Driving assistance device, driving assistance method, and program

Abstract

To perform a more appropriate driving support through speed guidance and steering guidance.SOLUTION: A driving support device of an embodiment comprises: a recognition unit that recognizes a peripheral situation of a moving object; a determination unit that determines whether or not it is possible for a moving object and an avoidance target to pass each other based on the peripheral situation in the case where a width of a road on which the moving object is movable changes within a predetermined distance, and when there is the avoidable object whose contact should be avoided within the predetermined distance; and a driving guiding unit that performs at least one of speed guidance and steering guidance of the moving object when the determination unit determines that it is not possible for the moving object and the avoidance target to pass each other.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have become more active. To achieve this, efforts are being focused on research and development to further improve traffic safety and convenience through research and development of driving assistance technologies. In relation to this, a technology has been disclosed that, when a narrow road narrower than the driving position is present ahead of a traveling vehicle, acquires the width of the narrow road, determines whether or not an oncoming vehicle is traveling on the narrow road, and, if it is determined that an oncoming vehicle is present, determines whether or not the vehicle can pass the oncoming vehicle through the narrow road, and, if it is determined that the vehicle cannot pass, displays information to guide the vehicle to stop before the narrow road (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-77126 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, with regard to driving assistance technology, there are situations where drivers are unsure of where to pass an oncoming vehicle, not only on narrow roads (narrow streets), but also in sections where the road shape (for example, road width) changes partially, or when there are obstacles on the road, and other surrounding circumstances.However, there has been an issue in that in such situations, appropriate driving assistance such as speed guidance and steering guidance may not be provided.

[0005] In order to solve the above-mentioned problems, one of the objects of the present application is to provide a driving assistance device, a driving assistance method, and a program that can provide more appropriate driving assistance through speed guidance and steering guidance, thereby contributing to the development of sustainable transportation systems. [Means for solving the problem]

[0006] A driving assistance device, a driving assistance method, and a program according to the present invention employ the following configuration. (1): A driving assistance device according to one embodiment of the present invention is a driving assistance device that includes: a recognition unit that recognizes the surrounding conditions of a moving body; a determination unit that determines whether the moving body and the target to be avoided can pass each other when the width of the road on which the moving body can move changes within a predetermined distance based on the surrounding conditions and when an object to be avoided, which is an object to be avoided and with which contact must be avoided, is present within the predetermined distance; and a driving guidance unit that performs at least one of speed guidance and steering guidance of the moving body when the determination unit determines that the moving body and the target to be avoided cannot pass each other.

[0007] (2): In the above aspect (1), the judgment unit judges whether or not the moving body and the object to be avoided can pass each other at the position where the road width is narrowest within the specified distance, and the driving guidance unit performs deceleration guidance for the moving body and does not perform the steering guidance when the judgment unit judges that the moving body and the object to be avoided cannot pass each other at the position where the road width is narrowest within the specified distance.

[0008] (3): In the above aspect (1), the judgment unit judges whether or not the moving body and the object to be avoided can pass each other at a position where the road width is narrowest within the predetermined distance, and the driving guidance unit performs the steering guidance but does not perform the speed guidance when the judgment unit judges that the moving body and the object to be avoided can pass each other at a position where the road width is narrowest within the predetermined distance.

[0009] (4): In the above aspect (3), the driving guidance unit performs the steering guidance based on the distance between the side end of the moving body and one of the dividing lines on the left and right sides of the moving body that divide the road, whichever is closer to the moving body.

[0010] (5): In the above aspect (1), when the driving guidance unit executes at least one of speed guidance and steering guidance of the moving body, an output control unit is further provided which outputs information regarding the guidance to be executed to an output unit.

[0011] (6): In the above aspect (5), the output unit includes a speaker, and the output control unit, when the speed guidance is performed by a notification sound, causes the speaker to output different notification sounds for deceleration guidance and acceleration guidance, and in the case of the deceleration guidance, causes the speaker to output a notification sound whose frequency is changed continuously to a smaller value or whose pitch is changed continuously to a lower value, and in the case of the acceleration guidance, causes the speaker to output a notification sound whose frequency is changed continuously to a larger value or whose pitch is changed continuously to a higher value.

[0012] (7): In the aspect (5) above, the speakers are provided at least in front of and behind the driver of the moving body, and the output control unit controls the output from the multiple speakers so that the sound image of the notification sound moves from behind to in front of the driver or from in front of the driver to behind, depending on whether the moving body is accelerating or decelerating.

[0013] (8): In the above aspect (5), the output unit includes at least a plurality of speakers provided on the left and right sides of the driver of the moving body, and the output control unit controls the output from the plurality of speakers so that when the moving body is steered to the right, the sound image of the notification sound that provides steering guidance moves from the left side to the right side of the driver, and when the moving body is steered to the left, the sound image of the notification sound that provides steering guidance moves from the right side to the left side of the driver.

[0014] (9): A driving assistance method according to another aspect of the present invention is a driving assistance method in which a computer recognizes the surrounding conditions of a moving body, and when the width of a road on which the moving body can move changes within a predetermined distance based on the recognized surrounding conditions and when an object to be avoided, which is an object to be avoided and with which contact should be avoided, is present within the predetermined distance, the computer determines whether the moving body and the object to be avoided can pass each other, and when it is determined that the moving body and the object to be avoided cannot pass each other, the computer performs at least one of speed guidance and steering guidance of the moving body.

[0015] (10): A program according to another aspect of the present invention is a program that causes a computer to recognize the surrounding conditions of a moving body, and, based on the recognized surrounding conditions, when the width of a road on which the moving body can move changes within a predetermined distance and when an object to be avoided, which is an object with which contact should be avoided, exists within the predetermined distance, determines whether the moving body and the object to be avoided can pass each other, and, when it is determined that the moving body and the object to be avoided cannot pass each other, executes at least one of speed guidance and steering guidance of the moving body. [Effects of the Invention]

[0016] According to the above aspects (1) to (10), more appropriate driving assistance can be provided by speed guidance and steering guidance. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a configuration diagram of a vehicle system 1 to which a driving assistance device according to an embodiment is applied. [Figure 2] 10A and 10B are diagrams for explaining situations in which determinations regarding speed guidance and steering guidance are made; [Figure 3] FIG. 10 is a diagram illustrating an example of deceleration guidance. [Figure 4] FIG. 10 is a diagram for explaining a situation in which steering guidance is performed. [Figure 5] FIG. 2 is a diagram illustrating an example of steering guidance. [Figure 6]FIG. 10 is a diagram for explaining a case where the width of a drivable road changes due to an obstacle. [Figure 7] 3 is a flowchart showing an example of a flow of processing executed by the driving assistance device 100 of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, with reference to the drawings, embodiments of a driving assistance device, a driving assistance method, and a program of the present invention will be described. The driving assistance device is a device that assists driving of a mobile object. The mobile object may include any mobile object on which a person (driver) rides, including three-wheeled or four-wheeled vehicles, two-wheeled vehicles, micromobility, etc. In the following description, the mobile object is assumed to be a four-wheeled vehicle, and a four-wheeled vehicle equipped with a driving assistance device will be referred to as "vehicle M." Furthermore, although the following description will be given of a case where laws stipulating left-hand traffic apply, if laws stipulating right-hand traffic apply, left and right can be interpreted in reverse.

[0019] [Overall configuration] 1 is a configuration diagram of a vehicle system 1 to which a driving assistance device according to an embodiment is applied. The drive source of a vehicle M on which the vehicle system 1 is installed is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates using power generated by a generator connected to the internal combustion engine, or power discharged from a secondary battery or a fuel cell.

[0020] The vehicle system 1 includes, for example, a camera (an example of an imaging unit) 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, vehicle sensors 40, a navigation device 50, a driving operator 80, a driving assistance device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are connected to each other via multiplexed communication lines such as a CAN (Controller Area Network) communication line, serial communication lines, a wireless communication network, etc. Note that the configuration shown in FIG. 1 is merely an example, and some of the configuration may be omitted, or other configurations may be added. A combination of the camera 10, the radar device 12, and the LIDAR 14 is an example of an "external sensor ES." The external sensor ES may include the object recognition device 16 and may also include other detection units (e.g., sonar) that recognize the surrounding conditions of the vehicle M. Furthermore, the external sensor ES may have a simple configuration such as only the camera 10, or only the camera 10 and the radar device 12. The HMI 30 is an example of an "output unit."

[0021] The camera 10 is a digital camera that uses a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to any location on the vehicle M. For example, when capturing an image in front of the vehicle M, the camera 10 is attached to the top of the front windshield or the back of the rearview mirror. When capturing an image behind the vehicle M, the camera 10 is attached to the top of the rear windshield or the back door. When capturing an image of the sides and rear of the vehicle M, the camera 10 is attached to a door mirror or the like. The camera 10 periodically and repeatedly captures images of the surroundings of the vehicle M, for example. The camera 10 may be a stereo camera.

[0022] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by an object (reflected waves) to detect at least the position (distance and direction) of the object. The radar device 12 is attached to any location on the vehicle M. The radar device 12 may detect the position and speed of an object using an FM-CW (Frequency Modulated Continuous Wave) method.

[0023] The LIDAR 14 irradiates the surroundings of the vehicle M with light (or electromagnetic waves with wavelengths similar to light) and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time between light emission and light reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 may be attached to any location on the vehicle M.

[0024] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the components included in the external sensor ES to recognize the position, type, speed, etc. of objects around the vehicle M. The object recognition device 16 outputs the recognition results to the driving assistance device 100. The object recognition device 16 may output the detection results of the external sensor ES directly to the driving assistance device 100. The object recognition device 16 may be omitted from the vehicle system 1.

[0025] The communication device 20 communicates with other vehicles in the vicinity of the vehicle M, for example, using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), etc., or communicates with external devices via a wireless base station, etc.

[0026] The HMI 30 presents various information to occupants (including the driver) of the vehicle M under the control of the HMI control unit 140 and accepts input operations from the occupants. The HMI 30 includes, for example, a display device, a speaker, a microphone, a buzzer, keys, and the like. The display device is, for example, a touch panel and is attached to any location within the cabin of the vehicle M. The display device accepts various operations for the driving assistance device 100 and displays images instructed by the driving assistance device 100, etc. The speaker outputs sound within the cabin of the vehicle M. The speaker may be a speaker unit including multiple sub-speakers, in which case the position of the sound image may be arbitrarily set. For example, if the speaker is a speaker unit, at least one sub-speaker is provided in front of the driver's seat where the driver sits (e.g., on the instrument panel within the cabin) and behind (e.g., on the headrest of the driver's seat, on the rear seat, or at the rear of the cabin). Furthermore, one or more sub-speakers may be provided on each of the left and right sides of the driver's seat. In this case, the sub-speakers are provided, for example, on the left and right sides of the instrument panel when viewed from the driver's seat, on the left and right doors, or on the left and right sides of the headrest. Furthermore, a plurality of sub-speakers may be provided around the driver's seat as surround speakers to provide surround sound in the vehicle cabin. The display device and speakers may be provided integrally with the navigation HMI 52 (described later) or separately.

[0027] The vehicle sensors 40 include a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects the angular velocity around a vertical axis, and a direction sensor that detects the orientation of the vehicle M. The vehicle sensors 40 may also include a position sensor that acquires the position of the vehicle M. The position sensor is, for example, a sensor that acquires position information (longitude and latitude information) from a GPS (Global Positioning System) device. The position sensor may also be a sensor that acquires position information using a GNSS (Global Navigation Satellite System) receiver 51 of the navigation device 50. The vehicle sensors 40 may also include a torque sensor, a steering angle sensor, etc., which will be described later.

[0028] The navigation device 50 includes, for example, a GNSS receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 stores map information 54 in a storage device such as a hard disk drive (HDD) or flash memory. The GNSS receiver 51 identifies the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M may be identified or supplemented by an inertial navigation system (INS) that uses the output of the vehicle sensors 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, etc. The navigation HMI 52 may share some or all of its components with the HMI 30 described above. The route determination unit 53 determines, for example, a route (hereinafter referred to as a map route) from the position of the vehicle M identified by the GNSS receiver 51 (or an arbitrary input position) to a destination input by the occupant using the navigation HMI 52, with reference to the map information 54. The map information 54 is, for example, information representing road shapes using links indicating roads and nodes connected by the links. The map information 54 may include road curvature, POI (Point Of Interest) information, etc. The map information 54 may also include, for example, lane center information or lane boundary information (position, shape, and pattern of road dividing lines (arrangement of solid lines and dashed lines, etc.)), lane width, etc., road information (e.g., expressway, general road), traffic regulation information (e.g., speed limit), address information (address and postal code), facility information, telephone number information, etc. The map information 54 may be updated as needed by the communication device 20 communicating with another device. The map information 54 may be stored in a storage unit 150 of the driving assistance device 100, which will be described later.

[0029] The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be realized, for example, by the functions of a terminal device such as a smartphone or tablet device carried by the occupant. The navigation device 50 may transmit the current position and destination to a navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0030] The driving operators 80 include, for example, a steering wheel, an accelerator pedal, a brake pedal, a shift lever, and other operators. The steering wheel is a steering operator that accepts steering operation of the vehicle M by the driver, and is equipped with an EPS (Electric Power Steering) function. The driving operators 80 are equipped with sensors that detect the amount of steering or the presence or absence of operation, and the detection results are output to the driving assistance device 100 or some or all of the driving force output device 200, the brake device 210, and the steering device 220. The operators do not necessarily have to be annular, and may be in the form of an irregular steering wheel, a joystick, a button, or the like.

[0031] The driving assistance device 100 includes, for example, a recognition unit 110, a determination unit 120, a driving guidance unit 130, an HMI control unit 140, and a storage unit 150. The recognition unit 110, the determination unit 120, the driving guidance unit 130, and the HMI control unit 140 are each realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as an HDD or flash memory of the driving assistance device 100, or may be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the driving assistance device 100 by inserting the storage medium (non-transitory storage medium) into a drive device. The HMI control unit 140 is an example of an "output control unit."

[0032] The storage unit 150 may be realized by the various storage devices described above, or a solid state drive (SSD), an electrically erasable programmable read only memory (EEPROM), a read only memory (ROM), or a random access memory (RAM). The storage unit 150 stores, for example, programs and various other information. The storage unit 150 may also store map information 54.

[0033] The recognition unit 110 recognizes the surrounding conditions of the vehicle M based on information input from the external sensors ES. For example, the recognition unit 110 recognizes the position, speed, acceleration, and other status of objects present within a predetermined distance from the vehicle M based on the information input from the external sensors ES. The objects include, for example, other vehicles, bicycles, pedestrians, and other traffic participants. The position of an object is recognized as a position on an absolute coordinate system with a representative point of the vehicle M (such as the center of gravity or the center of the drive shaft) as the origin, and is used for control. The position of an object may be represented by a representative point such as the center of gravity or a corner of the object, or by an area. The "state" of an object may include the acceleration or jerk of the object, or its "behavior state" (for example, whether the object is changing lanes or about to change lanes). The recognition unit 110 may also recognize the type of object (for example, another vehicle, bicycle, pedestrian) based on characteristic information such as the size, shape, and color of the object.

[0034] Furthermore, the recognition unit 110 recognizes, for example, the lane in which the vehicle M is traveling (driving lane). For example, the recognition unit 110 recognizes road dividing lines (hereinafter referred to as "dividing lines") on the left and right sides of the vehicle M from a camera image captured by the camera 10, and recognizes the driving lane based on the positions of the recognized dividing lines. Note that the recognition unit 110 may recognize the driving lane by recognizing landmarks (road boundaries, road boundaries) that can identify the lane position, including not only dividing lines but also shoulders, curbs, medians, guardrails, fences, walls, etc. In this recognition, the position of the vehicle M acquired from the navigation device 50 and the processing results by the INS may be taken into consideration.

[0035] The recognition unit 110 may also recognize the driving lane by referring to map information 54 based on the position information of the vehicle M obtained from the vehicle sensor 40, or may recognize the driving lane by comparing the pattern of road dividing lines obtained from the map information 54 with the pattern of road dividing lines around the vehicle M recognized from the image captured by the camera 10. The recognition unit 110 may also recognize the road shape of the driving lane (for example, the shape type such as a straight road or a curved road, or the curvature of the road). The recognition unit 110 may also recognize adjacent lanes adjacent to the driving lane of the vehicle M, stop lines, obstacles, red lights, toll booths, and other road phenomena.

[0036] Furthermore, when recognizing the driving lane, the recognition unit 110 recognizes the position and attitude of the vehicle M with respect to the driving lane. For example, the recognition unit 110 may recognize the deviation (distance in the road width direction) of the reference point (center or center of gravity) of the vehicle M from the center of the lane and the angle it forms with a line connecting the centers of the lanes in the traveling direction of the vehicle M as the relative position and attitude of the vehicle M with respect to the driving lane. Alternatively, the recognition unit 110 may recognize the position of the reference point of the vehicle M with respect to one of the side edges of the driving lane (a dividing line or road boundary) as the relative position of the vehicle M with respect to the driving lane.

[0037] The recognition unit 110 also recognizes the narrowest width and narrowest position within a predetermined distance of a road on which the vehicle M can travel (a road on which a moving body can travel). The recognition unit 110 also recognizes the width of an oncoming vehicle, the lateral width (width in the road width direction) of an obstacle (for example, a utility pole on the road or a parked vehicle), the relative position and relative speed of the oncoming vehicle and obstacle, etc.

[0038] The recognition unit 110 may, for example, implement a recognition function using AI (Artificial Intelligence) and a recognition function using a pre-given model in parallel. For example, the function of "recognizing an intersection" may be implemented by executing in parallel recognition of an intersection using deep learning or the like and recognition based on pre-given conditions (such as traffic lights and road signs that can be pattern-matched), and by assigning a score to both and comprehensively evaluating them. The same applies to objects other than intersections, road shapes, etc.

[0039] The determination unit 120 determines whether or not vehicle M and an object to be avoided (e.g., an oncoming vehicle) that must be avoided from contact and that the width of the road on which vehicle M can travel changes in a road section within a predetermined distance from vehicle M, based on the surrounding conditions of vehicle M recognized by the recognition unit 110, and when such an object to be avoided exists within the predetermined distance, the determination unit 120 determines whether or not vehicle M and the object to be avoided can pass each other.

[0040] When the determination unit 120 determines that passing is not possible, the driving guidance unit 130 performs at least one of speed guidance and steering guidance of the vehicle M. Speed ​​guidance, for example, involves outputting information to the HMI 30 prompting the driver to decelerate or accelerate the speed of the vehicle M, or performing speed control to decelerate or accelerate the vehicle M so that the speed reaches a target speed regardless of whether the driver operates the vehicle M. Note that deceleration may include stopping the vehicle. Steering guidance, for example, involves outputting information to the HMI 30 prompting the driver to move the vehicle M in either the left or right direction, or performing steering control to move the vehicle M in a target direction regardless of whether the driver operates the vehicle M. Steering guidance may also include, for example, rotating the steering wheel using an EPS function to move the vehicle M in a target direction, or applying a reaction force to prevent the driver from steering in a direction opposite to the target direction.

[0041] The HMI control unit 140 notifies the occupant of predetermined information via the HMI 30, and acquires the occupant's operation details received via the HMI 30. The predetermined information includes, for example, information related to the traveling of the vehicle M, such as information related to the state of the vehicle M and information related to driving assistance. The information related to the state of the vehicle M includes, for example, information such as the speed, engine RPM, and shift position of the vehicle M. The information related to driving assistance includes information related to speed guidance and information related to steering guidance. The predetermined information may also include a determination result by the determination unit 120, as well as information unrelated to the traveling control of the vehicle M, such as television programs and content (e.g., movies) stored on a storage medium such as a DVD. The HMI control unit 140 may generate an image including the various types of information described above and display the generated image on the display device of the HMI 30, or may generate sound indicating the predetermined information and output the generated sound from a speaker of the HMI 30.

[0042] The driving force output device 200 outputs a driving force (torque) for the vehicle to travel to the driving wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, etc., and an ECU (Electronic Control Unit) that controls these. The ECU controls the above components according to information input from the driving assistance device 100 or information input from the driving operator 80.

[0043] Brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from driving assistance device 100 or information input from driving operator 80, so that brake torque corresponding to the braking operation is output to each wheel. Brake device 210 may include a backup mechanism that transmits hydraulic pressure generated by operation of a brake pedal included in driving operator 80 to the cylinder via a master cylinder. Note that brake device 210 is not limited to the configuration described above, and may also be an electronically controlled hydraulic brake device that controls an actuator according to information input from driving assistance device 100 to transmit hydraulic pressure from a master cylinder to the cylinder.

[0044] The steering device 220 includes, for example, a steering ECU and an electric motor (assist motor). The electric motor applies a force to, for example, a rack and pinion mechanism (an example of a steering mechanism) to change the direction of the steered wheels. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with information input from the driving assistance device 100 or information input from the driving operator 80. Details of the steering device 220 in this embodiment will be described later.

[0045] [Speed ​​and steering guidance] Next, a specific example of speed guidance and steering guidance in the embodiment will be described. Fig. 2 is a diagram for explaining a situation in which a determination regarding speed guidance and steering guidance is made. In the example of Fig. 2, a vehicle M is traveling at a speed VM along the X-axis direction on a road RD1 that is divided by lane markings LL and RL and extends along the X-axis direction. An oncoming vehicle m1 is traveling at a speed Vm1 along the -X-axis direction in the figure.

[0046] In the scene shown in FIG. 2, the recognition unit 110 recognizes the surrounding conditions of the vehicle M. In this case, the recognition unit 110 recognizes the positions and shapes of the left and right demarcation lines LL and RL that demarcate the road RD1 on which the vehicle M is allowed to travel. The recognition unit 110 also recognizes the position where the width W of the road RD on which the vehicle M is allowed to travel is narrowest (the position where the minimum road width Wmin is reached) in the section from the position of the vehicle M to a predetermined distance D1 in the traveling direction. If an object is present within the predetermined distance D1, the recognition unit 110 also recognizes the position and width of the object (the width in the road width direction, the width in the Y-axis direction in the drawing). The predetermined distance D1 may be a fixed distance or a variable distance that is set based on, for example, the speed VM of the vehicle M or the shape of the road.

[0047] The determination unit 120 determines whether or not there is an object to be avoided, with which the vehicle M should avoid contact, within a predetermined distance D1 ahead of the vehicle M, based on the surrounding conditions of the vehicle M recognized by the recognition unit 110. In the example of Fig. 2, an oncoming vehicle m1 is an example of an object to be avoided.

[0048] For example, the determination unit 120 determines whether or not the vehicle M and the oncoming vehicle m1 can pass each other at the position where the width of the road RD1 is narrowest within the predetermined distance D1. In this case, the determination unit 120 determines whether or not the sum (Wm1+WV+α) of the vehicle width Wm1 of the oncoming vehicle recognized by the recognition unit 110, the predetermined vehicle width WV of the vehicle M, and a predetermined margin width α required for passing each other is smaller than the minimum road width Wmin. If the sum is smaller than the minimum road width Wmin, the determination unit 120 determines that the vehicle M and the oncoming vehicle m1 can pass each other, and if the sum is equal to or greater than the road width Wmin (not smaller), the determination unit 120 determines that the vehicles M and the oncoming vehicle m1 cannot pass each other.

[0049] For example, on a road such as that shown in FIG. 2, there is a space AR1 where the road width widens beyond the position where the road width is minimum (a position further from the vehicle M in the traveling direction), and the driver may have difficulty deciding whether to move to the position of the space AR1. The above-described situation does not occur when simply traveling on a narrow road or immediately before traveling on a narrow road, but is particularly likely to occur in situations where the road width changes partially (such as when there are bumps and grooves in the width direction of the road boundary). Therefore, in the embodiment, when the road width changes within a predetermined distance D1, even if the oncoming vehicle does not pass at the minimum road width Wmin, the system determines whether the oncoming vehicle can pass based on the minimum road width Wmin, and performs at least one of speed guidance and steering guidance based on the determination result, thereby providing more appropriate driving assistance to the driver.

[0050] When the determination unit 120 determines that passing is not possible, the driving guidance unit 130 performs deceleration guidance (an example of speed guidance) and does not perform steering guidance. FIG. 3 is a diagram illustrating an example of deceleration guidance. The example in FIG. 3 shows an image IM10 that the HMI control unit 140 displays on the display device of the HMI 30 in response to an instruction from the driving guidance unit 130. The image IM10 is an image that prompts the driver to decelerate the vehicle M. Specifically, the deceleration instruction displays text information such as "Slow down and pass the oncoming vehicle m1 before the road width narrows." By notifying the driver of the information prompting deceleration in this way, the driver can perform a deceleration or stopping operation (manual driving) to pass the oncoming vehicle m1 without experiencing the above-mentioned driving hesitation. In addition, because the deceleration guidance makes it clear that the vehicle will pass an oncoming vehicle just before the road width narrows, the driver can move (steer) vehicle M toward the dividing line to avoid contact without hesitation, based on the relative positions of vehicle M and oncoming vehicle m1 and the relationship between vehicle width Wm1 and road width W, without having to perform steering guidance.

[0051] The content of the deceleration instruction is not limited to the example of image IM10, and may be other text information, or may be a moving image, illustration, character image, mark, or the like. Furthermore, in addition to (or instead of) displaying image IM10, the driving guidance unit 130 may control the HMI control unit 140 to output a sound from the speaker of the HMI 30 that motivates the driver to decelerate. The sound that motivates the driver to decelerate may be, for example, a notification sound whose sound composition continuously changes. More specifically, the sound frequency is continuously reduced over time, or the pitch (more specifically, the pitch (melodic pitch) of the sequentially output sounds) is continuously reduced over time. This notification sound may be repeatedly output at a predetermined interval. This continuously outputs a notification sound that changes from a high pitch to a low pitch, making the driver aware of the need to decelerate and facilitating the deceleration operation. The HMI control unit 140 may change the frequency or pitch depending on the degree of deviation between the speed VM of the vehicle M and the target speed (deceleration target speed) to be decelerated. The deceleration target speed may be a fixed speed (including a speed of 0), or may be a speed that is assumed to allow the vehicle M to pass the oncoming vehicle m1 at a low speed before the road width narrows, based on the relative positions and relative speeds of the vehicle M and the oncoming vehicle m1.

[0052] Furthermore, the HMI control unit 140 may change the repetition cycle of the notification sound depending on the degree of deviation between the speed VM of the vehicle M and the deceleration target speed. By changing the content of the notification sound depending on the degree of deviation, it is possible to notify the driver of the degree of deceleration appropriate to the situation. Note that, instead of (or in addition to) the notification sound described above, the HMI control unit 140 may output a sound similar to the text information displayed on the image IM10 from the speaker of the HMI 30. Furthermore, the driving guidance unit 130 may control the brake device 210 so that the speed VM of the vehicle M decelerates to the deceleration target speed, regardless of whether or not the driver operates the brake device 210.

[0053] Furthermore, the driving guidance unit 130 may guide the vehicle M to accelerate after the vehicle M has passed the oncoming vehicle m1 at a position before the road RD1 narrows. In this case, the HMI control unit 140 may control the driving guidance unit 130 to output images or sounds to the HMI 30 that prompt the driver to accelerate the vehicle M, as opposed to the above-described deceleration guidance, and may control the traveling driving force output device 200 so that the speed of the vehicle M accelerates to a target speed, regardless of whether or not the driver operates the device.

[0054] When a sound encouraging acceleration is output from the speaker of the HMI 30, the HMI control unit 140 may control the HMI control unit 140 so that a sound encouraging the driver to accelerate is output from the HMI 30. The sound encouraging the driver to accelerate is, for example, a notification sound whose sound composition continuously changes, more specifically, a notification sound whose sound frequency continuously changes significantly over time or whose sound pitch continuously changes higher over time. In other words, the sound encouraging the driver to accelerate is a notification sound that is different from a sound that encourages the driver to decelerate. This notification sound may be output repeatedly at a predetermined interval. The HMI control unit 140 may also change the frequency or pitch depending on the degree of deviation between the speed VM of the vehicle M and the target speed for acceleration (acceleration target speed). The acceleration target speed may be a fixed speed, or may be set based on the speed limit obtained from map information 54 based on the position information of vehicle M, the speed limit indicated on a road sign obtained from camera images captured by camera 10, or the surrounding road conditions (the speed of the preceding vehicle). This continuously outputs a notification sound that changes from low to high pitch, making the driver aware of the need to accelerate and facilitating the acceleration operation. Note that HMI control unit 140 may output, from the speaker of HMI 30, a sound similar to the text information displayed on the image urging the driver to accelerate, instead of (or in addition to) the notification sound described above.

[0055] Furthermore, when the determination unit 120 determines that the vehicle M and the oncoming vehicle m1 can pass each other at the position where the width of the road D1 is narrowest within the predetermined distance D1, the driving guidance unit 130 performs steering guidance but does not perform speed guidance. FIG. 4 is a diagram for explaining a situation in which steering guidance is performed. The example of FIG. 4 shows a case in which the sum (Wm1+WV+α) of the vehicle width Wm1 of the oncoming vehicle, the vehicle width WV of the vehicle M, and a predetermined margin width α is smaller than the minimum road width Wmin. In this case, the determination unit 120 determines that the vehicle M and the oncoming vehicle m1 can pass each other.

[0056] The driving guidance unit 130 performs steering guidance based on, for example, the distance WA between the side edge of the vehicle M and one of the left and right lane markings LL and LR of the vehicle M that divide the road RD, whichever is closer to the vehicle M, but does not perform speed guidance. Specifically, the driving guidance unit 130 performs steering guidance to the driver so that the vehicle travels along a position where the distance WA between the left edge of the vehicle M and the lane marking LL is equal to or greater than a threshold value. Here, as shown in FIG. 4, if the road width increases or decreases within a predetermined distance D1, using the distance WA from the lane marking LL to the left edge of the vehicle M as a reference, lateral irregularities in the lane marking LL may result in frequent left and right steering guidance, potentially resulting in meandering driving. Therefore, the driving guidance unit 130 sets a virtual lane marking VL extending along the extension direction of the road RD1 based on the position of the minimum road width Wmin, and performs steering guidance to the driver so that the vehicle M travels along a position where the distance WA between the set virtual lane marking VL and the vehicle M is equal to or greater than a threshold value.

[0057] Fig. 5 is a diagram showing an example of steering guidance. The example in Fig. 5 shows an example in which the steering wheel SW of the driving operator 80 is moved in a direction (steering direction) in which the vehicle M is desired to move in response to an instruction from the driving guidance unit 130. Specifically, the driving guidance unit 130 executes control (for example, rotation control using the EPS function) to rotate the steering wheel SW to the right (in the direction of arrow A) so that the vehicle M travels to a position where the distance WA between the imaginary lane marking VL and the left edge of the vehicle M is equal to or greater than a threshold value.

[0058] In addition, instead of (or in addition to) the steering guidance described above, the driving guidance unit 130 may control the HMI control unit 140 so that an image containing text information such as "Please move to the left" or a sound prompting steering operation is output from the HMI 30 as a steering instruction.

[0059] When a sound encouraging a steering operation is output from the speaker of the HMI 30, the HMI control unit 140 may control the HMI control unit 140 so that a sound that encourages the driver to perform a steering operation is output from the HMI 30. The sound that encourages the driver to perform a steering operation is, for example, a notification sound whose sound composition changes continuously, and is different from a sound that encourages the driver to accelerate or decelerate. This notification sound may be output repeatedly at a predetermined interval. Note that the HMI control unit 140 may output, from the speaker of the HMI 30, a sound similar to the text information displayed on the image that encourages a steering operation, instead of (or in addition to) the notification sound described above.

[0060] In this way, when vehicle M and oncoming vehicle m1 are able to pass each other, steering guidance for passing each other is executed, thereby enabling more appropriate driving assistance. In particular, when the width of road RD1 on which vehicle M is traveling changes within a predetermined distance D1, the driver may be unsure of where to align the lateral position of vehicle M based on the lane markings. However, by executing steering guidance as described above, the driver can steer and drive with greater peace of mind. Furthermore, when passing each other is possible, it is predicted that the driver will adjust the speed while checking the surrounding conditions without needing to execute speed guidance, and therefore unnecessary guidance can be suppressed.

[0061] Here, cases in which the width of road RD1 on which vehicle M can travel changes include cases in which the road width changes partially due to changes in the shape of the lane markings (such as unevenness in the width direction of the lane boundary), as described above, and cases in which the width of the road changes due to the presence of an obstacle on the road. FIG. 6 is a diagram for explaining cases in which the width of a road on which vehicle M can travel changes due to an obstacle. In the example of FIG. 6, road RD2, which is demarcated by lane markings LL2 and LR2, extends along the X-axis direction in the figure. In the example of FIG. 6, vehicle M is traveling along the X-axis direction at a speed VM, and oncoming vehicle m1 is traveling along the −X-axis direction at a speed Vm1. In addition, in the example of FIG. 6, it is assumed that a utility pole OB1 and a vehicle parked on the road (hereinafter referred to as a parked vehicle) m2 are present as obstacles. In addition to utility pole OB1 and parked vehicle m2, obstacles include, for example, road construction sections, fallen objects from leading vehicles (objects that vehicle M must avoid), and accident vehicles.

[0062] 6, the recognition unit 110 recognizes the position and shape of the demarcation lines LL2 and LR2 on the road RD2 within a predetermined distance D1, as well as the position and width of the utility pole OB1 and the parked vehicle m2. The recognition unit 110 may also recognize the distance between each of the utility pole OB1 and the parked vehicle m2 and the demarcation line (the demarcation line LR2 in the example of FIG. 6) that is farther from the utility pole OB1 and the parked vehicle m2 out of the two demarcation lines LL2 and LR2.

[0063] Then, the determination unit 120 determines whether or not an object to be avoided exists within a predetermined distance D1 ahead of the vehicle M, based on the surrounding conditions of the vehicle M recognized by the recognition unit 110. In the example of Fig. 6, an oncoming vehicle m1 is an example of an object to be avoided.

[0064] For example, the determination unit 120 determines the minimum road width Wmin based on the distance between the utility pole OB1 and the parked vehicle m2 and the demarcation line LR2 within the predetermined distance D1, and determines whether the vehicle M and the oncoming vehicle m1 can pass each other at the position corresponding to the determined minimum road width Wmin. In the example of Fig. 6, since the parked vehicle m2 is closer to the demarcation line LR2, the distance between the parked vehicle m2 and the demarcation line LR2 is set as the minimum road width Wmin, and similarly to the determination described above, a determination process is performed using the sum (Wm1 + WV + α) of the vehicle width Wm1 of the oncoming vehicle, the vehicle width WV of the vehicle M, and a predetermined margin width α, and the minimum road width Wmin, and at least one of speed guidance and steering guidance is performed based on the determination result.

[0065] In this way, even if the width of the road on which the vehicle M can travel changes due to the presence of an obstacle on the road, more appropriate speed guidance and steering guidance can be performed.

[0066] [Variations] When speed guidance or steering guidance is performed using the notification sound described above and the speaker is a speaker unit including multiple sub-speakers, the HMI control unit 140 may control the output from each sub-speaker. For example, when the sub-speakers are provided at least in front of and behind the driver of the vehicle M, the HMI control unit 140 controls the output from the multiple sub-speakers so that the sound image of the notification sound (the sensory sound source from which the notification sound is perceived as being output) moves from behind to in front of the driver or from in front to behind the driver depending on whether the vehicle M is accelerating or decelerating. The movement of the sound image can be achieved, for example, by adjusting the volume according to the installation positions of the multiple sub-speakers. For example, when outputting a notification sound for acceleration guidance, the HMI control unit 140 uses the sub-speakers provided in front of and behind the driver to output the sound so that the sound image flows (moves) from behind to in front of the driver, and when outputting a notification sound for deceleration guidance, the HMI control unit 140 outputs the sound so that the sound image flows from in front to behind the driver.

[0067] Furthermore, for example, when at least one sub-speaker is provided on each side of the driver (driver's seat) of vehicle M, the HMI control unit 140 uses the sub-speakers provided on each side to output a notification sound for steering guidance so that the sound image moves from the left to the right of the driver when steering vehicle M to the right, and outputs a notification sound so that the sound image moves from the right to the left of the driver when steering vehicle M to the left. This makes it possible to provide speed guidance and steering guidance that are easier for the driver to understand.

[0068] Furthermore, when the speed MV or position of the vehicle M reaches a target state through speed guidance or steering guidance, the HMI control unit 140 may cause the HMI 30 to output information such as an image or sound indicating that guidance will end. When outputting a sound indicating the end of guidance, the HMI control unit 140 causes the speaker of the HMI 30 to output, for example, a notification sound that is different from the notification sound for acceleration guidance, the notification sound for deceleration guidance, and the notification sound for steering guidance. This makes it easier for the driver to understand that guidance has ended (that the vehicle is now in a driving state where guidance is not necessary).

[0069] The driving assistance device 100 of the embodiment may be applied to, for example, an autonomous vehicle. Autonomous driving refers to automatically controlling one or both of the steering and speed of the vehicle M to perform driving control. The driving control of the vehicle M may include various driving controls, such as adaptive cruise control (ACC), lane keeping assistance system (LKAS), lane change assist (LCA), forward collision warning (FCW), and collision mitigation braking system (CMBS). The autonomous vehicle may be equipped with a driving control unit that performs the above-described driving control, or the driving guidance unit 130 of the driving assistance device 100 may perform the above-described driving control. These driving controls are performed based on the surrounding conditions of the vehicle M recognized by the recognition unit 110. Furthermore, in an autonomous vehicle, some or all of the steering or acceleration / deceleration of the vehicle M may be controlled manually by the occupant (driver). Details of autonomous driving technology are publicly known in various documents, so a detailed description thereof will be omitted here.

[0070] When the driving assistance device 100 is applied to an autonomous vehicle, for example, when an instruction to perform manual driving is received from the driver using the HMI 30, or when it is determined that autonomous driving cannot be performed based on the surrounding conditions of the vehicle M, the driving assistance device 100 switches to manual driving, and the above-described driving assistance (speed guidance, steering guidance) is performed during manual driving. Also, when the width of the road on which the vehicle M can travel changes within a predetermined distance and an oncoming vehicle is present, the driving assistance device 100 may switch from autonomous driving to manual driving and perform the above-described driving assistance.

[0071] Furthermore, even when a part of the driving control is being performed by the autonomous driving, if the driver performs one of the steering and the speed, the driving assistance device 100 may perform the driving guidance described above for either one of them. In this way, even when the driving assistance device 100 of the embodiment is applied to an autonomous driving vehicle, it is possible to perform control that is highly compatible with the autonomous driving.

[0072] [Processing flow] Fig. 7 is a flowchart showing an example of the flow of processing executed by the driving assistance device 100 of the embodiment. Note that the example of Fig. 7 mainly describes processing executed by the driving assistance device 100 when the vehicle M passes an oncoming vehicle (an example of an object to be avoided). The processing shown below may be repeatedly executed at a predetermined timing or at a predetermined cycle, for example, while the driver is driving the vehicle M.

[0073] In the example of FIG. 7 , the recognition unit 110 recognizes the surrounding conditions of the vehicle M (step S100). Next, the determination unit 120 determines whether the road width changes within a predetermined distance from the vehicle M (step S102). If it is determined that the road width changes within the predetermined distance, the determination unit 120 determines whether an oncoming vehicle is present within the predetermined distance (step S104). If it is determined that an oncoming vehicle is present, the determination unit 120 compares the minimum road width with the respective vehicle widths of the vehicle M and the oncoming vehicle (which may include, for example, a margin width α) (step S106) and determines whether the vehicle M and the oncoming vehicle can pass each other at the minimum road width (step S108). If it is determined that the vehicle M and the oncoming vehicle can pass each other, the driving guidance unit 130 performs steering guidance but does not perform speed guidance (step S110). On the other hand, if it is determined that the vehicle M and the oncoming vehicle cannot pass each other, the driving guidance unit 130 performs deceleration guidance but does not perform steering guidance (step S112). This completes the processing of this flowchart.

[0074] In the process of step S102, if it is determined that the road width does not change within the predetermined distance, or if it is determined that there is no oncoming vehicle within the predetermined distance, the process of this flowchart ends.

[0075] In the process of step S110, steering guidance is performed but speed guidance is not performed. However, if the execution of speed guidance is requested by an instruction from the driver via the HMI 30, the driving guidance unit 130 may perform speed guidance together with steering guidance. Similarly, in the process of step S112, deceleration (speed) guidance is performed but steering guidance is not performed. However, if the execution of steering guidance is requested by an instruction from the driver via the HMI 30, the driving guidance unit 130 may perform deceleration guidance and steering guidance to avoid contact with the oncoming vehicle m1. This allows the driver to perform the guidance desired. Therefore, more appropriate driving assistance can be provided to the driver.

[0076] According to the embodiment described above, the driving assistance device 100 includes a recognition unit 110 that recognizes the surrounding conditions of the vehicle (an example of a moving body) M, a determination unit 120 that determines whether the vehicle M and the avoidance target can pass each other when the width of the road on which the vehicle M can move changes within a predetermined distance based on the surrounding conditions and when an avoidance target that should be avoided from contact exists within the predetermined distance, and a driving guidance unit 130 that performs at least one of speed guidance and steering guidance of the vehicle M when the determination unit 120 determines that the vehicles cannot pass each other, thereby making it possible to provide more appropriate driving assistance through speed guidance and steering guidance. This can contribute to the development of a sustainable transportation system.

[0077] For example, according to the embodiment, when passing an oncoming vehicle on a road where the lane boundary (road width direction) is uneven, it is possible to encourage the driver to pass or let the oncoming vehicle pass under more appropriate circumstances by providing sound or image notifications, controlling the operation of the driving controls, or controlling the driving of the vehicle M. Therefore, it is possible to provide more appropriate driving assistance to the driver in situations where the driver must pass an oncoming vehicle on a section where the road width changes.

[0078] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; a processor connected to the storage medium; The processor executes the computer-readable instructions to: Recognize the surrounding situation of the moving object, based on the recognized surrounding conditions, when the width of a road on which the moving body can move changes within a predetermined distance and when an object to be avoided, which is an object to be avoided and with which contact should be avoided, is present within the predetermined distance, it is determined whether or not the moving body and the object to be avoided can pass each other; When it is determined that passing each other is not possible, at least one of speed guidance and steering guidance of the moving body is performed. Driving assistance device.

[0079] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0080] 1 Vehicle System 10 Camera 12 Radar equipment 14 LIDAR 16 Object recognition device 20. Communication Equipment 30 HMI 40 Vehicle Sensors 50 Navigation equipment 80 Driving controls 100 Driving assistance device 110 Recognition part 120 Judgment section 130 Driving Guidance Department 140 HMI control unit 150 Storage section 200 Driving force output device 210 Brake equipment 220 Steering device

Claims

1. a recognition unit that recognizes the surrounding situation of the moving object; a determination unit that determines whether or not the moving body and an object to be avoided, which is an object to be avoided and with which contact should be avoided, can pass each other when the width of the road on which the moving body can move changes within a predetermined distance based on the surrounding conditions and when the object to be avoided exists within the predetermined distance; a driving guidance unit that, when the determination unit determines that passing each other is not possible, performs at least speed guidance of speed guidance and steering guidance of the moving body; Equipped with the determination unit determines whether or not the moving body and the object to be avoided can pass each other at a position where the width of the road is narrowest within a predetermined distance; when the determination unit determines that the moving body and the object to be avoided can pass each other at a position where the road width is narrowest within the predetermined distance, the driving guidance unit performs the steering guidance but does not perform the speed guidance, the driving guidance unit performs the steering guidance based on a distance between a side end of the moving body and one of left and right dividing lines of the moving body that divide the road, the dividing line being closer to the moving body; Driving assistance device.

2. the determination unit determines whether or not the moving object and the object to be avoided can pass each other at a position where the width of the road is narrowest within the predetermined distance, the driving guidance unit, when it is determined by the determination unit that the moving body and the object to be avoided cannot pass each other at a position where the road width is narrowest within the predetermined distance, performs deceleration guidance for the moving body and does not perform the steering guidance. The driving assistance device according to claim 1 .

3. An output control unit that outputs information about the guidance to be executed to an output unit when at least one of speed guidance and steering guidance of the moving body is executed by the driving guidance unit, The driving assistance device according to claim 1 .

4. the output unit includes a speaker; When the speed guidance is performed by a notification sound, the output control unit causes the speaker to output different notification sounds for deceleration guidance and acceleration guidance, In the case of the deceleration guidance, the notification sound is output by continuously changing the frequency of the sound to a smaller value or continuously changing the pitch to a lower value, and in the case of the acceleration guidance, the notification sound is output by continuously changing the frequency of the sound to a larger value or continuously changing the pitch to a higher value. The driving assistance device according to claim 3 .

5. the speakers are provided at least in front of and behind a driver of the vehicle, The output control unit controls the outputs from the plurality of speakers so that a sound image of the notification sound moves from behind to in front of the driver or from in front of the driver to behind the driver depending on whether the moving body is accelerating or decelerating. The driving assistance device according to claim 4.

6. the output unit includes a plurality of speakers provided at least on the left and right sides of a driver of the vehicle, The output control unit controlling outputs from the plurality of speakers so that a sound image of a notification sound for steering guidance moves from the left to the right of the driver when the moving body is steered to the right; output from the plurality of speakers is controlled so that a sound image of a notification sound for steering guidance moves from the right to the left of the driver when the moving body is steered to the left. The driving assistance device according to claim 3 .

7. The computer Recognize the surrounding situation of the moving object, based on the recognized surrounding conditions, when the width of a road on which the moving body can move changes within a predetermined distance and when an object to be avoided, which is an object to be avoided and with which contact should be avoided, is present within the predetermined distance, it is determined whether or not the moving body and the object to be avoided can pass each other; When it is determined that passing each other is not possible, at least speed guidance is performed among speed guidance and steering guidance of the moving body; determining whether or not the moving body and the object to be avoided can pass each other at a position where the width of the road is narrowest within a predetermined distance; When it is determined that the moving body and the object to be avoided can pass each other at a position where the width of the road is narrowest within the predetermined distance, the steering guidance is performed but the speed guidance is not performed; The steering guidance is performed based on the distance between a side end of the moving body and one of the left and right dividing lines of the moving body that divide the road, which is closer to the moving body. Driving assistance methods.

8. On the computer, It allows the moving object to recognize its surroundings, based on the recognized surrounding conditions, when the width of a road on which the moving body can move changes within a predetermined distance and when an object to be avoided, which is an object to be avoided and with which contact should be avoided, is present within the predetermined distance, determine whether or not the moving body and the object to be avoided can pass each other; When it is determined that passing each other is not possible, at least one of speed guidance and steering guidance of the moving body is performed; determining whether or not the moving body and the object to be avoided can pass each other at a position where the width of the road is narrowest within a predetermined distance; When it is determined that the moving body and the object to be avoided can pass each other at a position where the width of the road is narrowest within the predetermined distance, the steering guidance is performed but the speed guidance is not performed; The steering guidance is performed based on the distance between a side end of the moving body and one of the left and right dividing lines of the moving body that divide the road, which is closer to the moving body. program.

Images