. Intersection C is provided with crosswalks CW1 and CW2 for pedestrians and cyclists to cross the two-lane road, and crosswalks CW3 and CW4 for pedestrians and cyclists to cross the one-lane road. It is also assumed that traffic lights are installed at intersection C. In the driving scene shown in FIG. 2A, vehicles traveling on lanes L1 and L3 can go straight or turn left at intersection C, and vehicles traveling on lanes L2 and L4 can go straight or turn right at intersection C. It is also assumed that a destination Px (not shown) is set by the occupant of vehicle V to a location beyond lane L5 traveling straight to the left side of the drawing.

[0033] In this case, the navigation device 16 sets a driving route R for the host vehicle V using the driving assistance function of the control unit 20. The navigation device 16 sets, for example, the driving route R shown in FIG. 2A. The driving route R is a route in which the host vehicle V travels along lane L1, turns left at intersection C, travels along lane L5, and arrives at destination Px. As shown in FIG. 2A, the host vehicle V travels along lane L1 along the driving route R.

[0034] The driving of the host vehicle V is controlled by autonomous driving control using the driving assistance function of the driving assistance device 19. Multiple assistance levels are set for the driving assistance of the driving assistance device 19. The assistance level indicates the degree to which the driving assistance device 19 intervenes in the control of the driving behavior of the host vehicle V (in other words, the degree to which the driver's manual operation intervenes). The driving assistance device 19 realizes driving assistance defined at each assistance level using the driving assistance function. The assistance level can be set based on, for example, the driving automation levels defined in SAE J3016: SEP2016, Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles published by the Society of Automotive Engineers (SAE).

[0035] In the driving scene shown in Fig. 2A, the driving assistance device 19 is assumed to be performing driving assistance at assistance level 4, which is a level where the driving assistance device 19 executes all driving tasks for the host vehicle V and continuously responds in a limited area when it is difficult to continue control. In this case, when approaching an intersection C, the driving assistance device 19 decelerates the host vehicle V and detects the status of the traffic lights installed at the intersection C and pedestrians and bicycles crossing the crosswalks CW1 and CW3. If the status of the traffic lights does not instruct the host vehicle V to stop and there are no pedestrians or bicycles crossing the crosswalks CW1 and CW3, the driving assistance device 19 determines that the host vehicle V can turn left at the intersection C and enters the intersection C.

[0036] When this series of determinations and autonomous driving control is executed by the driving assistance device 19, if appropriate information cannot be provided to the occupants of the host vehicle V, the occupants of the host vehicle V will feel uneasy. In other words, if the host vehicle V enters an intersection C by autonomous driving control without determining the status of a traffic light, making a determination to avoid contact with pedestrians and bicycles, and providing the determination results, the occupants of the host vehicle V may become uneasy that the host vehicle V may suddenly stop before or at the intersection C. Therefore, the driving assistance device 19 of this embodiment controls the display device 18 so as to provide appropriate information to the occupants of the host vehicle V. This control is realized mainly by the functions of the acquisition unit 21, the recognition unit 22, the determination unit 23, and the provision unit 24.

[0037] The acquisition unit 21 has a function to acquire an intersection area where the travel route R set by the autonomous travel control intersects with an area where other moving bodies can move (i.e., an intersection area acquisition function). Other moving bodies are traffic participants other than the host vehicle V, such as other vehicles, motorcycles, bicycles, and pedestrians. An area where other moving bodies can move is an area where traffic participants other than the host vehicle V can move when moving from their current position to their destination. For example, an area where pedestrians can move is an area where pedestrians can walk, such as a sidewalk, a crosswalk, or a footbridge. An area where other vehicles and motorcycles can move is a drivable area of ​​the road, just like the host vehicle V.

[0038] The driving assistance device 19 acquires the travel route R from the navigation device 16 using the intersection area acquisition function of the acquisition unit 21. Next, an intersection area where the travel route R intersects with an area in which other moving bodies can move is acquired. The intersection of the travel route R with an area in which other moving bodies can move means that, when a traffic participant other than the subject vehicle V is present in an area in which that traffic participant can move, the subject vehicle V comes into contact with the other moving body when the subject vehicle V travels along the travel route R. In other words, this means that the travel route R of the subject vehicle V and the area in which traffic participants other than the subject vehicle V can move are on the same plane, and that, when viewed in a planar view, the travel route R of the subject vehicle V overlaps with part or all of the area in which traffic participants other than the subject vehicle V can move.

[0039] For example, if there is a crosswalk on the travel route R, and if there is a pedestrian on the crosswalk, the host vehicle V will come into contact with the pedestrian when traveling along the travel route R. Therefore, a crosswalk that exists on the travel route R becomes an intersection area. In contrast, if there is a pedestrian bridge on the travel route R, the host vehicle V will not come into contact with the pedestrian even if the host vehicle V travels along the travel route R while the pedestrian is walking on the pedestrian bridge. This is because the road on which the host vehicle V is traveling and the pedestrian bridge on which the pedestrian is walking are not on the same plane.

[0040] The map information 14 includes road information of the roads that the host vehicle V passes through when traveling along the travel route R. The map information 14 also includes information on areas on the roads that the host vehicle V passes through that traffic participants other than the host vehicle V can move through, and information on their attributes. Therefore, the driving assistance device 19 can extract intersection areas that exist on the travel route R using the intersection area acquisition function of the acquisition unit 21.

[0041] Specific examples of intersection areas include an intersection where the road on which the host vehicle V is traveling intersects with the road on which other vehicles are traveling, and a crosswalk installed on the road on which the host vehicle V is traveling. Also, when the host vehicle V enters a facility located in a position facing the road, if there is a sidewalk between the roadway and the facility, the part of the sidewalk facing the facility becomes an intersection area. In other words, if a pedestrian is walking on the sidewalk between the facility and the roadway, when the host vehicle V enters the facility, the host vehicle V and the pedestrian will come into contact with each other, and therefore the sidewalk becomes an intersection area.

[0042] In the driving scene shown in FIG. 2A , if there is another vehicle in intersection C and host vehicle V enters intersection C, there is a risk that host vehicle V will come into contact with the other vehicle. Therefore, intersection C is an intersection area. Also, if host vehicle V goes straight through intersection C and a pedestrian or bicycle is crossing crosswalks CW1 and CW2, there is a risk that host vehicle V will come into contact with the pedestrian or bicycle. Therefore, crosswalks CW1 and CW2 are intersection areas. Similarly, if host vehicle V turns left at intersection C, crosswalks CW1 and CW3 are intersection areas, and if host vehicle V turns right at intersection C, crosswalks CW1 and CW4 are intersection areas.

[0043] The recognition unit 22 has a function of recognizing the driving environment around the host vehicle V (i.e., a driving environment recognition function). The driving assistance device 19 acquires the detection results of the imaging device 11 and the distance measuring device 12 using the driving environment recognition function of the recognition unit 22, and performs processing such as pattern matching and sensor fusion on the acquired detection results to recognize the driving environment of the host vehicle V. For example, the driving assistance device 19 detects other vehicles traveling around the host vehicle V from the detection results of the imaging device 11, and detects the distance from the host vehicle V to the other vehicles and the direction in which the other vehicles are located relative to the host vehicle V from the detection results of the distance measuring device 12, and recognizes the position of the other vehicles relative to the host vehicle V. Furthermore, the driving assistance device 19 detects a pedestrian crossing a crosswalk in front of the host vehicle V from the detection results of the imaging device 11, and detects the distance from the host vehicle V to the pedestrian from the detection results of the distance measuring device 12, and recognizes the position of the other vehicles relative to the host vehicle V. pedestrians Recognize the location of

[0044] A traffic light may be installed at an intersection C, which is an intersection area. In order to recognize the state of the traffic light as part of the driving environment, the driving assistance device 19 uses the driving environment recognition function of the recognition unit 22 to determine whether or not a traffic light exists ahead of the host vehicle V from the detection result of the imaging device 11 and the map information 14. If it is determined that a traffic light exists ahead of the host vehicle V, the driving assistance device 19 detects the state of the traffic light as part of the driving environment. The state of the traffic light is, for example, the state of the traffic light lights, and specifically, the state of the traffic light lights is red (i.e., a state in which the host vehicle V must stop before the intersection C), the state of the traffic light lights yellow (i.e., a state in which the host vehicle V cannot enter the intersection C unless it cannot stop), or the state of the traffic light lights green (i.e., a state in which the host vehicle V can enter the intersection C). The state of the traffic light is detected from the image acquired by the imaging device 11.

[0045] In the driving scene shown in FIG. 2A , the driving assistance device 19 uses the driving environment recognition function of the recognition unit 22 to detect, for example, a preceding vehicle and a following vehicle traveling in lane L1, a parallel vehicle traveling in lane L2, and oncoming vehicles traveling in lanes L3 and L4 as other vehicles. Then, the driving assistance device 19 recognizes the positions of other vehicles traveling around the host vehicle V based on the direction and distance of the other vehicles relative to the host vehicle V. In the driving scene shown in FIG. 2A , since no vehicles other than the host vehicle V are traveling, it is recognized that no other vehicles are traveling around the host vehicle V. Furthermore, the driving assistance device 19 detects pedestrians crossing the crosswalks CW1, CW2, CW3, and CW4, and recognizes the presence of pedestrians as part of the driving environment of the host vehicle V. Since no pedestrians are detected in the driving scene shown in FIG. 2A , it is recognized that no pedestrians are present around the host vehicle V. Furthermore, the driving assistance device 19 determines whether or not a traffic light is installed at the intersection C. In the driving scene shown in FIG. 2A, a traffic light is installed at intersection C, and the traffic light is in a yellow light state.

[0046] The determination unit 23 has a function of determining whether or not the host vehicle V can pass through the intersection area based on the driving environment of the host vehicle V recognized by the driving environment recognition function (i.e., a passing determination function). The driving assistance device 19 determines whether or not an obstacle exists in the intersection area using the passing determination function of the determination unit 23, and if it is determined that no obstacle exists in the intersection area, it determines that the host vehicle V can pass through the intersection area. On the other hand, if it is determined that an obstacle exists in the intersection area, it determines that the host vehicle V cannot pass through the intersection area.

[0047] In addition, if a traffic light is installed in the intersection area (specifically, intersection C), the driving assistance device 19 determines whether the traffic light is in a state instructing the vehicle to stop. If it determines that the traffic light is in a state instructing the vehicle to stop (i.e., the light is red), it determines that the vehicle V cannot pass through the intersection area, and if it determines that the traffic light is not in a state instructing the vehicle to stop (i.e., the light is green), it determines that the vehicle V can pass through the intersection area.

[0048] Regarding the yellow light state, whether or not the host vehicle V can stop before the intersection C is determined based on the traveling state of the host vehicle V (particularly the traveling speed of the host vehicle V) and the distance from the host vehicle V to the intersection area (intersection C). If it is determined that the host vehicle V cannot stop before the intersection C, the driving assistance device 19 determines that the traffic light state is not instructing the host vehicle V to stop and that the host vehicle V can pass through the intersection area. On the other hand, if it is determined that the host vehicle V can stop before the intersection C, the driving assistance device 19 determines that the traffic light state is instructing the host vehicle V to stop and that the host vehicle V cannot pass through the intersection area.

[0049] Therefore, when it is necessary to determine the presence or absence of an obstacle in an intersection area, such as an intersection where traffic lights are installed, and the status of the traffic lights, the driving assistance device 19 determines that the host vehicle V can pass through the intersection area when it determines that no obstacle is present in the intersection area and that the status of the traffic lights is not a state instructing the vehicle to stop. In contrast, when it determines that an obstacle is present in the intersection area or that the status of the traffic lights is a state instructing the vehicle to stop, the driving assistance device 19 determines that the host vehicle V cannot pass through the intersection area. Note that the driving assistance device 19 also determines whether the host vehicle V can pass through the intersection area when the host vehicle V departs after stopping in front of the intersection area. For example, when the host vehicle V departs after stopping in front of the intersection C in accordance with a stop signal, it determines whether the host vehicle V can pass through the intersection C.

[0050] In the driving scene shown in FIG. 2A, a traffic light is installed at the intersection C, so the presence or absence of an obstacle at the intersection C and the state of the traffic light are determined. Regarding the presence or absence of an obstacle, in the driving scene shown in FIG. 2A, the driving assistance device 19 recognizes, using the driving environment recognition function, that the driving environment is such that there are no other vehicles traveling around the host vehicle V and that there are no pedestrians around the host vehicle V. Therefore, the driving assistance device 19 determines that there are no other vehicles or pedestrians at the intersection C. In contrast, regarding the state of the traffic light, in the driving scene shown in FIG. 2A, the driving assistance device 19 recognizes, using the driving environment recognition function, that the state of the traffic light is yellow. In the driving scene shown in FIG. 2A, it is assumed that the distance from the host vehicle V to the intersection C is sufficient for the host vehicle V to stop before the intersection C. In this case, the driving assistance device 19 determines that the state of the traffic light is in a state instructing the host vehicle V to stop. Therefore, in the driving scene shown in FIG. 2A, the driving assistance device 19 determines that the host vehicle V cannot pass through the intersection area.

[0051] The providing unit 24 has a function of providing information to an in-vehicle terminal and / or electronic terminal in the host vehicle V notifying the host vehicle V that the host vehicle V is approaching an intersection area (i.e., an approach notification function). The in-vehicle terminal and electronic terminal of the host vehicle V are, for example, the display device 18, but are not limited thereto, and include a display portion of the instrument panel of the host vehicle V, a terminal for providing information to the occupants of the host vehicle V when performing driving assistance of the above-mentioned assistance level 3 or 4, and the like. The driving assistance device 19 uses the approach notification function of the providing unit 24 to provide information to the occupants of the host vehicle V notifying the occupants of the host vehicle V that the host vehicle V is approaching an intersection area, using the in-vehicle terminal and / or electronic terminal of the host vehicle V. Furthermore, while the host vehicle V travels from its current position to the intersection area, the driving assistance device 19 repeatedly performs a passage determination process using the passage determination function. Then, the information provided to the in-vehicle terminal and / or electronic terminal in the host vehicle V (i.e., the information provided to the occupants of the host vehicle V) is changed according to the obtained determination result.

[0052] The information reporting that the host vehicle V is approaching an intersection area includes information about the intersection area that the host vehicle V is approaching. For example, the information includes information indicating whether the intersection area is an intersection, a crosswalk, or a sidewalk facing a facility that the host vehicle V can enter. In addition, the information may include information indicating the distance from the current position of the host vehicle V to the intersection area. The driving assistance device 19 acquires the current position of the host vehicle V from the position detection device 15, and when the distance from the current position of the host vehicle V to the intersection area is equal to or shorter than a predetermined distance, the driving assistance device 19 provides information reporting that the host vehicle V is approaching the intersection area. The predetermined distance is set as an appropriate distance within a range in which obstacles in the intersection area can be detected using the imaging device 11 and distance measurement device 12 of the host vehicle V.

[0053] In addition, the information provided by the driving assistance device 19 includes information according to the determination result of whether or not the host vehicle V can pass through the intersection area, and information related to the determination of whether or not the host vehicle V can pass through the intersection area. Specifically, the information includes information indicating that it has been determined whether or not an obstacle exists in the intersection area, information indicating the type of obstacle (i.e., traffic participants) present in the intersection area, information indicating the lighting status of traffic lights installed in the intersection area, and information indicating whether or not the host vehicle V can pass through the intersection area. This information is displayed on the display device 18 to inform the occupants of the host vehicle V, but may alternatively be output as audio from a speaker provided in the display device 18. In other words, the occupants may be notified that the host vehicle is approaching the intersection area only by audio, such as "The intersection is coming soon." The same applies to the information according to the determination result of whether or not the host vehicle V can pass through the intersection area, and the information related to the determination of whether or not the host vehicle V can pass through the intersection area. Recorded audio or synthesized audio may be used for the audio.

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

[0055] In the case of the driving scene shown in FIG. 2A, the host vehicle V is approaching an intersection C and needs to slow down or stop, so an image (icon) X saying "Intersection Coming Soon" is displayed on the display device 18. The image X is information that notifies the host vehicle V that it is approaching an intersection area. The position where the image X is displayed is the position of the intersection C on the driving route R displayed on the display device 18. This allows the occupants of the host vehicle V to confirm that the driving assistance device 19 recognizes that the host vehicle V is approaching the intersection C. Furthermore, when the image X is displayed, a sound effect may be output from a speaker provided in the display device 18. The sound effect is output, for example, simultaneously with the display of the image X.

[0056] Additionally, area A displays an image Va showing the host vehicle V, an image D showing the distance from the host vehicle V to the intersection C, and an image Y showing the light status of the traffic light. The distance from the left edge of image D to the position indicated by the black triangle C corresponds to the distance from the host vehicle V to the intersection C, and the distance from the left edge to the right edge of image D corresponds to the distance from the host vehicle V to the destination Px. Image Y shown in FIG. 2A shows a traffic light facing sideways, with the light statuses corresponding to green, yellow, and red from the left. Image Y shown in FIG. 2A shows the yellow light status corresponding to the light status of the traffic light at the intersection C.

[0057] The driving assistance device 19 changes the information provided to the occupant of the host vehicle V according to the determination result obtained by the passage determination function. Specifically, if it is determined that the host vehicle V cannot pass through the intersection area, the driving assistance device 19 increases the degree of emphasis of the display portion of the information displayed on the display device 18. For example, it performs at least one of the following: enlarging the size of the display portion of the information, darkening the color of the display portion of the information, increasing the brightness of the display portion of the information, decreasing the transparency of the display portion of the information, and implementing a performance to highlight the display portion of the information. An example of a performance to highlight the display portion of the information is to flash the display portion of the information. At this time, a sound effect to attract the attention of the occupant may be output from a speaker provided in the display device 18. Note that if the display portion of the information is already highlighted, the driving assistance device 19 may maintain the display mode of the information without changing the degree of emphasis of the display portion of the information displayed on the display device 18 when it determines that the host vehicle V cannot pass through the intersection area.

[0058] On the other hand, if it is determined that the host vehicle V can pass through the intersection area, the degree of emphasis of the display portion of the information displayed on the display device 18 is reduced. For example, at least one of reducing the size of the display portion of the information, lightening the color of the display portion of the information, lowering the brightness of the display portion of the information, increasing the transparency of the display portion of the information, and implementing an effect to make the display portion of the information less noticeable is implemented. An example of an effect to make the display portion of the information less noticeable is fading out the display portion of the information. Furthermore, if the driving assistance device 19 determines that the host vehicle V can pass through the intersection area, the driving assistance device 19 may hide the display portion of the information displayed on the display device 18 and stop providing the information. In particular, if it is determined that the host vehicle V can pass through the intersection area before the host vehicle V passes through the intersection area, the driving assistance device 19 may hide information notifying that the host vehicle V is approaching the intersection area and stop providing the information, even before the host vehicle V has passed through the intersection area. This makes it possible to notify the occupants of the host vehicle V that the driving assistance device 19 is driving the vehicle after determining whether or not it is possible to pass through the intersection area.

[0059] Fig. 2B is an image displayed on display device 18 when the traffic light at intersection C changes to a red light state after image X is displayed in the driving scene shown in Fig. 2A. In the driving scene shown in Fig. 2B, as host vehicle V advances, the driving position of host vehicle V in lane L1 moves closer to intersection C, and the length of image Da, which indicates the distance to intersection C and destination Px, becomes shorter than image D. In addition, the image showing the light state of the traffic light at intersection C changes to image Ya, which indicates a red light state.

[0060] In the driving scene shown in FIG. 2B , the traffic light installed at the intersection C has turned red, so the host vehicle V must stop before the intersection C. Therefore, it is determined that the host vehicle V cannot pass through the intersection C (intersection area), and image X, which is information notifying the host vehicle V that the host vehicle V is approaching the intersection area, is changed to image Xa according to the determination result. Image Xa is information notifying the occupant of the host vehicle V that the host vehicle V will stop before the intersection C, and is displayed at the position of the intersection C. By displaying image Xa, the occupant of the host vehicle V can be notified that the host vehicle V will stop at the position where the image is displayed. In addition, it can be shown to the occupant of the host vehicle V that the driving assistance device 19 is performing a determination on whether or not the host vehicle V can pass through the crosswalk CW1 and the intersection C. This makes it possible to provide appropriate information to the occupant of the host vehicle V when approaching the intersection C.

[0061] Image Xa has a larger display portion than image X, and uses a bold font to enhance the degree of emphasis. This allows the degree of emphasis of the display to be increased. Furthermore, when a traffic light is installed in the intersection area, as in the driving scene shown in FIG. 2B, the driving assistance device 19 may separately provide the occupant with information according to the determination result of whether or not an obstacle exists in the intersection area and information according to the status of the traffic light. For example, in the driving scene shown in FIG. 2B, the determination result of whether or not an obstacle exists in the intersection area is displayed at the position of intersection C, and the determination result of whether or not the traffic light status indicates a stop is displayed as image Ya in the lower area A. This allows the degree of emphasis of the display to be increased.

[0062] FIG. 2C shows an image to be displayed on the display device 18 when image Xa is displayed in the driving scene shown in FIG. 2B, and the host vehicle V stops in front of the intersection C, and then the traffic light changes to a green light. In the driving scene shown in FIG. 2C, the host vehicle V is traveling at a position on the crosswalk CW1, and the length of image Db, which indicates the distance to the intersection C and the destination Px, is shorter than image Da. In addition, the image indicating the traffic light state at the intersection C has changed to image Yb, which indicates a green light. Because the traffic light installed at the intersection C is in a green light state, the host vehicle V does not need to stop in front of the intersection C. Therefore, in the driving scene shown in FIG. 2C, image Xa, which notifies the occupants that the host vehicle V will stop in front of the intersection C, is not displayed.

[0063] In the driving scene shown in FIG. 2C , a pedestrian is detected crossing the crosswalk CW3. In this case, image Z is displayed at the position of the crosswalk CW3 to notify the occupant that a pedestrian is present on the crosswalk CW3. Image Z is an image that notifies the occupant of the presence of a pedestrian. Then, image Xb, which reads "Pedestrian Crossing," is displayed next to image Z to notify the occupant that the host vehicle V has stopped because the pedestrian is crossing. In other words, image Xa is changed to image Xb based on the determination of whether the vehicle V can pass through the intersection area in the driving scene shown in FIG. 2C . The display portion of image Xb is smaller than that of image Xa, and the degree of emphasis is reduced by using a normal font instead of a bold font. After the pedestrian has completed crossing the crosswalk CW3, the display of images Xb and Z is stopped (hide), and the host vehicle V turns left at the intersection C and enters lane L5 using the driving assistance function of the control unit 20.

[0064] Below, examples of specific processing in the driving assistance device 19 will be shown for the cases where the host vehicle V turns left and right at the intersection C, respectively.

[0065] First, a case where the host vehicle V turns left at an intersection C will be described. When the host vehicle V turns left at an intersection C with traffic lights along the travel route R, the driving assistance device 19 uses the travel environment recognition function of the recognition unit 22 to detect pedestrians and bicycles crossing the intersection C and the status of the traffic lights to recognize the travel environment. Next, the passing determination function of the determination unit 23 determines whether the host vehicle V can pass through the intersection area based on the status of the traffic lights. If it is determined based on the status of the traffic lights (specifically, the lighting status) that the host vehicle V can pass through the intersection C, the approach warning function of the provision unit 24 reduces the emphasis level of the display portion of the information to be provided to the occupant of the host vehicle V. On the other hand, if it is determined based on the status of the traffic lights that the host vehicle V cannot pass through the intersection C, the emphasis level of the display portion of the information to be provided to the occupant of the host vehicle V is increased or the display portion of the information is maintained unchanged.

[0066] Furthermore, the driving assistance device 19 determines that the vehicle V can pass through the intersection C based on the state of the traffic lights, reduces the degree of emphasis on the displayed portion of the information, and then determines whether the vehicle V can pass through the intersection C based on the detection results of pedestrians and bicycles. If it determines that the vehicle V can pass through the intersection C based on the detection results of pedestrians and bicycles, it stops providing the occupant with information regarding whether or not the vehicle V can pass through the intersection C. On the other hand, if the vehicle V can pass through the intersection C based on the detection results of pedestrians and bicycles, it stops providing the occupant with information regarding whether or not the vehicle V can pass through the intersection C. do not have If it is determined that the vehicle V is approaching the intersection area, the degree of emphasis of the display portion of the information to be provided to the occupant is increased or the display portion of the information is maintained unchanged. This makes it possible to gradually change the information to notify that the vehicle V is approaching the intersection area according to the determination of whether or not the vehicle V can pass through the intersection area.

[0067] Next, a case where the host vehicle V turns right at an intersection C will be described. When the host vehicle V turns right at an intersection with traffic lights along the travel route R, the driving assistance device 19 uses the travel environment recognition function of the recognition unit 22 to detect pedestrians and bicycles crossing the intersection C, as well as oncoming vehicles of the host vehicle V, and the status of the traffic lights to recognize the travel environment. In the travel scene shown in FIG. 2A , the oncoming vehicle of the host vehicle V is a vehicle traveling in lane L3 or lane L4. Next, the passing determination function of the determination unit 23 determines whether the host vehicle V can pass through the intersection C based on the status of the traffic lights (specifically, the lighting status). If it is determined based on the status of the traffic lights that the host vehicle V can pass through the intersection C, the approach warning function of the provision unit 24 reduces the emphasis level of the display portion of the information to be provided to the occupant of the host vehicle V. On the other hand, if it is determined based on the status of the traffic lights that the host vehicle V cannot pass through the intersection C, the emphasis level of the display portion of the information to be provided to the occupant of the host vehicle V is increased or the display portion of the information is maintained unchanged.

[0068] Furthermore, the driving assistance device 19 determines that the host vehicle V can pass through the intersection C based on the state of the traffic lights, reduces the degree of emphasis of the display portion of the information to be provided to the occupant of the host vehicle V, and then determines whether the host vehicle V can pass through the intersection C based on the detection results of pedestrians, bicycles, and oncoming vehicles. If it determines that the host vehicle V can pass through the intersection C based on the detection results of pedestrians, bicycles, and oncoming vehicles, it stops providing the occupant with information regarding whether or not the host vehicle V can pass through the intersection C. On the other hand, if it determines that the host vehicle V cannot pass through the intersection C based on the detection results of pedestrians, bicycles, and oncoming vehicles, it increases the degree of emphasis of the display portion of the information to be provided to the occupant of the host vehicle V, or keeps the display portion of the information unchanged. This makes it possible to gradually change the information notifying the host vehicle V that it is approaching the intersection area depending on the determination of whether or not the host vehicle V can pass through the intersection area.

[0069] [Processing in driving assistance systems] 3A and 3B, the procedure for processing information by the driving assistance device 19 will be described. FIGS. 3A and 3B are an example of a flowchart showing information processing executed in the driving assistance system 10 of this embodiment. The processing described below is executed at predetermined time intervals by the CPU 191, which is the processor of the driving assistance device 19.

[0070] First, in step S1 of FIG. 3A, the intersection area acquisition function of the acquisition unit 21 acquires the travel route R from the navigation device 16. In the following step S2, the area in which other moving bodies can move is acquired from the map information 14. In the following step S3, the intersection area is acquired. Next, in step S4, the travel environment recognition function of the recognition unit 22 acquires the current position of the host vehicle V from the position detection device 15. In the following step S5, it is determined whether the distance from the host vehicle V to the intersection area is equal to or less than a predetermined distance. If it is determined that the distance from the host vehicle V to the intersection area exceeds the predetermined distance, the process proceeds to step S14 of FIG. 3B. Alternatively, step S5 may be repeated until the distance from the host vehicle V to the intersection area is equal to or less than the predetermined distance. On the other hand, if it is determined that the distance from the host vehicle V to the intersection area is equal to or less than the predetermined distance, the process proceeds to step S6.

[0071] In step S6, the approach notification function of the providing unit 24 displays an image notifying the vehicle V of the approach to an intersection area at the position of the intersection area on the travel route displayed on the display device 18. Moving to FIG. 3B, in step S7, the passage determination function of the determination unit 23 determines whether or not a traffic light is installed in the intersection area. If it is determined that a traffic light is not installed in the intersection area, the process proceeds to step S8, where an obstacle present in the intersection area is detected, and the process proceeds to step S11. On the other hand, if it is determined that a traffic light is installed in the intersection area, the process proceeds to step S9, where the state of the traffic light installed in the intersection area and an obstacle present in the intersection area are detected. In step S10 following step S9, the process determines whether or not the state of the traffic light indicates a stop. If it is determined that the state of the traffic light indicates a stop, the process proceeds to step S15. On the other hand, if it is determined that the state of the traffic light does not indicate a stop, the process proceeds to step S11. In step S11, the process determines whether or not an obstacle exists in the intersection area. If it is determined that no obstacle exists in the intersection area, the process proceeds to step S12, where it is determined that the vehicle V can pass through the intersection area.

[0072] The process proceeds to step S12, and if it is determined that the host vehicle V can pass through the intersection area, the process proceeds to step S13. In step S13, the proximity notification function of the provision unit 24 reduces the emphasis level of the display of the image regarding whether or not the host vehicle V can pass through the intersection area, or stops (hides) the display of the image. In the following step S14, the driving assistance function of the control unit 20 autonomously controls the driving of the host vehicle V via the vehicle control device 17 so that the host vehicle V travels along the driving route R. Thereafter, execution of the routine shown in FIG. 3 is stopped, and the display control process in the driving assistance device 19 is terminated.

[0073] On the other hand, if it is determined that an obstacle exists in the intersection area, the process proceeds to step S15, where it is determined that the host vehicle V cannot pass through the intersection area. In this case, in the following step S16, the proximity notification function of the providing unit 24 increases the degree of emphasis of the display of the image regarding whether or not the host vehicle V can pass through the intersection area, or maintains the display of the image. In the following step S17, it is determined whether or not the passage determination of the intersection area has been repeated a predetermined number of times (for example, five times). If it is determined that the passage determination of the intersection area has not been repeated the predetermined number of times or more, the process proceeds to step S7, where the passage determination of the intersection area is repeated. On the other hand, if it is determined that the passage determination of the intersection area has been repeated the predetermined number of times or more, the execution of the routine shown in FIG. 3 is stopped, and the display control processing in the driving assistance device 19 is terminated. Then, the driving assistance function of the control unit 20 requests the driver to drive manually.

[0074] [Embodiments of the present invention] As described above, this embodiment provides an information providing device that includes an acquisition unit 21 that acquires an intersection area where the travel route R set by autonomous travel control intersects with an area in which other moving bodies can move, a recognition unit 22 that recognizes the travel environment around the host vehicle V, a determination unit 23 that determines whether the host vehicle V can pass through the intersection area based on the travel environment, and a provision unit 24 that provides information to an in-vehicle terminal and / or an electronic terminal in the host vehicle V that the host vehicle V is approaching the intersection area, and the provision unit 24 changes the information according to the determination result of the determination unit 23 while the host vehicle V is traveling to the intersection area. This makes it possible to provide appropriate information to vehicle occupants when approaching an intersection area such as an intersection C, thereby reducing anxiety felt by the vehicle occupants.

[0075] Furthermore, according to the information providing device of this embodiment, the intersection area includes an intersection, a crosswalk, and a sidewalk facing a facility into which the host vehicle V can enter. This allows the intersection area to be recognized more accurately.

[0076] Furthermore, according to the information providing device of this embodiment, the providing unit 24 changes at least one of the color, brightness, and size of the display portion of the information, thereby making it possible to change the information more effectively.

[0077] Furthermore, according to the information providing device of this embodiment, when the determination unit 23 determines that the host vehicle V cannot pass through the intersection area, the providing unit 24 increases the degree of emphasis of the display portion of the information, and when the determination unit 23 determines that the host vehicle V can pass through the intersection area, the providing unit 24 decreases the degree of emphasis of the display portion of the information or stops providing the information. As a result, when approaching an intersection area such as an intersection C, it is possible to notify the vehicle occupant that it has been determined whether the host vehicle V can pass through the intersection area, thereby reducing anxiety felt by the vehicle occupant.

[0078] Furthermore, according to the information providing device of this embodiment, the providing unit 24 executes at least one of displaying the information together with the distance from the vehicle V to the intersection area, displaying the information at the position of the intersection area on the travel route R displayed on the display device 18, and displaying the information superimposed on an image of the outside of the vehicle acquired from the imaging device 11. This allows the information to be effectively displayed to the occupants of the vehicle.

[0079] Furthermore, according to the information providing device of this embodiment, when the determination unit 23 determines that the host vehicle V can pass through the intersection area, the providing unit 24 reduces the degree of emphasis on the display portion of the information even before the host vehicle V passes through the intersection area. This makes it possible to notify the vehicle occupants of the vehicle early on when approaching the intersection area that it has been determined whether the host vehicle V can pass through the intersection area, thereby reducing anxiety felt by the vehicle occupants.

[0080] Furthermore, according to the information providing device of this embodiment, when a traffic light is present ahead of the host vehicle V, the recognition unit 22 detects obstacles present around the host vehicle V and the state of the traffic light as the driving environment, and the determination unit 23 determines whether the obstacle is present in the intersection area and whether the state of the traffic light is a state instructing the vehicle to stop, and if it is determined that the obstacle is not present in the intersection area and the state of the traffic light is not a state instructing the vehicle to stop, it determines that the host vehicle V can pass through the intersection area. This makes it possible to appropriately determine whether or not the host vehicle V can pass through the intersection area when a traffic light is installed in the intersection area.

[0081] Furthermore, according to the information providing device of this embodiment, the providing unit 24 provides the in-vehicle terminal and / or the electronic terminal with information according to the determination result of whether or not the obstacle is present in the intersection area and information according to the determination result of whether or not the state of the traffic light is a state instructing a stop. of The environment can be depicted in more detail.

[0082] Furthermore, according to the information providing device of this embodiment, when the host vehicle V departs after stopping in front of the intersection area, the determination unit 23 determines whether the host vehicle V can pass through the intersection area. This makes it possible to more reliably determine whether the host vehicle V can pass through the intersection area.

[0083] In addition, according to the information providing device of this embodiment, when the vehicle V turns left along the driving route R at an intersection C equipped with traffic lights, the recognition unit 22 detects, as the driving environment, pedestrians and bicycles crossing the intersection C and the state of the traffic lights, and the judgment unit 23 judges whether the vehicle V can pass through the intersection C based on the state of the traffic lights. If the judgment unit 23 judges based on the state of the traffic lights that the vehicle V can pass through the intersection C, the provision unit 24 reduces the degree of emphasis of the displayed portion of the information. After reducing the degree of emphasis, the judgment unit 23 judges whether the vehicle V can pass through the intersection C based on the detection results of the pedestrians and the bicycles. If the judgment unit 23 judges based on the detection results of the pedestrians and the bicycles that the vehicle V can pass through the intersection C, the provision unit 24 stops providing the information. This allows information to be displayed effectively to the vehicle occupants when the vehicle V is turning left.

[0084] In addition, according to the information providing device of this embodiment, when the vehicle V turns right at an intersection C with traffic lights along the driving route R, the recognition unit 22 detects, as the driving environment, pedestrians and bicycles crossing the intersection C, as well as oncoming vehicles of the vehicle V, and the state of the traffic lights, and the judgment unit 23 judges whether the vehicle V can pass through the intersection C based on the state of the traffic lights, and if the judgment unit 23 determines that the vehicle V can pass through the intersection C based on the state of the traffic lights, the provision unit 24 reduces the degree of emphasis of the displayed portion of the information, and after reducing the degree of emphasis, the judgment unit 23 determines whether the vehicle V can pass through the intersection C based on the detection results of the pedestrians, bicycles, and oncoming vehicles, and if the judgment unit 23 determines that the vehicle V can pass through the intersection C based on the detection results of the pedestrians, bicycles, and oncoming vehicles, the provision unit 24 stops providing the information. This allows information to be displayed effectively to the vehicle occupants when the vehicle V is turning right.

[0085] Furthermore, according to the information providing device of this embodiment, the providing unit 24 displays the information on at least one of a display mounted on the vehicle V, a display provided on a terminal for monitoring the traveling of the vehicle V, and a display on a terminal of an occupant of the vehicle V. This makes it possible to provide information regarding whether or not it is possible to pass through the intersection area to a person supervising the traveling of the vehicle.

[0086] Furthermore, this embodiment provides an information provision method executed by a processor, in which the processor acquires an intersection area where a travel route R set by autonomous travel control intersects with an area in which other moving bodies can move, recognizes the travel environment around the host vehicle V, determines whether the host vehicle V can pass through the intersection area based on the travel environment, provides information to an in-vehicle terminal and / or an electronic terminal in the host vehicle V notifying the host vehicle V that the host vehicle V is approaching the intersection area, and changes the information while the host vehicle V is traveling to the intersection area depending on the determination result of whether the host vehicle V can pass through the intersection area. This makes it possible to provide appropriate information to vehicle occupants when approaching an intersection area such as an intersection C, thereby reducing anxiety felt by the vehicle occupants. [Explanation of symbols]

[0087] 10...Driver assistance system 11...imaging device 12…Distance measuring device 13...Status detection device 14...Map information 15...Position detection device 16...Navigation device 17...Vehicle control device 171...Vehicle speed control device 172...Steering control device 18...Display device 19...Driving assistance device (information providing device) 191...CPU (processor) 192...ROM 193...RAM 20...Control unit 21…Acquisition part 22...Recognition part 23…Judgment section 24…Providing Department A…Area C...Intersection CW1, CW2, CW3, CW4...Pedestrian crossings L1, L2, L3, L4, L5, L6...lanes Px…Destination R...Route V...own vehicle D、Da、Db、Go, X, Xa, Xb, Y, Yes, Yb and Z.

Claims

1. an acquisition unit that acquires an intersection area where the travel route intersects with an area in which other moving bodies can move; a recognition unit that recognizes the driving environment around the vehicle; a determination unit that determines whether the host vehicle can pass through the intersection area based on the traveling environment; a providing unit that provides information to an in-vehicle terminal and / or an electronic terminal in the vehicle, the information notifying the vehicle that the vehicle is approaching the intersection area; the providing unit changes the information in accordance with a determination result of the determining unit while the host vehicle is traveling to the intersection area; the intersection area includes an intersection with a traffic light, The recognition unit When the vehicle turns right or left at the intersection, an obstacle present at the intersection and a state of the traffic light are detected as the traveling environment; The determination unit determining whether the vehicle can pass through the intersection based on the state of the traffic light; The providing unit When the determination unit determines that the vehicle can pass through the intersection based on the state of the traffic light, the degree of emphasis of the displayed portion of the information is reduced; The determination unit After the providing unit reduces the degree of emphasis, the providing unit determines whether or not the host vehicle can pass through the intersection based on a detection result of an obstacle present at the intersection; The providing unit When the determination unit determines that the vehicle can pass through the intersection based on the detection result of an obstacle present at the intersection, the information providing device stops providing the information.

2. The information providing device according to claim 1 , wherein the intersection area includes the intersection, a crosswalk, and a sidewalk facing a facility that the host vehicle can enter.

3. The information providing device according to claim 1 , wherein the providing unit changes at least one of a color, a brightness, and a size of a display portion of the information.

4. The providing unit When the determination unit determines that the vehicle cannot pass through the intersection area, the degree of emphasis of the display portion of the information is increased; The information providing device according to claim 1 , wherein the determining unit reduces the degree of emphasis of the displayed portion of the information or stops providing the information when the determining unit determines that the host vehicle can pass through the intersection area.

5. The providing unit displaying the information together with a distance from the host vehicle to the intersection area; Displaying the information at the position of the intersection area on the travel route displayed on a display device; and The information providing device according to claim 1 or 2, wherein the information is displayed by being superimposed on an image of the outside of the vehicle acquired from an imaging device.

6. The providing unit 3. The information providing device according to claim 1, wherein, when the determination unit determines that the host vehicle can pass through the intersection area, the degree of emphasis of the display portion of the information is reduced even before the host vehicle passes through the intersection area.

7. The recognition unit When the traffic light is present ahead of the vehicle, detecting obstacles present around the vehicle and a state of the traffic light as the traveling environment; The determination unit determining whether an obstacle exists around the vehicle in the intersection area and whether the traffic light is in a state instructing the vehicle to stop; 3. The information providing device according to claim 1, wherein when it is determined that no obstacles around the vehicle are present in the intersection area and the state of the traffic light is not a state instructing the vehicle to stop, it is determined that the vehicle can pass through the intersection area.

8. 8. The information providing device according to claim 7, wherein the providing unit provides the in-vehicle terminal and / or the electronic terminal with information corresponding to a determination result as to whether or not an obstacle present around the vehicle is present in the intersection area and information corresponding to a determination result as to whether or not the state of the traffic light indicates a stop.

9. The information providing device according to claim 1 , wherein the determination unit determines whether the host vehicle can pass through the intersection area when the host vehicle starts traveling after stopping in front of the intersection area.

10. The recognition unit When the vehicle turns left at the intersection where the traffic light is installed along the travel route, the system detects, as the travel environment, pedestrians and bicycles crossing the intersection and a state of the traffic light; The determination unit determining whether the vehicle can pass through the intersection based on the state of the traffic light; The providing unit When the determination unit determines that the vehicle can pass through the intersection based on the state of the traffic light, the degree of emphasis of the display portion of the information is reduced; The determination unit After reducing the degree of emphasis, a determination is made as to whether or not the host vehicle can pass through the intersection based on the detection results of the pedestrians and the bicycles; The providing unit 3. The information providing device according to claim 1, wherein the determining unit stops providing the information when it determines, based on the detection results of the pedestrians and the bicycles, that the host vehicle can pass through the intersection.

11. The recognition unit When the host vehicle turns right at the intersection where the traffic light is installed along the travel route, the host vehicle detects, as the travel environment, pedestrians and bicycles crossing the intersection, an oncoming vehicle of the host vehicle, and a state of the traffic light; The determination unit determining whether the vehicle can pass through the intersection based on the state of the traffic light; The providing unit When the determination unit determines that the vehicle can pass through the intersection based on the state of the traffic light, the degree of emphasis of the display portion of the information is reduced; The determination unit After reducing the degree of emphasis, determining whether or not the host vehicle can pass through the intersection based on the detection results of the pedestrian, the bicycle, and the oncoming vehicle; The providing unit 3. The information providing device according to claim 1, wherein the determination unit stops providing the information when it determines that the vehicle can pass through the intersection based on the detection results of the pedestrian, the bicycle, and the oncoming vehicle.

12. 3. The information providing device according to claim 1, wherein the providing unit displays the information on at least one of a display mounted on the vehicle, a display provided on a terminal for monitoring the running of the vehicle, and a display on a terminal of an occupant of the vehicle.

13. 1. A method for providing information executed by a processor, comprising: The processor: An intersection area where the travel route intersects with an area in which other moving bodies can move is obtained; Recognize the driving environment around your vehicle, determining whether the host vehicle can pass through the intersection area based on the traveling environment, the intersection area including an intersection where a traffic light is installed; providing information to an in-vehicle terminal and / or an electronic terminal in the vehicle to notify that the vehicle is approaching the intersection area; While the host vehicle is traveling to the intersection area, the information is changed according to a determination result of whether the host vehicle can pass through the intersection area; When the vehicle turns right or left at the intersection, an obstacle present at the intersection and a state of the traffic light are detected as the traveling environment; determining whether the vehicle can pass through the intersection based on the state of the traffic light; When it is determined that the vehicle can pass through the intersection based on the state of the traffic light, the degree of emphasis of the displayed portion of the information is reduced; After reducing the degree of emphasis, it is determined whether or not the host vehicle can pass through the intersection based on a detection result of an obstacle present at the intersection; When it is determined that the vehicle can pass through the intersection based on the result of detecting an obstacle present at the intersection, the provision of the information is stopped.

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