Driving assistance devices, methods, and programs

Abstract

To provide a technique which is advantageous in further improving preventive safety technology that can be used for driving support.SOLUTION: A driving support device to be mounted on a vehicle which is capable of communicating with another vehicle comprises: calculation means for calculating a travel route of the other vehicle on the basis of a communication result with the other vehicle; and computation means which determines whether the own vehicle interferes with the other vehicle which travels on the calculated travel route and if it is determined that the own vehicle interferes with the other vehicle, generates a notification signal for providing notification to that effect. If a preceding vehicle that is traveling in the same direction as the own vehicle is present between the own vehicle and the other vehicle, the computation means is deactivated.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This invention primarily relates to an in-vehicle driver assistance system. [Background technology]

[0002] In recent years, there has been a surge in efforts to provide access to sustainable transportation systems that take into account the needs of vulnerable individuals among those who use public transport. To achieve this, research and development on preventative safety technologies is being widely conducted to further improve the safety and convenience of transportation. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-61482 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] Some vehicles enable driver assistance through vehicle-to-vehicle communication (see Patent Document 1), and there is a general demand for further improvements in preventive safety technologies that can be used for driver assistance.

[0005] The exemplary objective of this invention is to provide a technology that is advantageous for further improving preventive safety technologies that can be used in driver assistance. [Means for solving the problem]

[0006] One aspect of the present invention relates to a driver assistance device, and the driver assistance device is A driver assistance system installed in a vehicle capable of communicating with other vehicles, A calculation means for calculating the travel route of the other vehicle based on the communication results with the other vehicle, A calculation means that determines whether the vehicle will interfere with the other vehicle traveling along the calculated route, and generates a notification signal to notify the other vehicle if it is determined that the vehicle will interfere with the other vehicle. Equipped with, The aforementioned notification signal is A sound source signal for notifying the location information of the aforementioned other vehicle via a sound source device, An image signal for notifying the location information of the other vehicle via a display device, Includes, A preceding vehicle traveling in the same direction as the aforementioned vehicle Between the said vehicle and the said other vehicle and If it is located within a predetermined distance from the aforementioned vehicle The calculation means suppresses the generation of the sound source signal and generates the image signal. It is characterized by the following: [Effects of the Invention]

[0007] According to the present invention, preventive safety technologies that can be used for driver assistance are improved. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows an example of the system configuration of a vehicle according to the embodiment. [Figure 2A] This is a diagram illustrating one form of driver assistance. [Figure 2B] This is a diagram illustrating one form of driver assistance. [Figure 3A] This is a diagram illustrating one form of driver assistance. [Figure 3B] This is a diagram illustrating one form of driver assistance. [Figure 4A] This is a diagram illustrating one form of driver assistance. [Figure 4B] This is a diagram illustrating one form of driver assistance. [Figure 5A] This is a diagram illustrating one form of driver assistance. [Figure 5B] This is a diagram illustrating one form of driver assistance. [Figure 6A] This is a diagram illustrating one form of driver assistance. [Figure 6B]This is a diagram illustrating one form of driver assistance. [Figure 7] This flowchart shows the control details of the driver assistance system. [Modes for carrying out the invention]

[0009] The embodiments will be described in detail below with reference to the attached drawings. Note that the following embodiments do not limit the invention as defined in the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more features from the multiple features described in the embodiments may be combined arbitrarily. Furthermore, identical or similar configurations will be given the same reference numeral, and redundant descriptions will be omitted.

[0010] (Example of vehicle system configuration) Figure 1 shows a vehicle 1 according to an embodiment. Vehicle 1 is a four-wheeled vehicle equipped with two front wheels and two rear wheels as wheels 11, but the number of wheels 11 is not limited to this example, and may be a two-wheeled or three-wheeled vehicle, for example. Also, in this embodiment, vehicle 1 is a ride-on vehicle, but in other embodiments it may be a saddle-type vehicle.

[0011] In this embodiment, the vehicle 1 further comprises a driving control device 12, a position detection device 13, a communication device 14, a notification device 15, and a driving support device 16.

[0012] The driving control device 12 includes an acceleration control 12a, a braking control 12b, a steering control 12c, and a gear shift control 12d, each positioned near the driver's seat and accessible to the driver. The acceleration control 12a is configured to receive input from the driver to accelerate or maintain the vehicle 1, and a typical example of this may be an accelerator pedal. The braking control 12b is configured to receive input from the driver to decelerate or stop the vehicle 1, and a typical example of this may be a brake pedal. The steering control 12c is configured to receive input from the driver to turn the vehicle 1 or change its direction of travel, and a typical example of this may be a steering wheel. The gear shift control 12d is configured to receive input from the driver to change the gear ratio of the transmission in the power transmission mechanism that transmits power from the power source to the wheels 11, and a typical example of this may be a shift lever. Furthermore, other known configurations, such as button switches, may be used for the operators 12a to 12d.

[0013] The position detection device 13 is a sensor capable of detecting or identifying the position information of vehicle 1, and typically a GPS (Global Positioning System) sensor may be used. The position detection device 13 is intended to detect the position of vehicle 1 in absolute coordinates, but it may also detect the relative position of vehicle 1 with respect to a reference position.

[0014] The communication device 14 is configured to enable the exchange of signals with other vehicles through so-called vehicle-to-vehicle communication (for the purpose of distinguishing it from other vehicles, vehicle 1 may be referred to as "our own vehicle 1" in the following description). Details of the communication content will be described later.

[0015] The notification device 15 includes a sound source device 15a and a display device 15b. The sound source device 15a is configured to generate a predetermined notification sound to the driver, and any known device for auditory recognition by the driver, such as a speaker, may be used. The display device 15b is configured to display image information to the driver, and any known device for visual recognition by the driver, such as a liquid crystal display, may be used. Details of the notification content will be described later.

[0016] The driver assistance device 16 includes a CPU (Central Processing Unit) 16a and memory 16b. The CPU 16a enables the driver assistance functions described later by executing a predetermined program while loading it onto the memory 16b. The driver assistance device 16 may be configured as an ASIC (Application-Specific Integrated Circuit). That is, the driver assistance functions may be implemented by hardware or software, may be incorporated into a semiconductor device by circuitry, or may be executed by a processor with memory based on instructions from a computer.

[0017] (Examples of driver assistance functions) The driving assistance provided by the driving assistance device 16 refers to directly or indirectly assisting the driver in driving. In this embodiment, the driving assistance device 16 can, for example, predict interference with other vehicles based on the communication results from the communication device 14, create map information as necessary, and provide driving assistance by making predetermined notifications via the notification device 15.

[0018] - Interference prediction based on communication with oncoming vehicles Figure 2A shows an example of other vehicles, specifically an oncoming vehicle 9 OB1 This shows the mode of interference prediction with the oncoming vehicle 9. The lane in which the vehicle 1 is traveling is designated as the vehicle's lane 40, and the oncoming vehicle 9 OB1 It is assumed that the vehicle is traveling in the opposing lane 41, which is permitted to travel in the opposite direction to lane 40. In the diagram, lanes 42 and 43 intersect with lanes 40 and 41, and the location of this intersection is shown as intersection 44.

[0019] In this example, it is assumed that lane 41 is located on the left side of lane 40. However, depending on the country or region, their positional relationship may be reversed (the same applies to lanes 42 and 43).

[0020] The host vehicle 1 acquires driving information from the oncoming vehicle 9 OB1 via the communication device 14, and based on the driving information, the driving support device 16 performs predetermined arithmetic processing, for example, calculates the driving route of the oncoming vehicle 9 OB1 . Examples of the driving information of the oncoming vehicle 9 OB1 typically include information indicating the position, vehicle speed, and steering angle of the oncoming vehicle 9 OB1 , but may further include information indicating the accelerator opening degree, the presence or absence of an input to the direction indicator, etc. Alternatively, part or all of the information indicating the driving route itself of the oncoming vehicle 9 OB1 that can be specified by the oncoming vehicle 9 OB1 may be acquired by the communication device 14.

[0021] The driving support device 16 further receives the position information of the host vehicle 1 from the position detection device 13, and receives information indicating the content of the operation input to the driving operation device 12 by the driver from the driving operation device 12, and calculates the driving route of the host vehicle 1 based on them.

[0022] Based on the driving route of the oncoming vehicle 9 OB1 and the driving route of the host vehicle 1 thus acquired, the driving support device 16 predicts interference with the oncoming vehicle 9 OB1 . This prediction is made by calculating the timing when the host vehicle 1 interferes with the oncoming vehicle 9 OB1 , and is based on whether the timing is within a predetermined time from the current timing. For example, it can be based on whether the time to collision (TTC), which is the time until the two vehicles contact each other when they maintain their vehicle speeds, is less than a reference value. This prediction may, as another example, be made based on other known arithmetic models.

[0023] In this embodiment, when the TTC of the host vehicle 1 and the oncoming vehicle 9 OB1 is less than the reference value, the host vehicle 1 OB1It shall be determined that it interferes with the oncoming vehicle 9. OB1 If interference is detected, the driver assistance device 16 generates a signal indicating the possibility of such interference and outputs it to the notification device 15 as a notification signal. The notification signal includes a sound source signal Sig15a for notification by the sound source device 15a and an image signal Sig15b for notification by the display device 15b. The sound source device 15a generates a predetermined sound based on the sound source signal Sig15a, and the display device 15b outputs a predetermined image based on the image signal Sig15b, thereby enabling the driver to recognize the possibility of the interference.

[0024] The interference prediction described above is mainly performed by the calculation processing of the CPU 16a in the driver assistance system 16, and the presence or absence of possibility is determined, identified, or calculated regardless of its magnitude. Therefore, the above prediction may be rephrased as determination, identification, or calculation (the same applies to other predictions described later).

[0025] - Generation of map information based on communication with oncoming vehicles If the vehicle 1 does not have map data (for example, if map data is not stored in the memory 16b of the driver assistance device 16, or if map data is not stored in another storage device), then the oncoming vehicle 9 described above OB1 In connection with interference prediction, other information that can replace the map data may be generated and registered. This other information that can be generated will be referred to as generated map information in the following description.

[0026] The generated map information is mainly generated to show the location of intersection 44, and at the location of intersection 44, there is 9 oncoming vehicles. OB1 The intersection points of the other vehicle's trajectory (the path taken by the other vehicle) and the subsequent trajectory of the self-vehicle 1 (the path taken by the self-vehicle 1) are matched.

[0027] Figure 2B shows an example of an oncoming car 9 OB1This shows the situation when vehicle 1 starts moving and turns left after another vehicle passes to its side. When vehicle 1's movement is restricted (for example, when vehicle 1 is substantially stopped, or when vehicle 1 can stop quickly (for example, when the speed is 20 km / h or less)), the driver assistance device 16 sets a setting area R1 in front of and to the side of vehicle 1. The setting area R1 is set to a predetermined relative position based on the position information of vehicle 1 acquired by the position detection device 13, and may be set to a position at a predetermined angle and distance from the body of vehicle 1, for example. When the restriction on vehicle 1's movement is released, the setting area R1 is also released, and when vehicle 1's movement is restricted again, the setting area R1 may be set again to the corresponding position at that time.

[0028] 9 oncoming cars OB1 When the vehicle passes through the set area R1, the set area R1 is fixed, and the oncoming vehicle 9 OB1 Even if the restriction on the movement of vehicle 1 is released after passing through the area, the fixed set area R1 is maintained. Subsequently, if vehicle 1 turns left and passes through the fixed set area R1, oncoming vehicle 9 OB1 The intersection point RtX is generated between the trajectory of another vehicle, Rt1, which is the trajectory of the other vehicle, and the trajectory of the own vehicle, Rt0, which is the trajectory of the own vehicle 1. The location information of this intersection point RtX can be stored and registered in memory 16b as generated map information indicating the location of intersection 44.

[0029] Furthermore, the fixed setting area R1 described above may be released in accordance with the registration of generated map information, and / or in accordance with the vehicle 1 moving beyond a certain distance from the setting area R1.

[0030] The driver assistance device 16 can arbitrarily refer to the generated map information acquired in this manner, thereby enabling it to identify the location of the intersection 44 even if the vehicle 1 does not have map data, and to generate the aforementioned notification signal as needed to alert the driver. The generated map information may also be expressed as intersection location information. Furthermore, if the restriction on the vehicle 1's movement is released during such calculation processing, as described with reference to Figure 2A, the oncoming vehicle 9 OB1Interference prediction is performed appropriately.

[0031] - Interference prediction based on communication with vehicles crossing ahead Figure 3A shows another example of other vehicles: a vehicle crossing in front of the vehicle 9 OB2 This shows the mode of interference prediction with the vehicle crossing ahead 9 OB2 Assume that the vehicle is traveling in lane 42. In this example as well, interference prediction can be performed in the same way as in the example in Figure 2A. That is, the driver assistance device 16 receives information about the vehicle crossing in front of it, which is acquired by the communication device 14. OB2 Based on the driving information, the number of vehicles crossing ahead is 9 OB2 The system calculates the travel path of the vehicle, and also calculates the travel path of the vehicle itself based on the information acquired from the position detection device 13 and the driving operation device 12.

[0032] In this way, the forward crossing vehicle 9 was acquired. OB2 Based on the travel path of the vehicle and the travel path of its own vehicle 1, the driver assistance device 16 will detect the vehicle crossing in front of it 9 OB2 Interference prediction is performed between the following: Vehicle 1 and vehicles crossing in front 9 OB2 If the TTC is below the standard value, vehicle 1 will see vehicle 9 crossing in front. OB2 If it is determined that there is interference, the driver assistance device 16 outputs the aforementioned notification signal to the notification device 15. This makes it possible to make the driver aware of the possibility of the above interference.

[0033] - Generation of map information based on communication with vehicles crossing ahead Figure 3B shows, as an example, a vehicle crossing in front of 9 OB2 This shows the situation when vehicle 1 starts moving and proceeds straight after the object has passed in front of vehicle 1. When the movement of vehicle 1 is suppressed, the driver assistance device 16 sets a setting area R2 in front of vehicle 1. Setting area R2 is set independently of setting area R1, and like setting area R1, when the suppression of vehicle 1's movement is released, setting area R2 is also released, and when vehicle 1's movement is suppressed again, setting area R2 may be set again to the corresponding position at that time.

[0034] 9 vehicles crossing ahead OB2 When the vehicle passes through the set area R2, the set area R2 is fixed, and the vehicle crossing in front 9OB2 Even if the restriction on the movement of vehicle 1 is released after the vehicle 9 has passed, the fixed set area R2 is maintained. Subsequently, if vehicle 1 moves straight and passes through the fixed set area R2, the vehicle 9 crossing in front of it will be detected. OB2 The intersection point RtX is generated between the trajectory of another vehicle, Rt2, which is the trajectory of the other vehicle, and the trajectory of the own vehicle, Rt0, which is the trajectory of the own vehicle 1. The position information of this intersection point RtX can be stored and registered in memory 16b as generated map information indicating the location of intersection 44.

[0035] Furthermore, the fixed setting area R2 described above may be released in accordance with the registration of generated map information, and / or in accordance with the vehicle 1 moving beyond a certain distance from the setting area R2.

[0036] Based on the generated map information acquired in this manner, the driver assistance device 16 can generate the aforementioned notification signal to alert the driver. Furthermore, if the restriction on the movement of the vehicle 1 is released during such calculation processing, as described with reference to Figure 3A, the forward crossing vehicle 9 OB2 Interference prediction is performed appropriately.

[0037] Some of the aforementioned driving assistance features can be implemented regardless of whether there are traffic lights at intersection 44, but they can be particularly advantageous in improving convenience when there are no traffic lights.

[0038] (Regarding the reduction of unnecessary driver assistance features) Some or all of the aforementioned driver assistance systems may become unnecessary in certain situations, and in such cases, these systems may actually become a nuisance to the driver. Therefore, it is conceivable to suppress some or all of them. Meanwhile, other vehicles 9 OB1 / 9 OB2 It could be argued that the restriction of such driver assistance should be limited to a partial extent in order to avoid confusion and achieve an appropriate road traffic environment.

[0039] Below, we will discuss control systems that can appropriately implement driver assistance, while considering several scenarios.

[0040] - Example 1 Figure 4A shows the first example of an oncoming car 9 OB1 When a vehicle is traveling in lane 41, and in lane 40 there is a preceding vehicle 9 traveling in the same direction as vehicle 1 in front of vehicle 1 OB3 The configuration in which the preceding vehicle 9 exists is shown in the same way as in Figure 2A. Here, the preceding vehicle 9 OB3 The vehicle in question is assumed to be located within a predetermined distance from the vehicle in question 1. Generally, as vehicle speed increases, it may be necessary to maintain a larger distance between vehicles. Therefore, the predetermined distance can be set based on the vehicle speed of the vehicle in question 1.

[0041] In this example, there is vehicle 1 and oncoming vehicle 9. OB1 Between them, the preceding car 9 OB3 Therefore, there will be 1 of our vehicle and 9 of the oncoming vehicles. OB1 Direct interference with the preceding vehicle is unlikely to occur, and the driver should rather pay attention to the vehicle in front. OB3 It could also be said that this is the case.

[0042] In such cases, the notification described with reference to the example in Figure 2A may unnecessarily draw the driver's attention, so the generation of the aforementioned notification signal is suppressed. The suppression of the generation of the notification signal includes partial suppression, that is, of the sound source signal Sig15a and the image signal Sig15b, the generation of the sound source signal Sig15a is suppressed, while the generation of the image signal Sig15b may be performed. As another example, in such cases, the execution of interference prediction itself may be suppressed, in which case the generation of both the sound source signal Sig15a and the image signal Sig15b will be suppressed.

[0043] - Second example Figure 4B shows a second example: oncoming car 9 OB1 When a vehicle is traveling in lane 41, and there is a preceding vehicle 9 in front of the vehicle 1 OB3 The embodiment when such an element exists is shown in the same way as in Figure 2B.

[0044] In this example, the preceding vehicle 9 OB3 Similar to my own vehicle 1, oncoming vehicle 9 OB1The vehicle is slowing down in order to start moving and turn left after the other vehicle has passed. Therefore, the vehicle 1 and the oncoming vehicle 9 OB1 Direct interference with the preceding vehicle is unlikely to occur, and the driver should rather pay attention to the vehicle in front. OB3 It could also be said that this is the case.

[0045] In such cases, the notification described with reference to the example in Figure 2B may unnecessarily draw the driver's attention, and therefore the generation of the notification signal or the execution of interference prediction itself may be suppressed.

[0046] - Third example Figure 5A shows a third example: a vehicle crossing in front of the camera, 9 OB2 When a vehicle is traveling in lane 42, and there is a preceding vehicle 9 in front of vehicle 1 OB3 The embodiment when such a feature exists is shown in the same manner as in Figure 3A.

[0047] In this example, vehicle 1 and vehicle 9 crossing in front. OB2 Between them, the preceding car 9 OB3 Therefore, the following will exist: My vehicle 1 and the vehicle crossing in front 9 OB2 Direct interference with the preceding vehicle is unlikely to occur, and the driver should rather pay attention to the vehicle in front. OB3 It could also be said that this is the case.

[0048] In such cases, the notification described with reference to the example in Figure 3A may unnecessarily draw the driver's attention, and therefore the generation of the notification signal or the execution of interference prediction itself may be suppressed.

[0049] - Fourth example Figure 5B shows a fourth example: a vehicle crossing in front of the camera, 9 OB2 When a vehicle is traveling in lane 42, and there is a preceding vehicle 9 in front of vehicle 1 OB3 The embodiment when such a feature exists is shown in the same way as in Figure 3B.

[0050] In this example, the preceding vehicle 9 OB3 Similar to my own vehicle 1, vehicle 9 crossing in front of me OB2 In order to start moving and proceed straight after the other vehicles have passed, the vehicle's movement is restricted until then. Therefore, the vehicle 1 and the vehicle 9 crossing ahead are in a state of restricted movement.OB2 Direct interference with the preceding vehicle is unlikely to occur, and the driver should rather pay attention to the vehicle in front. OB3 It could also be said that this is the case.

[0051] In such cases, the notification described with reference to the example in Figure 3B may unnecessarily draw the driver's attention, and therefore the generation of the notification signal or the execution of interference prediction itself may be suppressed.

[0052] (Regarding the detection or determination of the preceding vehicle) In the first to fourth examples mentioned above, vehicle 1 and preceding vehicle 9 OB3 It is also possible that the routes taken by the two vehicles may differ. In such cases, the driver still considers his own vehicle 1 and the other vehicle (oncoming vehicle 9) to be different. OB1 and / or vehicles crossing in front 9 OB2 Since interference with ) requires caution, it is advisable to perform the aforementioned notification signal generation.

[0053] Leading car 9 OB3 The driving route is as follows: OB3 The driving information of the preceding vehicle 9 may be obtained by the communication device 14, or it may be calculated by the preceding vehicle 9 OB3 The preceding vehicle 9 could be identified by OB3 Some or all of the information indicating the travel route itself may be acquired by the communication device 14.

[0054] In the following example, the driving path of vehicle 1 and the preceding vehicle 9 are shown. OB3 Based on the relative positions of vehicle 1 and preceding vehicle 9, OB3 The determination of whether the travel routes are different from each other is made based on this.

[0055] Figure 6A shows the travel path Rt of vehicle 1 at a certain time relative to the preceding vehicle 9. OB3 This indicates a state where the vehicle body reference line L9 overlaps or intersects. For the sake of clarity, the travel path Rt is assumed to be a straight line.

[0056] In this case, the travel path Rt of vehicle 1 and the preceding vehicle 9 OB3Based on whether the angle θ formed with the vehicle body reference line L9 of the host vehicle satisfies the standard, it is only necessary to determine whether the driving routes of the host vehicle 1 and the preceding vehicle 9 OB3 are different from each other. For example, when the angle θ is greater than the reference angle θ REF (θ > θ REF ), it can be determined that the driving routes of the host vehicle 1 and the preceding vehicle 9 OB3 are different from each other. When the angle θ is smaller than the reference angle θ REF (θ < θ REF ), their driving routes can be determined to be the same. For the case where the angle θ is equal to the reference angle θ REF (θ = θ REF ), either determination result is acceptable.

[0057] In addition, the vehicle body reference line L9 of the preceding vehicle 9 OB3 typically corresponds to the center line of the vehicle body of the preceding vehicle 9 OB3 and can be obtained from the preceding vehicle 9 by the communication device 14 OB3 .

[0058] FIG. 6B shows a state where the driving route Rt of the host vehicle 1 and the vehicle body reference line L9 of the preceding vehicle 9 OB3 do not overlap.

[0059] In such a case, based on whether the shortest distance L between the driving route Rt of the host vehicle 1 and the vehicle body reference line L9 of the preceding vehicle 9 OB3 satisfies the standard, it is only necessary to determine whether the driving routes of the host vehicle 1 and the preceding vehicle 9 OB3 are different from each other. For example, when the distance L is greater than the reference length L REF (L > L REF ), it can be determined that the driving routes of the host vehicle 1 and the preceding vehicle 9 OB3 are different from each other. When the distance L is smaller than the reference length L REF (L < L REF ), their driving routes can be determined to be the same. For the case where the distance L is equal to the reference length L REF (L = L REF ), either determination result is acceptable.

[0060] In addition, the reference length LREF It may be a fixed value such as 1 meter, or it may be a variable value based on the lane width (for example, a value determined within the range of 0.1 times to 1 times the lane width). In that case, the lane width may be detected by a detection device (such as an in-vehicle camera) described later. At that time, the magnification may be changed according to the width of the road shoulder.

[0061] As another example, the above determination may be made by adopting both the determination criteria (reference angle θ REF and reference length L REF ) shown in the examples of FIGS. 6A to 6B, and by comparing and considering their determination results.

[0062] Actually, the travel route Rt is not a straight line and may curve depending on the steering angle of the host vehicle 1. In such a case, among the curved travel route Rt, a part corresponding to the vehicle body reference line L9 of the preceding vehicle 9 OB3 can be approximated to a straight line by arithmetic processing such as averaging processing. The above determination as to whether the travel routes of the host vehicle 1 and the preceding vehicle 9 OB3 are different from each other may be made using the approximate straight line generated in this way.

[0063] (Regarding the control content of driving support) FIG. 7 is a flowchart showing the control content of the driving support device 16 when executing the driving support according to the present embodiment. This flowchart is started, for example, in response to the host vehicle 1 being started and becoming in a travelable state, and the content of each step can be mainly realized by the CPU 16a executing a program.

[0064] In step S7010 (hereinafter simply referred to as "S7010"; the same applies to other steps described later), the presence or absence of other vehicles 9 OB1 and / or 9 OB2 is determined. This determination can be made based on the communication result of the communication device 14. If the presence of other vehicles 9 OB1 and / or 9 OB2 is confirmed (in the case of a Yes determination), the process proceeds to S7020, and if not (in the case of a No determination), the process returns to S7010.

[0065] In S7020, the preceding vehicle 9 OB3 Determine whether or not it exists. This determination may be made based on the communication result of the communication device 14. Preceding vehicle 9 OB3 If the presence of [the element] is confirmed (Yes result), proceed to S7030; otherwise (No result), proceed to S7040.

[0066] In S7030, there is one vehicle and nine preceding vehicles. OB3 The system determines whether the travel paths of the two vehicles are different (see Figures 6A-6B). This involves the vehicle 1 and the preceding vehicle 9. OB3 If the travel routes are different (Yes result), proceed to S7040; if their travel routes are the same (No result), proceed to S7050.

[0067] S7040 and S7050 may perform different arithmetic operations.

[0068] The calculation process of S7040 involves the steps described in Figures 2A-3B, and these steps mainly consist of: (a) Other vehicles 9 OB1 and / or 9 OB2 Calculate the travel route; (b) Calculate the travel route of vehicle 1; (c) Other vehicles 9 OB1 and / or 9 OB2 To determine whether or not vehicle 1 interferes with it; and (d) My vehicle 1 is another vehicle 9 OB1 and / or 9 OB2 If it is determined that interference is occurring, an audio source signal Sig15a and an image signal Sig15b are generated as notification signals. That is the case.

[0069] In the calculation process of S7050, the contents described with reference to Figures 4A to 5B are performed, and at least partially omitted or limited contents are performed compared to the calculation process of S7040. That is, the preceding vehicle 9 that is traveling along the same route as vehicle 1. OB3 If present, the calculation process is performed on the preceding vehicle 9 OB3This results in deactivation compared to when it is not present.

[0070] As an example, in the calculation process of S7050, in (d) above, own vehicle 1 is other vehicle 9 OB1 and / or 9 OB2 If it is determined that there is interference, the image signal Sig15b is generated as a notification signal, and the generation of the sound source signal Sig15a is suppressed. Another example is when vehicle 1 is detected by other vehicle 9 OB1 and / or 9 OB2 If it is determined that there is interference, the generation of either the sound source signal Sig15a or the image signal Sig15b may be suppressed. Deactivation only needs to suppress unnecessary notifications by the notification signal, and as another example, (c) above may be omitted, and incidentally (a) and / or (b) above may be further omitted.

[0071] As described above, according to this embodiment, the driving support device 16 communicates with other vehicles (oncoming vehicles 9) via the communication device 14. OB1 and / or vehicles crossing in front 9 OB2 Based on the communication results with the other vehicle, the system calculates the other vehicle's travel path and determines whether the system itself interferes with the other vehicle. If the system itself determines that it will interfere with the other vehicle, a predetermined notification signal is generated and output to the notification device 15. Meanwhile, the system also calculates the travel path of the preceding vehicle 9 that is traveling on the same route. OB3 If the object is present in front of the vehicle, the calculation process, including the execution of the above determination and the generation of the notification signal, is deactivated. This prevents unnecessary notifications from being sent to the driver, making it possible to provide more comfortable driving assistance to the driver. Therefore, this embodiment is advantageous for improving preventive safety technologies that can be used for driving assistance.

[0072] Leading car 9 OB3 Detection is performed by the vehicle 1 using the communication device 14 to detect the preceding vehicle 9 OB3This may be achieved by communication with the vehicle, but alternatively / incidentally, it may also be achieved by providing the vehicle 1 with a detection device capable of detecting objects around the vehicle 1. As the detection device, a camera composed of a CCD / CMOS image sensor or the like may be used, but a ranging device such as millimeter-wave radar or LiDAR (Light Detection And Ranging) may also be used.

[0073] The above detection device is used by other vehicles 9 OB1 and 9 OB2 It is also possible to detect the above detection device. Therefore, if vehicle 1 is further equipped with the above detection device, the driver assistance device 16 can perform further driver assistance in combination with the communication device 14. For example, vehicle 1 can communicate with other vehicles outside the detection range of the above detection device (or in a blind spot of the detection range) via the communication device 14. Therefore, according to this embodiment, it is advantageous for the early realization of appropriate driver assistance, the diversification of the content of driver assistance, and ultimately, the provision of more advanced driver assistance.

[0074] In the above explanation, for the sake of ease of understanding, each element has been given a name related to its function. However, each element is not limited to having the content described in the embodiment as its primary function, but may also have it as a secondary function. Therefore, each element is not strictly limited to its expression, and its expression can be replaced with a similar expression. In the same vein, the expression "apparatus" may be replaced with "unit," "component, piece," "member," "structure," "assembly," etc., or it may be omitted or added.

[0075] Furthermore, the two or more elements exemplified as selectable in the embodiment are not strictly limited to those examples and may be combined arbitrarily. For example, each of the two or more exemplified elements may be additionally selected or substituted for others. For example, when arbitrarily combining two elements A and B, it may be expressed as "A and / or B" or "at least one of A and B" to indicate that it is either A only, B only, or both A and B.

[0076] (Summary of the embodiments) Some of the features illustrated in the above embodiments are as follows: Firstly, the driver assistance device (e.g., 16) is: Other vehicles (for example, 9 OB1 , 9 OB2 A driver assistance device installed in a vehicle (for example, 1) that can communicate with, A calculation means (for example, 16a, S7040(a)) that calculates the travel route of the other vehicle based on the communication results with the other vehicle, A calculation means (e.g., 16a, S7040(c) and (d)) that determines whether the vehicle will interfere with the other vehicle traveling along the calculated route, and generates a notification signal (e.g., Sig15a, Sig15b) to notify the other vehicle if it is determined that the vehicle will interfere with the other vehicle, Equipped with, A preceding vehicle (for example, 9) traveling in the same direction as the aforementioned vehicle OB3 If the object is located within a predetermined distance from the vehicle, the calculation means is deactivated (for example, 16a, S7050). This is characterized by the fact that unnecessary notifications are not sent to the driver, making it possible to provide more comfortable driving assistance to the driver and contributing to the improvement of preventive safety technologies that can be used for driving assistance.

[0077] Secondly, If the preceding vehicle exists between the vehicle in question and the other vehicle, the calculation means suppresses the generation of the notification signal. This is a key feature, which makes it possible to suppress unnecessary notifications to the driver.

[0078] Thirdly, The aforementioned notification signal is A sound source signal (e.g., Sig15a) for notifying the location information of the other vehicle via a sound source device, An image signal (e.g., Sig15b) for notifying the location information of the other vehicle via a display device, Includes, If the preceding vehicle is located between the vehicle in question and the other vehicle, the calculation means suppresses the generation of the sound source signal and generates the image signal. This is a key feature, which makes it possible to limit notifications to the driver to the bare minimum.

[0079] Fourth, The calculation means further calculates the vehicle's travel path (e.g., Rt) based on information indicating the vehicle's position, speed, and steering angle. If the preceding vehicle is located more than a certain distance from the vehicle's own travel path, the calculation means performs the determination and generates the notification signal based on the result. This is characterized by the fact that, if an unexpected vehicle is present ahead, notification will be appropriately given.

[0080] Fifth, The calculation means further calculates the travel path of the preceding vehicle based on the communication results with the preceding vehicle, and further calculates the travel path of the own vehicle (e.g., Rt) based on information indicating the position, speed, and steering angle of the own vehicle. If the travel path of the preceding vehicle differs from the travel path of the own vehicle, the calculation means performs the determination and generates the notification signal based on the result. This is characterized by the fact that, if an unexpected vehicle is present ahead, notification will be appropriately given.

[0081] Sixth, the method is, A method of driver assistance for a vehicle capable of communicating with other vehicles, A step of calculating the travel route of the other vehicle based on the communication results with the other vehicle, The steps include: determining whether the vehicle will interfere with the other vehicle traveling along the calculated route, and generating a notification signal to notify the other vehicle if it is determined that the vehicle will interfere with the other vehicle; Includes, If a preceding vehicle traveling in the same direction as the aforementioned vehicle exists within a predetermined distance from the aforementioned vehicle between the aforementioned vehicle and the aforementioned other vehicle, the step of making the determination and generating the notification signal is deactivated. This is characterized by the fact that the same effect as the first described above can be obtained.

[0082] Seventh, the program, A program that causes a computer to perform driving assistance for a vehicle that can communicate with other vehicles, Based on the communication results with the aforementioned other vehicle, the travel route of the aforementioned other vehicle is calculated, The system determines whether its own vehicle will interfere with the other vehicle traveling along the calculated route, and generates a notification signal to notify the other vehicle if it is determined that its own vehicle will interfere with the other vehicle. Make it run, If a preceding vehicle traveling in the same direction as the aforementioned vehicle is located within a predetermined distance from the aforementioned vehicle, the determination and generation of the notification signal are deactivated. This provides the same effect as the first example. The program can be stored in a computer-readable storage medium.

[0083] The invention is not limited to the embodiments described above, and various modifications and changes are possible within the scope of the gist of the invention. [Explanation of Symbols]

[0084] 1: Vehicle, 12: Driving control device, 13: Position detection device, 14: Communication device, 15: Notification device, 16: Driving support device.

Claims

1. A driver assistance system installed in a vehicle capable of communicating with other vehicles, A calculation means for calculating the travel route of the other vehicle based on the communication results with the other vehicle, A calculation means that determines whether the vehicle will interfere with the other vehicle traveling along the calculated route, and generates a notification signal to notify the other vehicle if it is determined that the vehicle will interfere with the other vehicle. Equipped with, The aforementioned notification signal is A sound source signal for notifying the location information of the aforementioned other vehicle via a sound source device, An image signal for notifying the location information of the other vehicle via a display device, Includes, If a preceding vehicle traveling in the same direction as the aforementioned vehicle exists between the aforementioned vehicle and the other vehicle, and within a predetermined distance from the aforementioned vehicle, the calculation means suppresses the generation of the sound source signal and generates the image signal. A driving assistance device characterized by the following features.

2. The calculation means further calculates the vehicle's travel path based on information indicating the vehicle's position, speed, and steering angle. If the shortest distance between the preceding vehicle and the vehicle's own travel path is greater than the standard, the calculation means performs the determination and generates the notification signal based on the result. The driving support device according to claim 1.

3. The calculation means further calculates the driving path of the preceding vehicle based on the communication results with the preceding vehicle, and further calculates the driving path of the own vehicle based on information indicating the position, speed, and steering angle of the own vehicle. If the travel path of the preceding vehicle differs from the travel path of the own vehicle, the calculation means performs the determination and generates the notification signal based on the result. The driving support device according to claim 1.

4. A method of driver assistance for a vehicle capable of communicating with other vehicles, A step of calculating the travel route of the other vehicle based on the communication results with the other vehicle, The steps include: determining whether the vehicle will interfere with the other vehicle traveling along the calculated route, and generating a notification signal to notify the other vehicle if it is determined that the vehicle will interfere with the other vehicle; Includes, The aforementioned notification signal is A sound source signal for notifying the location information of the aforementioned other vehicle via a sound source device, An image signal for notifying the location information of the other vehicle via a display device, Includes, If a preceding vehicle traveling in the same direction as the aforementioned vehicle is located between the aforementioned vehicle and the other vehicle, and within a predetermined distance from the aforementioned vehicle, the generation of the sound source signal is suppressed and the image signal is generated. A method characterized by the following:

5. A program that causes a computer to perform driving assistance for a vehicle that can communicate with other vehicles, Based on the communication results with the other vehicle, the travel route of the other vehicle is calculated. The system determines whether its own vehicle will interfere with the other vehicle traveling along the calculated route, and generates a notification signal to notify the other vehicle if it is determined that its own vehicle will interfere with the other vehicle. Make it run, The aforementioned notification signal is A sound source signal for notifying the location information of the aforementioned other vehicle via a sound source device, An image signal for notifying the location information of the other vehicle via a display device, Includes, If a preceding vehicle traveling in the same direction as the aforementioned vehicle is located between the aforementioned vehicle and the other vehicle, and within a predetermined distance from the aforementioned vehicle, the generation of the sound source signal is suppressed and the image signal is generated. program.

Images