Driving assistance devices

Abstract

To avoid contact with an oncoming vehicle without panicking a driver even when the oncoming vehicle goes straight through an intersection in spite of lighting of a right turn winker or traveling on a right turn exclusive lane.SOLUTION: A driving support device 1 has a driving support control unit 11. The driving support control unit 11 sets an estimated traveling area based on a vehicle behavior of an oncoming vehicle F when the oncoming vehicle F approaching an own vehicle M is detected on the basis of information of the oncoming vehicle F when the own vehicle M enters an intersection, and stops the own vehicle M outside the estimated traveling area when determining that there is a possibility of contact between the own vehicle and the oncoming vehicle when a traveling route of the own vehicle enters the estimated traveling area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device that, when a vehicle attempts to change course in a direction that crosses an oncoming lane, estimates the travel area of ​​an approaching oncoming vehicle and allows the vehicle to continue changing course if it is determined that there will be no contact. [Background technology]

[0002] Conventionally, when a vehicle enters an intersection and attempts to change course to cross an oncoming lane (turn right on a road with left-hand traffic regulations), the driving assistance device recognizes a vehicle (oncoming vehicle) traveling in the oncoming lane, and if it determines that there is a high possibility that the vehicle will come into contact with the oncoming vehicle, it notifies the driver of this. If it determines that there will be no contact, the driving assistance device allows the vehicle to continue changing course, as disclosed in Patent Document 1 (JP 2017-224055 A) and the like.

[0003] In this case, if it is clear that an oncoming vehicle entering the intersection will change course to cross the lane in which the vehicle is traveling, the vehicle can change course to cross the oncoming lane because there is no possibility of contact with the oncoming vehicle even though the oncoming vehicle is entering the intersection. Therefore, for example, if an oncoming vehicle is traveling in a straight-ahead right-turn lane or a right-turn lane with its right-turn indicator on on a road with left-hand traffic restrictions, the vehicle can turn right after the oncoming vehicle enters the intersection without waiting for the oncoming vehicle to pass. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2017-224055 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the path of an oncoming vehicle is predicted from the vehicle behavior and it is determined that the vehicle will not come into contact with the vehicle, and the vehicle attempts to cross the oncoming lane, if the path of the oncoming vehicle deviates from the predicted path, there is a possibility of the vehicle coming into contact with the vehicle. This may occur when the oncoming vehicle approaches with its turn signal on on the side that will cross the lane the vehicle is traveling in, or when the oncoming vehicle is traveling in a right-turn-only lane on a road with left-hand traffic restrictions, and continues to travel straight ahead.

[0006] In such cases, the driving assistance device activates the Autonomous Emergency Braking (AEB) system to avoid contact with an oncoming vehicle, causing panic for the driver and passengers.

[0007] To provide a driving support device that can avoid contact with an oncoming vehicle and allow a driver or passenger to cross the oncoming lane without panicking the driver or passengers, even if the oncoming vehicle turns on its blinker or drives in a manner that deviates from road driving information. [Means for solving the problem]

[0008] The present invention provides a driving assistance device including a driving environment information acquisition unit that acquires driving environment information ahead of the host vehicle, an oncoming vehicle information acquisition unit that acquires information about oncoming vehicles traveling in an oncoming lane, and a driving assistance control unit that executes driving assistance when the host vehicle crosses the oncoming lane to change course, wherein the driving assistance control unit includes: an estimated traveling area setting unit that, when an oncoming vehicle approaching the host vehicle is detected based on information about the oncoming vehicle acquired by the oncoming vehicle information acquisition unit when the host vehicle enters an intersection, sets an estimated traveling area based on a vehicle behavior of the oncoming vehicle; a contact determination unit that, based on the estimated traveling area set by the estimated traveling area setting unit and a traveling path of the host vehicle, checks whether or not there is a possibility of contact between the host vehicle and the oncoming vehicle when the host vehicle enters the estimated traveling area on the traveling path; and a stop control unit that stops the host vehicle outside the estimated traveling area when the contact determination unit determines that there is a possibility of contact between the host vehicle and the oncoming vehicle, The vehicle control system further includes a lane change determination unit that checks whether the oncoming vehicle will change course from the intersection by crossing the lane in which the host vehicle is traveling, and the lane change determination unit determines that the oncoming vehicle is unlikely to change course by crossing the lane in which the host vehicle is traveling when the oncoming vehicle is decelerating and not steering toward the lane in which the host vehicle is traveling, and maintains the stopped state of the host vehicle. . [Effects of the Invention]

[0009] According to the present invention, when the driving assistance control unit detects an oncoming vehicle approaching the vehicle based on information about the oncoming vehicle as the vehicle enters an intersection, it sets an estimated travel area based on the vehicle behavior of the oncoming vehicle, and if it determines, based on this estimated travel area and the vehicle's travel path, that there is a possibility that the vehicle will come into contact with the oncoming vehicle when the vehicle enters the estimated travel area on this travel path, it causes the vehicle to stop outside the estimated travel area.Therefore, even if the oncoming vehicle turns on its turn signal or travels in a manner that deviates from road travel information, the driver can avoid contact with the oncoming vehicle and cross the oncoming lane safely without panicking. [Brief explanation of the drawings]

[0010] [Figure 1] Schematic diagram of the driving assistance device [Figure 2A] Flowchart showing the driving assistance control routine when turning right (part 1) [Figure 2B] Flowchart showing the driving assistance control routine when turning right (part 2) [Figure 3] An explanatory diagram showing the estimated travel area of ​​an oncoming vehicle traveling in the oncoming lane set when the host vehicle is about to turn right. [Figure 4] An explanatory diagram showing the estimated travel area of ​​an oncoming vehicle that is entering a set intersection and attempting to turn right when the host vehicle is attempting to turn right. [Figure 5] An explanatory diagram showing the estimated travel area of ​​an oncoming vehicle that is entering a set intersection and going straight when the vehicle is about to turn right. [Figure 6] An explanatory diagram showing the estimated travel area of ​​an oncoming vehicle that is entering an intersection and changing lanes when the host vehicle is about to turn right. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the present invention will be described below with reference to the drawings. Note that this embodiment will be described on the premise that the road is regulated to keep to the left. Therefore, in the case of a road regulated to keep to the right, the left and right are reversed.

[0012] A driving assistance device 1 shown in FIG. 1 is mounted on a host vehicle M (see FIGS. 3 to 6). The driving assistance device 1 includes a driving assistance control unit 11 and a camera unit 21. The driving assistance control unit 11 and a forward driving environment recognition unit 21d (described later) are configured with a microcontroller including a CPU, RAM, ROM, a rewritable nonvolatile memory (flash memory or EEPROM), and peripheral devices. The ROM stores programs and fixed data required for executing various processes in the CPU. The RAM is provided as a work area for the CPU, and temporarily stores various data in the CPU. The CPU is also called an MPU (microprocessor) or a processor. A GPU (graphics processing unit) or a GSP (graph streaming processor) may be used instead of the CPU. Alternatively, a CPU, a GPU, and a GSP may be selectively combined.

[0013] The camera unit 21 is fixed to the upper center of the front interior of the vehicle M. The camera unit 21 has an on-board camera (stereo camera) consisting of a main camera 21a and a sub-camera 21b, an image processing unit (IPU) 21c, and a forward driving environment recognition unit 21d. The cameras 21a and 21b are disposed symmetrically on either side of the center in the vehicle width direction, with a predetermined baseline length. As shown by the dashed dotted lines in FIG. 1, the cameras 21a and 21b are wide-angle cameras that can capture images of a wide range on both sides of the vehicle width direction just in front of the vehicle M.

[0014] The camera unit 21 uses both cameras 21a and 21b to capture images of a predetermined imaging area If (see FIGS. 3 to 6) ahead of the vehicle M, and the IPU 21c performs predetermined image processing on the driving environment image information. The forward driving environment recognition unit 21d reads the driving environment image information processed by the IPU 21c, and recognizes and acquires forward driving environment information based on this driving environment image information. The acquired forward driving environment information includes the shape of the road on which the vehicle M is traveling (the road curvature [1 / m] at the center of the dividing line separating the left and right sides, and the width between the left and right dividing lines (vehicle width)), stationary objects such as intersections, road signs, and pedestrian crossings, moving objects (pedestrians, bicycles, etc.), a preceding vehicle traveling ahead, an oncoming vehicle traveling in the oncoming lane, etc.

[0015] The camera unit 21 may be a monocular camera consisting of only the main camera 21a, and the sub-camera 21b may be replaced by one or a combination of an ultrasonic sensor, millimeter wave radar, microwave radar, infrared sensor, laser radar, and LiDAR (Light Detection and Ranging), thereby searching a wide area ahead of the vehicle M and recognizing information about the forward driving environment using the forward driving environment recognition unit 21d.

[0016] Furthermore, the input side of the driving assistance control unit 11 is connected to the forward driving environment recognition unit 21d of the camera unit 21, the inter-vehicle communication unit 12, and the host vehicle state sensor 13. The inter-vehicle communication unit 12 communicates with other vehicles such as a preceding vehicle or an oncoming vehicle to acquire information on the driving state of the other vehicles. Note that the inter-vehicle communication unit 12 corresponds to the oncoming vehicle information acquisition unit of the present invention, and the forward driving environment recognition unit 21d of the camera unit 21 described above also has the function of the oncoming vehicle information acquisition unit of the present invention.

[0017] In addition, the host vehicle state sensor 13 is a collective term for a group of sensors that detect various states related to the host vehicle M, and includes a vehicle speed sensor that detects the vehicle speed (host vehicle speed) of the host vehicle M, a steering angle sensor that detects the steering angle of the host vehicle M, a yaw rate sensor that detects the yaw rate acting on the vehicle body, an accelerator opening sensor that detects the amount of depression of the accelerator pedal, a brake switch that turns ON when the brake pedal is depressed, and signals from a turn signal switch that turns ON / OFF the left and right turn signals.

[0018] In addition, connected to the output side of the driving assistance control unit 11 are a steering control unit 31 that drives the electric power steering (EPS) to assist the driver in steering, a brake control unit 32 that decelerates the vehicle M by applying forced braking, an acceleration / deceleration control unit 33 that controls the output of the drive source (engine, electric motor, etc.) installed in the vehicle M, and an alarm device 34 that notifies the driver of necessary information by voice or video.

[0019] The driving assistance control unit 11 recognizes road signs erected on the roadside and intersections ahead from the forward driving environment information recognized by the forward driving environment recognition unit 21d of the camera unit 21, as well as road markings indicating traffic divisions according to the direction of travel drawn in the driving lane and oncoming lane just before the intersection (see Figures 3 to 6).

[0020] When the driving assistance control unit 11 detects an intersection ahead of the host vehicle M while driving in the driving assistance mode, it checks whether the host vehicle M is about to turn right. If the driving assistance control unit 11 determines that the host vehicle M is about to turn right, it recognizes an oncoming vehicle F traveling in the oncoming lane.

[0021] Next, the driving assistance control unit 11 checks whether there is a possibility of contact between the recognized oncoming vehicle F and the host vehicle M. If the driving assistance control unit 11 determines that the oncoming vehicle F and the host vehicle M will not come into contact, the driving assistance control unit 11 causes the host vehicle M to continue traveling in the right turn direction. If the driving assistance control unit 11 determines that there is a high possibility that the host vehicle M will come into contact with the oncoming vehicle F, the driving assistance control unit 11 applies a forced brake, stops the host vehicle M, and waits until the oncoming vehicle F has passed.

[0022] The driving assistance before entering an intersection by the driving assistance control unit 22 is specifically executed according to a driving assistance control routine before entering an intersection shown in Figures 2A and 2B. The processing in this routine corresponds to the driving assistance control unit of the present invention.

[0023] This routine is started when it is determined in the main routine that the host vehicle M has entered an intersection. The entry into the intersection is determined based on the forward traveling environment information recognized by the forward traveling environment recognition unit 21d of the camera unit 21. Alternatively, if the host vehicle M is equipped with a car navigation system, the determination may be made based on the road map information of the car navigation system. The forward traveling environment recognition unit 21d and the road map information correspond to the traveling environment information acquisition unit of the present invention.

[0024] When the main routine determines that the vehicle M has entered an intersection and starts the routine, first, in step S1, it is determined whether the driver is trying to turn the vehicle M right based on the vehicle behavior of the vehicle M (information such as right turn blinker illumination, steering operation, vehicle speed, and traffic division of the lane in which the vehicle is traveling) or whether the driving assistance control unit 11 is trying to turn the vehicle M right according to a preset target traveling route.

[0025] If it is determined in step S1 that the host vehicle M is about to turn right, the process proceeds to step S2. On the other hand, if the host vehicle M is about to go straight or turn left, the process exits the routine. When the process proceeds to step S2, oncoming vehicle information indicating whether or not there is an oncoming vehicle F approaching the intersection is acquired. This oncoming vehicle information is acquired from the forward traveling environment information recognized by the forward traveling environment recognition unit 21d of the camera unit 21 and the traveling information of the oncoming vehicle F received by the vehicle-to-vehicle communication unit 12.

[0026] Next, the process proceeds to step S3, where it is determined based on the oncoming vehicle information whether or not there is an approaching oncoming vehicle in the oncoming lane a predetermined distance (for example, 30 to 50 m) from the intersection. If an approaching oncoming vehicle F is detected, the process proceeds to step S4. If an oncoming vehicle F is not detected, the process exits the routine and the host vehicle M continues to change course to turn right.

[0027] When the process proceeds to step S4, the vehicle behavior of the oncoming vehicle F is detected. This vehicle behavior of the oncoming vehicle F is the amount of change in the position of the oncoming vehicle F over time, and is detected based on the forward traveling environment information recognized by the forward traveling environment recognition unit 21d of the camera unit 21 and the traveling information of the oncoming vehicle F received by the vehicle-to-vehicle communication unit 12. The traveling trajectory of the oncoming vehicle F can be obtained by approximating this vehicle behavior with an approximation formula such as an interpolation polynomial or the least squares method.

[0028] Next, the process proceeds to step S5, where an estimated travel area of ​​the oncoming vehicle F is set based on the vehicle behavior of the oncoming vehicle F, lane information of the oncoming lane, road information of the intersection (three-way intersection, crossroad, no right turn, etc.), etc. Note that the lane information of the oncoming lane and crossroad information of the intersection are acquired from the forward travel environment information recognized by the forward travel environment recognition unit 21d of the camera unit 21, and, if a car navigation system is installed, from the road map information of the car navigation system. The processing in steps S3 to S5 corresponds to the estimated travel area setting unit of the present invention.

[0029] As shown in Figure 3, when oncoming vehicle F is located relatively far from the intersection, the estimated travel area within the intersection is relatively wide because it is difficult to determine whether the oncoming vehicle F will go straight or turn right or left. On the other hand, as shown in Figures 4 and 5, as oncoming vehicle F approaches the intersection and then enters the intersection, the range of this estimated travel area becomes more limited.

[0030] In this case, as shown in Fig. 4, if oncoming vehicle F enters an intersection while traveling in a right-turn lane with its right-turn turn signal on, it can be determined that there is a high possibility that oncoming vehicle F will turn right. However, as shown in Fig. 5, even if oncoming vehicle F enters an intersection with its right-turn turn signal on, there may be cases where the vehicle's behavior deviates from the prediction of the driver of vehicle M, such as traveling straight ahead instead of turning right. Alternatively, as shown in Fig. 6, there may be cases where the oncoming vehicle F deviates from the prediction of the driver of vehicle M, such as changing course into an adjacent lane when entering an intersection from a right-turn lane.

[0031] Next, the process proceeds to step S6, where the arrival time of the host vehicle M to the position where it is about to cross the oncoming lane is calculated based on the relative distance between the host vehicle M and the oncoming vehicle F and the vehicle speed of the oncoming vehicle F. Then, in step S7, the time when the host vehicle M enters the estimated travel area of ​​the oncoming vehicle F at a slow speed is compared with the arrival time of the oncoming vehicle F, and if the two times are apart by a predetermined amount, it is determined that the host vehicle M can cross the oncoming lane without contact, the routine is exited, and the lane change to the right direction is continued.

[0032] On the other hand, if the arrival times of the oncoming vehicle F and the host vehicle M are close or the same, there is a high possibility of contact, so it is determined that crossing the oncoming lane is not permitted, and the process proceeds to step S8. The processes in steps S6 and S7 correspond to the contact determination unit of the present invention.

[0033] In step S8, the host vehicle M is stopped outside the estimated traveling area. In the stopping control of the host vehicle M, the driving assistance control unit 22 controls the brake control unit 32 and the acceleration / deceleration control unit 33 based on the distance from the host vehicle M to the estimated traveling area and the host vehicle speed, thereby stopping the host vehicle M outside the estimated traveling area as shown by the dashed dotted lines in Figures 3, 5, and 6.

[0034] Thereafter, the process proceeds to step S9, where it is checked in steps S9 to S11 whether the oncoming vehicle is actually about to turn right. The processing in steps S9 to S11 corresponds to the course change determination unit of the present invention.

[0035] That is, first, in step S9, it is checked whether the right turn blinker of the oncoming vehicle F is on, and if the right turn blinker is on, it is determined that there is a possibility that the oncoming vehicle F will turn right, and the process proceeds to step S10. On the other hand, if the right turn blinker is not on, it is determined that there is a possibility that the oncoming vehicle F will go straight or change lanes (see FIG. 6), and that there is a low possibility that the oncoming vehicle F will turn right, and the process branches to step S12. Whether the right turn blinker of the oncoming vehicle F is on is checked based on the forward traveling environment information recognized by the forward traveling environment recognition unit 21d of the camera unit 21 and the traveling information of the oncoming vehicle F received by the vehicle-to-vehicle communication unit 12.

[0036] When the process proceeds to step S10, it is checked whether the oncoming vehicle F is decelerating before the intersection. Whether the oncoming vehicle F is decelerating is checked based on the change in the amount of movement of the oncoming vehicle F per unit time from the forward traveling environment information recognized by the forward traveling environment recognition unit 21d of the camera unit 21. Alternatively, it is checked based on the traveling information of the oncoming vehicle F received by the vehicle-to-vehicle communication unit 12 (the change over time in the speed of the oncoming vehicle detected by the vehicle speed sensor).

[0037] If it is determined that the oncoming vehicle F is decelerating, the process proceeds to step S11. If the oncoming vehicle F is not decelerating, the process determines that there is a high possibility that it will go straight and a low possibility that it will turn right (see FIG. 5), and branches to step S12. If the process proceeds to step S11, it is checked whether the oncoming vehicle F is steering in the direction of turning right. Whether the oncoming vehicle F is steering in the direction of turning right is checked based on the change in the amount of movement of the oncoming vehicle F per unit time from the forward traveling environment information recognized by the forward traveling environment recognition unit 21d of the camera unit 21. Alternatively, it is checked based on the traveling information of the oncoming vehicle F received by the vehicle-to-vehicle communication unit 12 (the steering angle detected by the steering angle sensor).

[0038] 4, if the oncoming vehicle F is making a right turn and the estimated course of travel is set in the right turn direction, it is determined that the host vehicle M can cross the oncoming lane, and the process proceeds to step S14. On the other hand, if it is determined that the oncoming vehicle F is not making a right turn, it is determined that the possibility of the host vehicle M making a right turn is low, and the process branches to step S12.

[0039] When the process branches to step S12 from any of steps S9 to S11, the driving assistance control unit 22 issues a warning to the driver from the notification device 34, such as "An oncoming vehicle is approaching," and proceeds to step S13. In step S13, the driving assistance control unit 22 checks whether an oncoming vehicle F has passed on the path of the host vehicle M that crosses the oncoming lane, and waits until the oncoming vehicle F has passed on the path of the host vehicle M. If it is determined that the oncoming vehicle F has passed on the path of the host vehicle M, the process proceeds to step S14. Whether the oncoming vehicle F has passed on the path of the host vehicle M is determined based on an image of the oncoming vehicle F acquired from the forward traveling environment information recognized by the forward traveling environment recognition unit 21d of the camera unit 21. Alternatively, the determination may be made based on the relative positional relationship between the position information of the oncoming vehicle F received by the vehicle-to-vehicle communication unit 12 and the host vehicle's position.

[0040] Then, when the process proceeds from step S10 or step S13 to step S14, the host vehicle M is released from its stopped state and the routine is exited. As a result, the driving assistance control unit 22 starts the host vehicle M and causes it to cross the oncoming lane at a slow speed. Alternatively, if the driver is driving the host vehicle M, the driver operates the accelerator pedal to start the host vehicle M in a direction that will cross the oncoming lane. The processing in steps S8 to S14 corresponds to the stopping control unit of the present invention.

[0041] In this manner, in this embodiment, when the host vehicle M detects an approaching oncoming vehicle as it attempts to turn right, first, an estimated travel area of ​​the oncoming vehicle F at the intersection is set based on the vehicle behavior of the oncoming vehicle F. Then, it is checked whether the host vehicle M will come into contact with the oncoming vehicle F in this estimated travel area, and if there is a possibility of contact, the host vehicle M is stopped outside the estimated travel area. Furthermore, if there is no possibility of the host vehicle M coming into contact with the oncoming vehicle F, the host vehicle M is made to cross the oncoming lane.

[0042] As a result, even if the oncoming vehicle F is driving in a manner that deviates from road driving information, such as by turning on a blinker or driving on a road for right-turn only, the driver and passengers can be prevented from coming into contact with the oncoming vehicle and the vehicle M can cross the oncoming lane safely without panicking.

[0043] The present invention is not limited to the above-described embodiment, and can be applied to intersections with three or more roads, five or more roads, etc. Furthermore, when multiple oncoming vehicles F are detected, the presence or absence of contact with the host vehicle M is determined for each oncoming vehicle F. [Explanation of symbols]

[0044] 1... Driving assistance device, 11...Driver assistance control unit, 12...Vehicle-to-vehicle communication unit, 13... Vehicle status sensor, 21...Camera unit, 21a...Main camera, 21b...Sub camera, 21c...Image Processing Unit (IPU), 21d...Front driving environment recognition unit, 22...Driver assistance control unit, 31...Steering control unit, 32...Brake control unit, 33...Acceleration / deceleration control unit, 34...alarm device, F...oncoming vehicles, If...imaging area, M...own vehicle

Claims

1. a driving environment information acquisition unit that acquires driving environment information ahead of the host vehicle; an oncoming vehicle information acquisition unit that acquires information about oncoming vehicles traveling in an oncoming lane; a driving assistance control unit that executes driving assistance when the host vehicle crosses the oncoming lane and changes course; A driving assistance device comprising: The driving assistance control unit an estimated travel area setting unit that sets an estimated travel area based on a vehicle behavior of an oncoming vehicle when the oncoming vehicle is detected approaching the host vehicle based on the information about the oncoming vehicle acquired by the oncoming vehicle information acquisition unit when the host vehicle enters an intersection; a collision determination unit that checks whether or not there is a possibility of collision between the host vehicle and the oncoming vehicle when the host vehicle enters the estimated travel area on the travel path, based on the estimated travel area set by the estimated travel area setting unit and the travel path of the host vehicle; a stop control unit that stops the host vehicle outside the estimated travel area when the contact determination unit determines that there is a possibility that the host vehicle will come into contact with the oncoming vehicle; Equipped with The stopping control unit a lane change determination unit that checks whether the oncoming vehicle will change course from the intersection and cross the lane in which the host vehicle is traveling, When the oncoming vehicle is decelerating and is not steering toward the lane in which the host vehicle is traveling, the lane change determination unit determines that there is a low possibility that the oncoming vehicle will change course by crossing the lane in which the host vehicle is traveling, and maintains the stopped state of the host vehicle. A driving assistance device characterized by:

2. When the course change determination unit determines that the oncoming vehicle has passed the travel path of the host vehicle that crosses the oncoming lane, the course change determination unit cancels the stopped state of the host vehicle.

2. The driving assistance device according to claim 1.

3. When the lane change determination unit determines that the oncoming vehicle will change lane by crossing the lane in which the host vehicle is traveling, the lane change determination unit cancels the stopped state of the host vehicle.

2. The driving assistance device according to claim 1.

4. The lane change determination unit determines whether the oncoming vehicle is changing lane by crossing the lane in which the host vehicle is traveling, and determines that the oncoming vehicle is changing lane if all of the following conditions are met: a turn signal on the lane in which the oncoming vehicle is changing lane is on; deceleration when entering the intersection; and steering toward the lane in which the host vehicle is traveling.

4. The driving assistance device according to claim 1, wherein the driving assistance device is a vehicle driving assistance device.

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