Vehicle driving assistance systems

Abstract

To perform display so as to allow a driver of an opponent vehicle to clearly know an intersection at which an own vehicle turns.SOLUTION: A drive support device 1 comprises a winker drive part 31, a camera unit 23 and a drive support control part 11. The winker drive part 31 makes a winker lamp Lw installed on an own vehicle M blink at a prescribed cycle T. The camera unit 23 acquires peripheral environmental information on the own vehicle M. When a preset target progressive path is set to an intersection path direction that intersects at an intersection point in front of a current own vehicle traveling path, the drive support control part 11 drives the winker drive part 31 from a preset blink start distance L1 in front of the intersection point. The drive support control part 11 has a blink cycle variable part for driving the winker drive part 31 with a drive signal at a different blink cycle T, and the blink cycle variable part sets the blink cycle T shorter as the own vehicle M approaches the intersection point.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device configured to shorten the blinking cycle of a turn signal lamp when the host vehicle attempts to turn at an intersection by automatic driving as it approaches the intersection where it intends to turn.

Background Art

[0002] Conventionally, as this type of driving support device, when a driver (operator) sets a destination, a driving route from the current location to the destination is set, and all or part of it is automatically traveled on behalf of the driver. When performing automatic driving on a general road, a driving environment around the host vehicle is recognized by a sensing device such as a camera, and the presence or absence of a preceding vehicle or a following vehicle is constantly monitored.

[0003] When the driving route is set in the direction of a right-turn or left-turn intersection, the turn signal lamp on the right-turn or left-turn side in front of the intersection is blinked to indicate the intention of a lane change to other vehicles or following vehicles that the host vehicle is about to enter the lane in which it is traveling from the intersection. Therefore, it is necessary to make the surrounding vehicles and pedestrians, etc., recognize in advance the direction in which the host vehicle is going by the blinking of the turn signal lamp.

[0004] This is the same when changing lanes by automatic driving. For example, in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2020-166393), when the host vehicle changes lanes, a technique is disclosed in which the turn signal lamp on the lane change side is blinked in advance to inform the following vehicle and surrounding vehicles of the intention to change lanes.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The timing for when a vehicle changes lanes and when it is about to turn right or left at an intersection is both stipulated by law. Therefore, even in autonomous driving, when turning right or left at an intersection, it is necessary to start flashing the turn signals from a predetermined position (for example, 30m) before the intersection in accordance with legal regulations.

[0007] However, a problem arises, for example, on a road with left-hand traffic regulations, when your vehicle attempts to make a left turn in autonomous driving mode, if there is another intersection before the intersection you intend to turn into. In other words, if another vehicle is attempting to enter your vehicle's lane from the intersection of the other intersection, the driver of that other vehicle may mistakenly perceive the approaching vehicle (your vehicle) as entering the intersection from the other intersection.

[0008] If the driver of another vehicle makes the mistake described above, they may cause the other vehicle to enter their lane before the approaching vehicle (your vehicle) has passed through the other intersection. As a result, your vehicle may have to apply the brakes suddenly to avoid collision with the other vehicle, causing panic for both drivers.

[0009] The present invention aims to provide a vehicle driving assistance device that can clearly indicate to the driver of an other vehicle which intersection the vehicle will turn at, thereby preventing the driver of the other vehicle from misinterpreting which intersection the vehicle will turn at. [Means for solving the problem]

[0010] One aspect of the present invention is a vehicle driving assistance device comprising: a turn signal drive unit that causes a turn signal lamp provided on the vehicle to flash at a predetermined period; an environmental information acquisition unit that acquires information about the surrounding environment of the vehicle; and a control unit that, when a preset target route is set to intersect with the current vehicle's driving path at an intersection ahead, drives the turn signal drive unit from a preset flashing start distance before the intersection, wherein the control unit has a flashing period variable unit that drives the turn signal drive unit with drive signals of different flashing periods, and the flashing period variable unit sets the flashing period to be shorter as the vehicle approaches the intersection. Car Both driver assistance systems In this configuration, the variable flashing period unit detects a following vehicle that is following the vehicle using the environmental information acquisition unit, and also detects an intersecting vehicle at another intersection before the vehicle makes a turn at the intersection. In this configuration, the variable flashing period unit sets the flashing period of the rear turn lamp in the direction of the turn to be shorter as the vehicle approaches the intersection, and sets the flashing period of the front turn lamp in the direction of the turn to be longer until the vehicle passes the other intersection. . One aspect of the present invention is a vehicle driving assistance device comprising: a turn signal drive unit that causes a turn signal lamp provided on the vehicle to flash at a predetermined period; an environmental information acquisition unit that acquires information about the surrounding environment of the vehicle; and a control unit that drives the turn signal drive unit from a predetermined flashing start distance before an intersection when a predetermined target route is set to intersect with the current vehicle's driving path at an intersection ahead, wherein the control unit has a flashing period variable unit that drives the turn signal drive unit with drive signals of different flashing periods, and the flashing period variable unit sets the flashing period to be shorter as the vehicle approaches the intersection, wherein when the environmental information acquisition unit detects a following vehicle that is following the vehicle, the flashing period variable unit sets the flashing period of at least the rear turn signal lamp among the turn signal lamps in the turning direction to be shorter as the vehicle approaches the intersection. One aspect of the present invention is a vehicle driving assistance device comprising: a turn signal drive unit that causes a turn signal lamp provided on the vehicle to flash at a predetermined period; an environmental information acquisition unit that acquires information about the surrounding environment of the vehicle; and a control unit that drives the turn signal drive unit from a predetermined flashing start distance before an intersection when a predetermined target route is set to intersect with the current vehicle's driving path at an intersection ahead, wherein the control unit has a flashing period variable unit that drives the turn signal drive unit with drive signals of different flashing periods, and the flashing period variable unit sets the flashing period to be shorter as the vehicle approaches the intersection, and when the environmental information acquisition unit detects an intersecting vehicle at another intersection before the vehicle turns at the intersection, the flashing period variable unit sets the flashing period of at least the front turn signal lamp among the turn signal lamps in the direction of the turn to bend to be longer until the vehicle passes the other intersection. [Effects of the Invention]

[0011] According to the present invention, the flashing cycle of the turn signal lamp is set to become shorter as the vehicle approaches an intersection where it will make a turn. This clearly indicates which intersection the vehicle will turn at, preventing other drivers from misinterpreting the intersection where it will make a turn. [Brief explanation of the drawing]

[0012] [Figure 1] Schematic diagram of the driver assistance system [Figure 2A] Flowchart showing the driving control routine when turning left or right (Part 1) [Figure 2B] Flowchart showing the driving control routine when turning left or right (Part 2) [Figure 2C] Flowchart showing the driving control routine when turning left or right (Part 3) [Figure 3] Flowchart showing the turn signal control I subroutine [Figure 4] Flowchart showing the turn signal control II subroutine [Figure 5] Flowchart showing the turn signal control III subroutine [Figure 6] Flowchart showing the avoidance behavior I subroutine [Figure 7] Flowchart showing the pre-pass deceleration control subroutine [Figure 8] Flowchart showing the avoidance behavior II subroutine [Figure 9] Flowchart showing the avoidance behavior III subroutine [Figure 10] Overhead view showing the lighting state of the wink lamp when attempting a left turn by automatic driving [Figure 11] Overhead view showing the lighting state of the wink lamp when attempting a right turn by automatic driving [Figure 12] Explanatory diagram showing the blinking cycle of the wink lamp

Mode for Carrying Out the Invention

[0013] Hereinafter, an embodiment of the present invention will be described based on the drawings. In this embodiment, for the sake of convenience, the driving lane will be described as a road where left-hand traffic is defined. Therefore, for a road where the driving lane is defined as right-hand traffic, read the left and right in reverse and apply.

[0014] In FIG. 1, the driving support device 1 mounted on the host vehicle M has a driving support control unit 11 that executes driving support necessary for driving such as vehicle speed control and steering control during automatic driving. This driving support control unit 11 is composed of a microcontroller including a CPU, a RAM, a ROM, a rewritable nonvolatile memory (flash memory or EEPROM), and peripheral devices. The ROM stores programs and fixed data necessary for the CPU to execute each process. The RAM is provided as a work area for the CPU, and various data in the CPU are temporarily stored. The CPU is also called an MPU (Microprocessor) or a processor. Instead of the CPU, a GPU (Graphics Processing Unit) or a GSP (Graph Streaming Processor) may be used. Alternatively, the CPU, GPU, and GSP may be selectively combined and used.

[0015] The input side of this driver assistance control unit 11 is connected to a navigation system 21, a vehicle information receiving unit 22, a camera unit 23, a rear detection unit 24, and a vehicle speed sensor 25 for detecting the vehicle speed (own vehicle speed) of the vehicle M, as means for acquiring parameters necessary when performing autonomous driving. The camera unit 23 and the rear detection unit 24 correspond to the environmental information acquisition unit that acquires surrounding environmental information according to the present invention.

[0016] Here, the navigation system 21 has a positioning radio wave receiving unit, and based on the position signals from positioning satellites such as GNSS (Global Navigation Satellite System) received by this positioning radio wave receiving unit, it acquires position information (coordinates such as latitude and longitude), displays the driving route to the destination set by the driver on high-precision road map information (dynamic map) stored in the high-precision road map database 21a, and overlays the current position of the vehicle M on the acquired vehicle position coordinates.

[0017] This road map information includes static and dynamic map information necessary for autonomous driving of the vehicle M. Static map information includes the shapes of roads and structures, lane information, etc. Dynamic map information includes constantly changing information such as traffic regulations, accidents, congestion, vehicles, and pedestrians on each road, which is updated sequentially and overlaid on the static information.

[0018] Furthermore, the vehicle information receiving unit 22 receives vehicle information from the vicinity of its own vehicle M via a receiving antenna, using vehicle-to-vehicle communication, vehicle-to-infrastructure communication, etc.

[0019] The camera unit 23 has a stereo camera consisting of a main camera 23a and a sub-camera 23b, both of which use CCD or CMOS as image sensors, and an image processing unit (IPU) 23c. The IPU 23c processes the driving environment information in front of the vehicle M captured by both cameras 23a and 23b according to a predetermined image format and transmits it to the driver assistance control unit 11.

[0020] The rear detection unit 24 comprises a rear detection sensor 24a and a following vehicle detection unit 24b. The rear detection sensor 24a senses a predetermined sensing area behind the vehicle and acquires rear environmental information. This rear detection sensor 24a is composed of at least one of the following: a video camera, an ultrasonic sensor, a millimeter-wave radar, a microwave radar, or a lidar (Light Detection and Ranging). The video camera is not limited to a stereo camera; it may also be a monocular camera. The following vehicle detection unit 24b, based on the rear environmental information acquired by the rear detection sensor 24a, checks for the presence or absence of a following vehicle S following the vehicle M, and the distance between the vehicle M and the following vehicle S.

[0021] On the other hand, the turn signal drive unit 31, the electric power steering (EPS) drive unit 32, the power drive unit 33, and the brake drive unit 34 are connected to the output side of the driver assistance control unit 11. The turn signal drive unit 31 causes the front left and right turn signals Lfl and Lfr, and the rear left and right turn signals Lrl and Lrr to flash. In the following, the turn signals Lfl, Lfr, Lrl, and Lrr may be collectively referred to as "Lw".

[0022] The EPS drive unit 32 drives the electric power steering (EPS). The power drive unit 33 drives the power source (engine, electric motor, etc.). The brake drive unit 34 adjusts the brake fluid pressure supplied to the brake unit to generate braking force.

[0023] When the driver enters a destination into the navigation system 21, the navigation system 21 sets the current position of the vehicle M and the driving route to the destination on a road map. The driver assistance control unit 11 sets a target route for automatically driving the vehicle M along the driving route within a predetermined distance in front of the vehicle M. In this case, for example, as shown in Figure 10, if the target route is set to turn left ahead, the driver assistance control unit 11 sends an ON signal to the turn signal drive unit 31 to make the left front and rear turn signals Lfl and Lrl flash when the vehicle M is about to turn left. By flashing the left front and rear turn signals Lfl and Lrl, the driver assistance control unit 11 notifies vehicles around the vehicle M that the vehicle M is about to turn left.

[0024] Similarly, as shown in Figure 11, when the target route is set to a right turn, the driver assistance control unit 11 transmits an ON signal to the turn signal drive unit 31 to cause the right front and rear turn signals Lfr and Lrr to flash when the vehicle M is approaching the right turn point. By flashing the right front and rear turn signals Lfr and Lrr, the vehicle M notifies those around it that it is about to turn right.

[0025] Incidentally, the law predetermines how many meters before the intersection the vehicle M is to turn right or left must begin flashing its turn signals Lfr, Lrr, or Lfl, Lrl. Accordingly, the driver assistance control unit 11, based on the map information from the camera unit 23 and the navigation system 21, determines that the vehicle M has reached the predetermined distance before the intersection and sends an ON signal to the turn signal drive unit 31.

[0026] In this case, when the driver assistance control unit 11 reaches a preset flashing start distance (for example, 30 m) before the intersection where the vehicle M is about to turn left, it sends an ON signal to the turn signal drive unit 31 for the left front and rear turn signals Lfl and Lrl. As a result, the left front and rear turn signals Lfl and Lrl begin flashing. At that time, for example, in Figure 10, there may be one or more intersecting roads between the flashing start distance and the intersection where the vehicle is about to turn left, and a vehicle (intersecting vehicle) I may be about to enter the lane in which the vehicle M is traveling from at least one of those intersecting roads.

[0027] In such a case, the driver of intersecting vehicle I cannot clearly determine which intersection the other vehicle (their own vehicle M) is attempting to turn left at. Therefore, if the driver of intersecting vehicle I mistakenly believes that the other vehicle (their own vehicle M) is turning at the intersection just before the actual intersection it intends to turn left at, and veers into the lane of their own vehicle M, the driver assistance control unit 11 will attempt to avoid a collision by sending an emergency brake (AEB: Autonomous Emergency Braking) signal to the brake drive unit 34, causing an emergency stop, thus panicking the driver.

[0028] As shown in Figure 11, this can also occur when, in addition to the aforementioned intersecting vehicle I on the side of the road, intersecting vehicle I' from the oncoming lane is also attempting to turn right and suddenly enters the lane in which vehicle M is traveling. Furthermore, when vehicle M is attempting to turn right at an intersection, if an oncoming vehicle F is traveling in the oncoming lane, the driver of the oncoming vehicle F may not be able to determine which intersection the other vehicle (vehicle M) is turning right at, which could cause anxiety.

[0029] In addition, as shown in Figure 10 or Figure 11, when a following vehicle S is following vehicle M, if the driver of the following vehicle S is driving with the preceding vehicle (vehicle M) flashing its left rear turn signal Lrl or right rear turn signal Lrr, the driver of the following vehicle S will not know which intersection the preceding vehicle (vehicle M) is trying to turn at, which will irritate the driver of the following vehicle S.

[0030] Therefore, in this embodiment, the flashing cycle of the front and rear turn signals Lw is varied according to the situation, so that intersecting vehicles I (or I'), oncoming vehicles F, and following vehicles S are visually notified of the intersection that the vehicle M is about to turn into.

[0031] The control performed by the driver assistance control unit 11 to vary the flashing period of the turn signal lamp Lw when turning right or left is specifically performed within the flow of the right / left turn driving control routine shown in Figures 2A to 2C.

[0032] In this routine, first, in step S1, the driver assistance control unit 11 reads the target route set based on the driving route set by the navigation system 21. Next, it proceeds to step S2 to check whether the target route is set to a right turn, a left turn, or a straight-ahead direction. If it is set to a right turn or a left turn, it proceeds to step S3. If the target route is set to a straight-ahead direction, it exits the routine.

[0033] Step S3 involves recognizing the intersection where the vehicle M will turn right or left, which is set as the target route. This intersection recognition is obtained from the map information of the navigation system 21, or based on the environmental information in front of the vehicle M obtained by the camera unit 23.

[0034] Next, the system proceeds to step S4, where it checks whether there is an intersecting road connecting to the vehicle's path between the intersection where the recognized vehicle M will turn right or left and the flashing start distance (for example, 30 m) before it. Whether or not there is such an intersecting road is determined based on the map information from the navigation system 21 or the environmental information in front of the vehicle M acquired by the camera unit 23.

[0035] If there is no intersection, the system jumps to step S6. If an intersection is recognized, the system proceeds to step S5. In step S5, the system checks whether there is a vehicle (intersecting vehicle) I (or I') that is attempting to enter the intersection in the direction of the vehicle's own road. The presence or absence of an intersecting vehicle I (or I') is determined based on the environmental information in front of the vehicle M acquired by the camera unit 23, using well-known template matching processing, feature point detection processing, etc.

[0036] If no intersecting vehicle is detected, the process proceeds to step S6. If an intersecting vehicle I (or I') is detected, the process jumps to step S13. In step S6, the system checks for the presence of a following vehicle S traveling within a predetermined range from the current vehicle M. The presence or absence of a following vehicle S is determined based on information from the following vehicle detection unit 24b of the rear detection unit 24. If no following vehicle is detected, the process proceeds to step S7; if a following vehicle S is detected, the process branches to step S8.

[0037] When the process proceeds to step S7, the driver assistance control unit 11 executes standard turn signal control processing and proceeds to step S9. The standard turn signal control processing executed by the driver assistance control unit 11 first sends an ON signal with a standard flashing period to the turn signal drive unit 31 in order to flash the turn signal lamp Lw in the direction the target path is turning, causing the front and rear turn signals in the direction of the turn (left front and rear turn signals Lfl, Lrl in Figure 10, and right front and rear turn signals Lfr, Lrr in Figure 11) to operate at a constant period (for example, 90 flashing periods / 60 [sec]). As a result, the vehicle M turns at the intersection, flashing the turn signal lamp Lw on the turning (right turn or left turn) side at the standard flashing period from a predetermined flashing start distance.

[0038] Furthermore, branching from step S6 to step S8 executes turn signal control I and proceeds to step S11. In this turn signal control I, the turn signal control I subroutine shown in Figure 3 is executed. Note that the processing in Figure 3, Figure 4 (described later), and Figure 5 correspond to the blinking period variable unit of the present invention.

[0039] In this subroutine, first, in step S31, the reaching distance Lk from the vehicle position to the intersection where a right turn or a left turn is set on the target travel route is calculated. This reaching distance Lk is calculated based on the map information of the navigation system 21 or the environmental information in front of the host vehicle M acquired by the camera unit 23.

[0040] Next, proceed to step S32 and compare the reaching distance Lk with the first threshold distance L1. This first threshold distance L1 is the above-mentioned blinking start distance, for example, 30 [m]. In step S32, wait until the reaching distance Lk reaches the first threshold distance L1. And when the reaching distance Lk reaches the first threshold distance L1 (Lk ≤ L1), proceed to step S33. In step S33, compare the reaching distance Lk with the second threshold distance L2. This second threshold distance L2 is, for example, 20 [m].

[0041] And when the reaching distance Lk has not yet reached the second threshold distance L2 (Lk > L2), proceed to step S34, set the blinking period T with the long blinking period Tl (T ← Tl), and proceed to step S38.

[0042] After that, when the reaching distance Lk reaches the second threshold distance L2 (Lk < L2), branch to step S35 and compare the reaching distance Lk with the third threshold distance L3. This third threshold distance L3 is, for example, 10 [m].

[0043] And when the reaching distance Lk has not yet reached the third threshold distance L3 (Lk > L3), proceed to step S36, set the blinking period T with the standard blinking period Tn (T ← Tn), and proceed to step S38. After that, when the reaching distance Lk reaches the third threshold distance L3 (Lk ≤ L3), branch to step S37, set the blinking period T with the short blinking period Ts (T ← Ts), and proceed to step S38.

[0044] As shown in Figure 12, the flashing period set in step S7 and the flashing period T set in step S34 are the standard flashing period Tn. In this embodiment, if the standard flashing period Tn is set to 90 flashing periods / 60 [sec], with the on time and off time being the same, then the long flashing period Tl is set to 60 flashing periods / 60 [sec] and the short flashing period Ts is set to 120 flashes / 60 [sec]. However, this is an example, and as long as the relationship Tl > Tn > TS exists, the flashing period T should be appropriately set to the best state according to the level of recognition of the driver, etc.

[0045] Subsequently, if the process proceeds from step S34, S36, or S37 to step S38, it is checked whether the target route is set to turn left at the intersection (see Figure 10) or to turn right (see Figure 11). If the target route is set to turn left, the process proceeds to step S39, where an ON signal is sent to the turn signal drive unit 31 to cause the left front and rear turn signals Lfl and Lrl to flash at a flashing period T, and the process proceeds to step S11 in Figure 2B. If the target route is set to turn right, the process branches to step S40, where an ON signal is sent to the turn signal drive unit 31 to cause the right front and rear turn signals Lfr and Lrr to flash at a flashing period T, and the process proceeds to step S11.

[0046] As a result, even if there is no intersecting vehicle I (or I') at the intersection, if a following vehicle S is following its own vehicle M, the remaining distance Lk to the intersection where vehicle M is about to turn is between the first threshold distance L1 and the second threshold distance L2. In this case, the flashing period T of the turn signal lamp Lw in the direction of the turn is set to a long flashing period Tl, thus allowing the driver of the following vehicle S to visually recognize that there is still ample time to reach the intersection where the preceding vehicle (vehicle M) is about to turn.

[0047] Subsequently, when the distance Lk to the intersection that vehicle M is about to turn is between the second threshold distance L2 and the third threshold distance L3, the flashing period T of the turn signal lamp Lw in the direction of the turn is set to the standard flashing period Tn, thus allowing the driver of the following vehicle S to visually recognize that the preceding vehicle (vehicle M) is approaching the intersection that it is about to turn.

[0048] Furthermore, when the distance Lk to the intersection where the vehicle M is about to turn becomes shorter than the third threshold distance L3, the flashing cycle T of the turn signal lamp Lw in the direction of the turn is set to a short flashing cycle Ts. This makes it easy for the driver of the following vehicle S to predict that the preceding vehicle (the vehicle M) is about to turn at the next intersection. As a result, the driver assistance control unit 11 can safely guide the vehicle M to the intersection where it is about to turn without irritating the driver of the following vehicle S, and make a smooth turn at that intersection.

[0049] Furthermore, when proceeding from step S8 to step S11, it is checked whether the following vehicle S is aware of the timing of the vehicle M's right or left turn. Whether the following vehicle S is aware of the timing of the vehicle M's right or left turn is determined based on the distance between the vehicle M and the following vehicle S, and the relative vehicle speed, which are calculated based on the following vehicle information acquired by the following vehicle detection unit 24b of the rear detection unit 24.

[0050] In this case, if the following vehicle S does not decelerate despite the vehicle M executing turn signal control I, and continues to approach the vehicle M, it is determined that the following vehicle S is unaware of the timing of the vehicle M's right or left turn, and the process proceeds to step S12. Alternatively, if the following vehicle S is decelerating in accordance with the vehicle M, it is determined that the following vehicle S is aware of the timing of the vehicle M's right or left turn, and the process proceeds to step S9.

[0051] The evasive action I performed in step S12 is processed according to the evasive action I subroutine shown in Figure 6. In this subroutine, first, in step S61, the distance between the vehicle M and the following vehicle S is monitored and its change is calculated. The change in the distance is calculated from the difference in the distance to the following vehicle S at each calculation cycle, which is acquired by the following vehicle detection unit 24b of the rear detection unit 24.

[0052] Then, the system proceeds to step S62, and if the following vehicle S is approaching the current vehicle M, it is determined that there is a possibility of a rear-end collision, and the system proceeds to step S63. Also, if the distance between the following vehicle S and the current vehicle M has not decreased, it is determined that there is no possibility of a rear-end collision, and the system proceeds to step S9 in Figure 2A. If the system proceeds to step S63, it executes collision avoidance control and proceeds to step S9 in Figure 2A.

[0053] In step S63, the collision avoidance control reconstructs the target path to avoid a collision. Reconstructing the target path involves, for example, searching for an intersection to turn right or left after the intersection where the vehicle M would normally turn right or left according to the original target path, and constructing a new target path. Alternatively, if the road the vehicle M is traveling on has multiple lanes, the system may construct a target path that involves changing lanes to a different lane than the following vehicle S. After executing the collision avoidance control, the system proceeds to step S9 in Figure 2A.

[0054] On the other hand, if step S5 determines that there is an intersecting vehicle I (or I') at the intersection and the system branches off to step S13, it checks for the presence of a following vehicle S traveling within a predetermined range from the current vehicle M, similar to step S6 described above. If there is no following vehicle, the system proceeds to step S14; if a following vehicle S is detected, the system branches off to step S15.

[0055] If the process proceeds to step S14, turn signal control II is executed and the process proceeds to step S16. Alternatively, if the process branches off to step S15, turn signal control III is executed and the process proceeds to step S19.

[0056] The turn signal control II performed in step S14 is processed according to the turn signal control II subroutine shown in Figure 4.

[0057] In this subroutine, first, in step S41, it is checked whether vehicle M has passed through the intersection into which intersecting vehicle I (or I') is about to enter. Whether or not vehicle M has passed through this intersection is determined by predicting the distance to be reached based on environmental information in front of vehicle M acquired by camera unit 23.

[0058] If it is determined that the vehicle M is still traveling before the intersection, the process proceeds to step S42, the flashing period T is set to the standard flashing period Tn (T←Tn), and the process proceeds to step S44. If the vehicle M has passed the intersection into which the intersecting vehicle I (or I') is about to enter, the process branches off to step S43, the flashing period T is set to the short flashing period Ts (T←Ts), and the process proceeds to step S44.

[0059] If the process proceeds from step S42 or from step S43 to step S44, it is checked whether the target route is set to turn left at the intersection. If the target route is set to turn left, the process proceeds to step S45. If the target route is set to turn right, the process branches off to step S46.

[0060] When the process proceeds to step S45, an ON signal is sent to the turn signal drive unit 31 to cause the left front and rear turn signals Lfl and Lrl to flash at a flashing period T, and the process proceeds to step S16. When the process proceeds to step S46, an ON signal is sent to the turn signal drive unit 31 to cause the right front and rear turn signals Lfr and Lrr to flash at a flashing period T, and the process proceeds to step S16.

[0061] Then, the driver assistance control unit 11 recognizes an intersecting vehicle I (or I') that is about to enter the vehicle M's path and, after approaching the intersection of the intersection, makes the turn signal lamp Lw in the direction of the turn flash at a standard flashing period Tn (see Figure 12) until it has passed the intersection. Because the turn signal lamp Lw is flashing at this flashing period T, the driver of the intersecting vehicle I (or I') can visually understand that the approaching vehicle (the vehicle M) is about to pass the intersection of the vehicle M (intersecting vehicle I or I').

[0062] Subsequently, as intersecting vehicle I (or I') passes through the intersection it is about to enter, the flashing period T of the turn signal lamp Lw in the direction of the turn flashes at a short flashing period Ts (see Figure 12). Therefore, if intersecting vehicle I (or I') is traveling in a direction following the other vehicle (own vehicle M), it can visually recognize that the intersection that the preceding vehicle (own vehicle M) is about to turn into is approaching, thus preventing a rear-end collision.

[0063] Then, proceeding to step S16 in Figure 2C, the pre-passage deceleration limit control process is executed, and the process proceeds to step S17. This pre-passage deceleration limit control process is executed according to the pre-deceleration passage limit control subroutine shown in Figure 7. Note that the processing in this subroutine corresponds to the deceleration limit control unit of the present invention.

[0064] In this subroutine, first, in step S71, the distance from the vehicle M to the intersection that intersecting vehicle I (or I') is about to enter is calculated based on the environmental information in front of the vehicle M acquired by the camera unit 23. Next, in step S72, the vehicle speed when passing through the intersection of intersecting vehicle I (or I') is set (passing speed). This passing speed is set to a value such as 30-20 [km / h] so that intersecting vehicle I (or I') does not mistakenly believe that the other vehicle (the vehicle M) will turn at the intersection of intersecting vehicle I (or I') or the intersection before it.

[0065] Next, the process proceeds to step S73, where a deceleration gradient is set to reduce the vehicle speed from the current speed to the passing speed, based on the distance to the intersection of intersecting vehicle I (or I') calculated in step S71, the passing speed set in step S72, and the current vehicle speed detected by the vehicle speed sensor 25. Then, the process proceeds to step S74, where vehicle speed control is executed to limit the deceleration of the vehicle speed according to this deceleration gradient, and the process proceeds to step S75.

[0066] As a result, the driver of intersecting vehicle I (or I') attempting to enter the vehicle's lane from the intersection can visually recognize the flashing of the turn signal Lw of the approaching vehicle (the vehicle M). Moreover, because the vehicle speed (vehicle speed) of the other vehicle (vehicle M) does not significantly decrease as it passes, the other vehicle (in this case, vehicle M) can eliminate the assumption that the other vehicle (in this case, intersecting vehicle I or I') will turn before the vehicle (in this case, intersecting vehicle I or I') or at the intersection where the vehicle (intersecting vehicle I or I') is located.

[0067] Subsequently, the system proceeds to step S75, where the vehicle speed control in step S74 is repeatedly executed until the vehicle M passes the intersection with the intersecting vehicle I (or I'). When the driver assistance control unit 11 determines that the vehicle M has passed the intersection with the intersecting vehicle I (or I'), the system proceeds to step S76, where the deceleration restriction due to the deceleration gradient is released, and the system proceeds to step S17 in Figure 2C.

[0068] In step S17 of Figure 2C, it is estimated whether the driver of intersecting vehicle I (or I') is waiting for vehicle M to pass. Whether the driver of intersecting vehicle I (or I') is waiting for vehicle M to pass is estimated, for example, from the behavior of intersecting vehicle I (or I') monitored based on environmental information in front of vehicle M acquired by camera unit 23. That is, if intersecting vehicle I (or I') is stopped at the intersection, it is estimated that it is aware of vehicle M's passage. Also, if intersecting vehicle I (or I') is moving in the direction of vehicle M's road, it is estimated that vehicle M is mistaken in thinking that intersecting vehicle I (or I') is turning right or left at the intersection or the intersection just before it.

[0069] If it is estimated that intersecting vehicle I (or I') is waiting for vehicle M to pass, the process proceeds to step S9. If it is estimated that intersecting vehicle I (or I') is mistaken, the process proceeds to step S18. In step S18, evasive action II is performed, and the process proceeds to step S9. This evasive action II is performed according to the evasive action II subroutine shown in Figure 8.

[0070] In this subroutine, first, in step S81, the behavior of the intersecting vehicle I (or I') is detected. The behavior of the intersecting vehicle I (or I') is investigated based on the amount of movement of the intersecting vehicle I (or I') at each calculation cycle, which is captured by the environmental information in front of the vehicle M acquired by the camera unit 23. Next, the process proceeds to step S82 to check whether either of the intersecting vehicles I (or I') has jumped out into the vehicle M's travel path (the vehicle's travel path). If the intersecting vehicle I (or I') remains within the intersecting path, it is determined that there is no possibility of it jumping out, and the process proceeds to step S9 in Figure 2A. If either of the intersecting vehicles I (or I') has jumped out into the vehicle's travel path, the process proceeds to step S83.

[0071] In step S83, collision avoidance control is performed, and the process proceeds to step S9 in Figure 2A. This collision avoidance control first determines the direction in which the intersecting vehicle I (or I') is attempting to move (as shown in Figures 10 and 11, whether it will turn right, go straight, or turn left) based on the behavior of the intersecting vehicle I (or I').

[0072] For example, if the intersecting vehicle I shown in Figure 10 is about to turn left, the driver assistance control unit 11 sends a braking signal to the brake drive unit 34 to make the vehicle M follow the intersecting vehicle I, decelerating the vehicle M and proceeding to step S9 in Figure 2A. Also, if the driver assistance control unit 11 determines that there is a high probability of collision even with rapid deceleration based on the relationship between the current vehicle speed and the distance from the position of the vehicle M to the intersecting vehicle I, it reconstructs a new target path to avoid the collision and proceeds to step S9 in Figure 2A.

[0073] Reconstructing the target route involves, for example, as shown in Figure 10, reconstructing the target route in the direction of a left turn towards the oncoming lane if there is an opposing lane at the intersection where intersecting vehicle I is traveling. Alternatively, if the road on which the vehicle is traveling has two lanes in each direction, the target route may be reconstructed to change lanes to the lane on the center line side, and then, if a left turn is possible, returning to the original target route.

[0074] On the other hand, in Figure 10, if intersecting vehicle I is going straight or turning right, the driver assistance control unit 11 detects the sudden appearance of intersecting vehicle I and then sends a braking signal to the brake drive unit 34 to begin deceleration. After confirming that intersecting vehicle I is crossing the vehicle's path (vehicle's path), the driver assistance control unit 11 sends a signal to the brake drive unit 34 to ease the deceleration and then drives vehicle M along the original target path.

[0075] On the other hand, as shown in Figure 11, intersecting vehicle I' veers out into the oncoming lane from the intersecting road on the opposing lane side, but not into the vehicle's own path, so the process proceeds from step S82 to step S9 in Figure 2A. In contrast, if intersecting vehicle I' turns right or goes straight, it veers into the vehicle's own path, so the process proceeds from step S82 to step S83. In this case, if intersecting vehicle I' turns right, as with the case where intersecting vehicle I turns left as described above, the driver assistance control unit 11 sends a braking signal to the brake drive unit 34 to make the vehicle M follow intersecting vehicle I', decelerating the vehicle M and proceeding to step S9 in Figure 2A.

[0076] In this case, if the relationship between the current vehicle speed and the distance from the position of the vehicle M to the intersecting vehicle I' that has suddenly entered the vehicle's path indicates that there is a high probability of collision even with rapid deceleration, the driver assistance control unit 11 reconstructs a new target path to avoid the collision and proceeds to step S9 in Figure 2A.

[0077] This reconstruction of the target path involves, for example, if the road in which the vehicle is traveling has two lanes in each direction and an intersecting vehicle I' is about to turn right, reconstructing the target path to change lanes to the shoulder lane to avoid a collision with intersecting vehicle I'. On the other hand, if the intersecting vehicle I' is about to go straight, the vehicle M will rapidly decelerate and set the target path closer to the center line to avoid a collision with intersecting vehicle I'.

[0078] Furthermore, the turn signal control III in step S15 is executed according to the turn signal control III subroutine shown in Figure 5.

[0079] In this subroutine, first, in step S51, the front turn signal lamp Lfl or Lfr on the side that is turning (right or left) is made to blink at the blinking period T set in the turn signal control II subroutine. Next, the process proceeds to step S52, where the rear turn signal lamp Lrl or Lrr on the side that is turning (right or left) is made to blink at the blinking period T set in the turn signal control III subroutine. Then, the process proceeds to step S19 in Figure 2C.

[0080] Thus, in this embodiment, when an intersecting vehicle I (or I') is recognized ahead and a following vehicle S is detected behind, the front and rear turn signals Lw in the direction of the turn are made to flash with different flashing cycles. Therefore, the intersection where the vehicle M is turning can be clearly indicated to the intersecting vehicle I (or I') and the following vehicle S.

[0081] Proceeding to step S19, the pre-passage deceleration limit control process is executed, and then the process proceeds to step S20. This pre-passage deceleration limit control process is executed according to the pre-deceleration passage limit control subroutine shown in Figure 7. Since this subroutine has already been explained, its explanation is omitted here.

[0082] Step S20 checks whether the driver of intersecting vehicle I (or I') and the driver of following vehicle S are aware of vehicle M. Specifically, if, despite the turn signals being flashed by the turn signal control III to indicate to intersecting vehicle I (or I') and following vehicle S the timing for vehicle M to proceed to the intersection where it will turn right or left, if either intersecting vehicle I (or I') suddenly enters the vehicle's path, or if the distance between vehicle M and following vehicle S is narrowing, or both, the process proceeds to step S21, where evasive action III is performed, and then to step S9 in Figure 2A. If it is determined that both intersecting vehicle I and following vehicle S are aware of vehicle M, the process proceeds directly to step S9 in Figure 2A.

[0083] The evasive action III in step S21 is executed according to the evasive action III subroutine shown in Figure 9. In this subroutine, first, the behavior of the intersecting vehicle I or I' that has suddenly appeared in step S91 is detected by performing the same processing as in step S81 in Figure 8 described above. Next, the process proceeds to step S92, where the change in the distance between the vehicle M and the following vehicle S is detected by performing the same processing as in step S61 described above.

[0084] Next, the process proceeds to step S93, where it is checked whether intersecting vehicle I (or I') has veered into the path of the own vehicle M (the own vehicle's path). If it is determined that either intersecting vehicle I (or I') has veered into the path, the process proceeds to step S94. If it is determined that intersecting vehicle I (or I') remains within the intersection, it is determined that there is no possibility of it veering into the path, and the process branches off to step S95.

[0085] Proceeding to step S94, the possibility of vehicle M being rear-ended by following vehicle S is checked. If the distance between following vehicle S and vehicle M has not narrowed, it is determined that there is no possibility of a rear-end collision, and the process branches to step S96. If following vehicle S is approaching vehicle M, it is determined that there is a possibility of a rear-end collision, and the process proceeds to step S98. Proceeding to step S96, control to avoid collision with intersecting vehicle I (or I') is performed in the same way as in step S83 described above, and the process proceeds to step S9 in Figure 2A.

[0086] Furthermore, when branching from step S93 to step S95, the possibility of the vehicle M being rear-ended by the following vehicle S is checked, similar to step S94 described above. If it is determined that there is no possibility of the vehicle M being rear-ended by the following vehicle S, the process proceeds to step S9 in Figure 2A. On the other hand, if it is determined that there is a possibility of the vehicle M being rear-ended by the following vehicle S, the process proceeds to step S97. In step S97, collision avoidance control with the following vehicle S is performed in the same way as in step S63 described above, and the process proceeds to step S9 in Figure 2A.

[0087] Furthermore, when proceeding from step S94 to step S98, collision avoidance control with the intersecting vehicle I (or I') is performed while maintaining a safe following distance to prevent a rear-end collision with the following vehicle S, and then the process proceeds to step S9 in Figure 2A. The collision avoidance control with the intersecting vehicle I (or I') in step S98 is performed by executing the same process as in step S83 described above.

[0088] Then, if the process proceeds from step S12, S18, or S21 to step S9 in Figure 2A, the driver assistance control unit 11 checks from the steering signal to the EPS drive unit 32 whether the vehicle M has completed a right or left turn, and continues the driving control for right or left turns until the right or left turn is completed. If it is determined that the vehicle M has completed a right or left turn, the process proceeds to step S10, where the driver assistance control unit 11 sends a turn signal OFF signal to the turn signal drive unit 31, ending the blinking of the turn signals and exiting the routine.

[0089] Thus, in this embodiment, when turning right or left at an intersection ahead according to the target route, if an intersecting vehicle I (or I') is detected at the intersection ahead, the flashing period T of the turn signal lamp Lw on the turning side is lengthened before reaching the intersecting vehicle I (or I'), and then switched back to the normal flashing period T after passing the intersecting vehicle I. Furthermore, the flashing period T is shortened until just before the intersection where the vehicle M will turn. This visually indicates to the driver of the intersecting vehicle I (or I') that the vehicle M will not turn until at least the intersecting vehicle I (or I') has passed.

[0090] As a result, the driver of intersecting vehicle I (or I') will not be misled into thinking that vehicle M is turning at the intersection, and the sudden appearance of intersecting vehicle I (or I') will be prevented. Therefore, the driver will not be startled by the sudden appearance of intersecting vehicle I (or I'). In addition, when vehicle M is turning right, the intersection that vehicle M is turning at can be visually indicated to oncoming vehicle F.

[0091] Furthermore, if an intersecting vehicle I (or I') were to suddenly enter the vehicle's path, or if a following vehicle S were to approach the vehicle M, the driver assistance control unit 11 would perform evasive action to avoid a collision or rear-end collision, thereby protecting the occupants of the vehicle M from such collisions or rear-end collisions.

[0092] Furthermore, the present invention is not limited to the embodiments described above. For example, the flashing period T of the turn signal lamp Lw may be divided into four or more stages, or it may be continuously variable. Also, the behavior of intersecting vehicles I (or I') and following vehicles S may be acquired based on information from vehicle-to-vehicle communication and vehicle-to-infrastructure communication received by the vehicle information receiving unit 22. [Explanation of Symbols]

[0093] 1…Driving assistance system, 11…Driver support control unit, 21…Navigation system, 21a... High-precision road map database, 22... Vehicle information receiving unit, 23...Camera unit, 23a... Main camera, 23b... Sub-camera, 24... Rear detection unit, 24a... Rear detection sensor, 24b... Following vehicle detection unit, 25... Vehicle speed sensor, 31... Turn signal drive unit, 32...EPS drive unit, 33...Power drive unit, 34...Brake drive unit, F...Oncoming vehicle, I, I'... crossing vehicles, Lfl, Lfr... Front left and right turn signals, Lrl, Lrr... Rear left and right turn signals, L1... Flashing start distance (first threshold distance), L2... Second threshold distance, L3...Third threshold distance, Lk…reaching distance, Lw... Turn signal lamp, M... Own vehicle, S... Following car, T...blinking cycle, Tl...Long flashing period, Tn...Standard flashing cycle, Ts...Short flashing cycle

Claims

1. A turn signal drive unit that causes a turn signal lamp provided on the vehicle to flash at a predetermined cycle, The aforementioned environmental information acquisition unit acquires information about the surrounding environment of the vehicle, If the pre-set target route is set to the direction of the intersection that crosses the current vehicle's driving path at the intersection ahead, the control unit drives the turn signal drive unit from a pre-set flashing start distance before the intersection. In a vehicle driver assistance system equipped with, The control unit has a blinking period variable unit that drives the turn signal drive unit with drive signals of different blinking periods. The flashing period variable unit sets the flashing period to be shorter as the vehicle approaches the intersection. A vehicle driving assistance system, The variable flashing period unit, when the environmental information acquisition unit detects a following vehicle that is following the vehicle and also detects an intersecting vehicle at another intersection before the vehicle makes a turn at the intersection, sets the flashing period of the rear turn lamp in the direction of the turn to be shorter as the vehicle approaches the intersection, and sets the flashing period of the front turn lamp in the direction of the turn to be longer until the vehicle passes the other intersection. A vehicle driving assistance device characterized by the following features.

2. A turn signal drive unit that causes a turn signal lamp provided on the vehicle to flash at a predetermined interval, The aforementioned environmental information acquisition unit acquires information about the surrounding environment of the vehicle, If the pre-set target route is set to the direction of the intersection that crosses the current vehicle's driving path at the intersection ahead, the control unit drives the turn signal drive unit from a pre-set flashing start distance before the intersection. In a vehicle driver assistance system equipped with, The control unit has a blinking period variable unit that drives the turn signal drive unit with drive signals of different blinking periods. The flashing period variable unit sets the flashing period to be shorter as the vehicle approaches the intersection. A vehicle driving assistance system, When the environmental information acquisition unit detects a following vehicle that is following the vehicle, the variable flashing period unit sets the flashing period of at least the rear turn lamp among the turn lamps in the direction of the turn to be shorten as the vehicle approaches the intersection. A vehicle driving assistance device characterized by the following features.

3. A turn signal drive unit that causes a turn signal lamp provided on the vehicle to flash at a predetermined period, The aforementioned environmental information acquisition unit acquires information about the surrounding environment of the vehicle, If the pre-set target route is set to the direction of the intersection that crosses the current vehicle's driving path at the intersection ahead, the control unit drives the turn signal drive unit from a pre-set flashing start distance before the intersection. In a vehicle driver assistance system equipped with, The control unit has a blinking period variable unit that drives the turn signal drive unit with drive signals of different blinking periods. The flashing period variable unit sets the flashing period to be shorter as the vehicle approaches the intersection. A vehicle driving assistance system, When the variable flashing period unit detects an intersecting vehicle at another intersection before the vehicle makes a turn at the aforementioned intersection, it sets the flashing period of at least the front turn lamps of the turn lamps in the direction of the turn to be longer until the vehicle has passed the other intersection. A vehicle driving assistance device characterized by the following features.

4. The control unit further comprises a deceleration limiting control unit, The deceleration limiting control unit, when the environmental information acquisition unit detects an intersecting vehicle at another intersection before the vehicle makes a turn at the aforementioned intersection, limits the deceleration until the vehicle passes the other intersection. A vehicle driving assistance device according to claim 1 or 3, characterized in that it provides the assistance of the vehicle.

Images