Driving assistance device

Abstract

A driving assistance device according to one embodiment of the present disclosure is provided with a control unit capable of executing the following three processes: (1) acquiring attribute information and position information of each of structures that constitute an intersection ahead of a vehicle, from map data and image data of the intersection ahead of the vehicle; (2) when it is detected, in the map data, the attribute information of each structure, or the image data, that there are a plurality of enterable lanes allowing the vehicle to enter a cross road of the intersection, identifying one lane from among the plurality of enterable lanes on the basis of the attribute information and the position information of the structures as well as a situation or state, included in at least one of the map data and the image data, of the intersection and a cross road that intersects with a travel path of the vehicle at the intersection, and deriving a drawing position on a road surface of a guidance line that guides the vehicle to a specific lane that is the identified lane; and (3) controlling the irradiation of visible laser light on the basis of the drawing position.

Description

Driving assistance devices

[0001] The present disclosure relates to a driving assistance device mounted on a vehicle.

[0002] Various driving assistance devices that assist vehicle driving have been proposed. For example, Patent Literature 1 discloses a device that uses a head-up display (HUD) or laser irradiation on the road surface to display a guide arrow for a currently traveling road that is determined to be drivable, and displays an arrow with an X mark at the end for a one-way road that is determined to be drivable.

[0003] JP 2009-298360 A

[0004] A driving assistance device according to a first aspect of the present disclosure includes an acquisition unit capable of acquiring map data and image data of an intersection ahead of a vehicle, and a control unit capable of providing driving assistance for the vehicle based on the map data and image data acquired by the acquisition unit. The control unit is capable of performing the following three operations: (A1) acquiring attribute information and position information of each structure constituting the intersection ahead of the vehicle from the map data and image data; (A2) when detecting, in the map data, the attribute information of each structure, or the image data, that there are multiple accessible lanes at an intersection where the vehicle can enter, identifying one lane from the multiple accessible lanes based on the attribute information and position information of each structure and the situation or state of the intersection and the crossroads intersecting the vehicle's driving path at the intersection included in at least one of the map data and the image data, and deriving a drawing position on the road surface of a guidance line that guides the vehicle to the identified lane; and (A3) controlling the irradiation of visible laser light based on the drawing position.

[0005] A driving assistance device according to a second aspect of the present disclosure includes an acquisition unit capable of acquiring map data and image data of an intersection ahead of a vehicle, and a control unit capable of providing driving assistance for the vehicle based on the map data and image data acquired by the acquisition unit. The control unit is capable of performing the following three operations: (B1) acquiring attribute information and position information of each structure constituting the intersection ahead of the vehicle from the map data and image data; (B2) when detecting, in the map data, the attribute information of each structure, or the image data, that there are multiple available lanes at an intersection where the vehicle can enter, identifying one lane from the multiple available lanes based on the attribute information and position information of each structure and the situation or state of the intersection and the crossroads intersecting the vehicle's driving path at the intersection included in at least one of the map data and the image data, and deriving a drawing position on the HUD of a guiding line that guides the vehicle to the identified lane; and (B3) generating image data including a marker drawn based on the drawing position and outputting the image data to the HUD.

[0006] The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate one embodiment and, together with the description, serve to explain the principles of the disclosure.

[0007] FIG. 1 is a diagram illustrating an example of the appearance of a front portion of a vehicle according to a first embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of the appearance of the area around the driver's seat inside the vehicle of FIG. 1. FIG. 3 is a diagram illustrating an example of a view ahead of the vehicle when viewed from the driver's seat of the vehicle of FIG. 1. FIG. 4 is a diagram illustrating an example of a state of the vehicle and an intersection when viewed from above the vehicle of FIG. 3. FIG. 5 is a diagram illustrating an example of functional blocks of the cruise control device of FIG. 1. FIG. 6 is a diagram illustrating an example of a state of the vehicle and the intersection when viewed from above the vehicle of FIG. 1. FIG. 7 is a diagram for explaining an example of a driving assistance procedure in the cruise control device of FIG. 5. FIG. 8 is a diagram illustrating a modified state of the vehicle and the intersection when viewed from above the vehicle of FIG. 1. FIG. 9 is a diagram illustrating a modified state of the vehicle and the intersection when viewed from above the vehicle of FIG. 1. FIG. 10 is a diagram illustrating a modified state of the vehicle and the intersection when viewed from above the vehicle of FIG. 1. FIG. 11 is a diagram illustrating a modified state of the functional blocks of the cruise control device of FIG. 1. FIG. 12 is a diagram for explaining an example of a driving assistance procedure in the driving control device of FIG. 11 . FIG. 13 is a diagram illustrating an example of the appearance of a front portion of a vehicle according to a second embodiment of the present disclosure. FIG. 14 is a diagram illustrating an example of the appearance of the area around the driver's seat in the interior of the vehicle of FIG. 13 . FIG. 15 is a diagram illustrating an example of a view ahead of the vehicle when viewed from the driver's seat of the vehicle of FIG. 13 . FIG. 16 is a diagram illustrating an example of functional blocks of the driving control device of FIG. 13 . FIG. 17 is a diagram for explaining an example of a driving assistance procedure in the driving control device of FIG. 16 . FIG. 18 is a diagram illustrating a modified example of the functional blocks of the driving control device of FIG. 16 . FIG. 19 is a diagram for explaining an example of a driving assistance procedure in the driving control device of FIG. 18 .

[0008] Various driving assistance devices that assist vehicle driving have been proposed. For example, Patent Literature 1 discloses a device that uses a head-up display (HUD) or laser irradiation on the road surface to display a guide arrow for a currently traveling road that is determined to be drivable, and displays an X mark at the tip of the arrow for one-way roads that are determined to be drivable.

[0009] The invention described in Patent Document 1 can be used when visibility is poor due to nighttime, twilight, or thick fog. However, when visibility is poor, it is difficult for the driver to visually recognize the actual road structure, and a simple arrow display poses a problem in that it is difficult to ensure safe driving. It is desirable to provide a driving assistance device that can ensure safe driving when visibility is poor, and a vehicle equipped with such a driving assistance device.

[0010] Some exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the following description illustrates one specific example of the present disclosure and should not be construed as limiting the present disclosure. For example, each element, including numerical values, shapes, materials, parts, the position of each part, and the connection method of each part, is merely an example and should not be construed as limiting the present disclosure. Furthermore, in the following exemplary embodiments, components not described in independent claims based on the highest concept of the present disclosure are optional and may be provided as needed. The drawings are schematic and are not intended to be drawn to scale. Throughout this specification and the drawings, components having substantially the same function and configuration are designated by the same reference numerals, and redundant description will be omitted. Furthermore, components not directly related to one embodiment of the present disclosure are not shown in the drawings.

[0011] The present disclosure will be described in the following order: 1. First embodiment (FIGS. 1 to 7) Example of irradiating a visible laser pattern onto a road surface ahead of a vehicle 2. Modifications of the first embodiment Modification 2-1: Example of a preceding vehicle at an intersection (FIG. 8) Modification 2-2: Example of a construction area at an intersection (FIG. 9) Modification 2-3: Example of a pedestrian at a crosswalk (FIG. 10) Modification 2-4: Example of a navigation system provided (FIGS. 11 and 12) 3. Second embodiment (FIGS. 13 to 17) Example of a visible laser pattern displayed on a HUD 4. Modifications of the second embodiment Modification 4-1: Example of a preceding vehicle at an intersection Modification 4-2: Example of a construction area at an intersection Modification 4-3: Example of a pedestrian at a crosswalk Modification 4-4: Example of a navigation system provided (FIGS. 18 and 19)

[0012] 1. First Embodiment [Configuration] FIG. 1 illustrates an example of the appearance of a front portion of a vehicle 100 according to a first embodiment of the present disclosure. The drive system of the vehicle 100 is not particularly limited, and the vehicle 100 can be driven, for example, by at least one of an engine and a motor. As shown in FIG. 1 , the vehicle 100 includes a pair of left and right headlights HL and a front windshield FW at its front portion. A visible laser irradiator 120 is provided inside the headlight HL. A stereo camera 110 including a main camera 111 and a sub-camera 112 is provided inside the vehicle interior CR, which is visible from the outside through the front windshield FW. The location of the visible laser irradiator 120 is not particularly limited as long as it is located at the front portion of the vehicle 100. For example, the visible laser irradiator 120 may be provided inside the headlight of the pair of left and right headlights HL that is farther from the roadside strip. FIG. 1 illustrates an example of the vehicle 100 traveling on a road 200. Each headlight HL is further provided with a direction indicator DI. Each direction indicator DI can blink based on a control signal input from a switch 152 of an HMI 150 (described later).

[0013] As shown in FIG. 2 , the vehicle 100 further includes an HMI (human-machine interface) 150. The HMI 150 includes, for example, a steering wheel 151, switches 152, an instrument panel display 153, a center panel display 154, a speaker 155, and paddle shifters 156. The switches 152 are used to control the blinking of the turn indicators DI. The switches 152 are operable to output, for example, a control signal for blinking the right or left turn indicator DI of the vehicle 100 in response to an operation by the driver of the vehicle 100. The instrument panel display 153 includes, for example, a liquid crystal display panel or an organic electroluminescence (EL) display panel, and is capable of displaying information such as vehicle speed and engine speed. The center panel display 154 includes, for example, a touch-sensitive liquid crystal display panel or an organic EL display panel, and is capable of performing various settings for the vehicle 100. The paddle shifter 156 is a switch for controlling the emission and extinction of the visible laser irradiation unit 120 .

[0014] The paddle shifter 156 is capable of receiving input of a control flag 162 from the driver. The paddle shifter 156 is, for example, a shift lever attached to the steering wheel 151. For example, when the driver presses the paddle shifter 156 for a long time, the paddle shifter 156 can store "1" as the control flag 162 in the storage unit 160. For example, when the driver presses the paddle shifter 156 for a long time again after the previous control flag 162 of the paddle shifter 156 was stored as "1" in the storage unit 160, the paddle shifter 156 can store "0" as the control flag 162 in the storage unit 160. For example, when the driver presses the paddle shifter 156 for a long time again after the previous control flag 162 of the paddle shifter 156 was stored as "0" in the storage unit 160, the paddle shifter 156 can store "1" as the control flag 162 in the storage unit 160.

[0015] When the control flag 162 is "1", it means that the mode is, for example, laser irradiation mode. When the control flag 162 is "0", it means that the mode is, for example, normal mode in which laser irradiation is not performed automatically. Note that the values ​​that the control flag 162 can take are not limited to those mentioned above.

[0016] Fig. 3 shows an example of a view in front of the vehicle when the driver looks ahead from the driver's seat while the vehicle 100 is traveling on the road 200. Fig. 4 shows an example of the appearance of the vehicle 100 and the road 200 when the vehicle 100 and the road 200 are viewed from above the vehicle 100.

[0017] It is assumed that vehicle (host vehicle) 100 is traveling on a road La with one lane in each direction. This road La with one lane in each direction is composed of a driving lane La1 in which vehicle 100 is traveling and an oncoming lane La2 that runs along driving lane La1 with a center line interposed therebetween. An intersection CL is provided ahead of vehicle 100 on this road La with one lane in each direction. Pedestrian crossings CW1 are provided both before and after intersection CL on road La.

[0018] This one-lane road La intersects with a two-lane road Lb at an intersection CL. This two-lane road Lb is composed of a driving lane Lb1 in which the vehicle 100b is stopped, a driving lane Lb2 adjacent to the driving lane Lb1, an oncoming lane Lb3 extending along the driving lane Lb2 with a center divider CS interposed therebetween, and an oncoming lane Lb4 adjacent to the oncoming lane Lb3. Pedestrian crossings CW2 are provided on road Lb at both the front and rear of the intersection CL when viewed from the vehicle 100b.

[0019] While vehicle 100 is traveling on travel path 200 (travel lane La1), an intersection CL appears ahead of vehicle 100. The driver of vehicle 100 is planning to turn right at the intersection CL. However, due to poor visibility caused by nighttime, twilight during the day, fog, or the like, the driver has difficulty visually recognizing the structure of road Lb, and is uncertain about where on road Lb to enter when turning right at intersection CL. Therefore, as shown in, for example, FIGS. 3 and 4 , vehicle 100 uses visible laser irradiation unit 120 to emit a visible laser beam toward intersection CL ahead of the vehicle, thereby generating guiding lines MK1 and prohibition lines MK2 on the road surface of intersection CL. As a result, the driver can visually recognize guiding lines MK1 and prohibition lines MK2 even in poor visibility, and can turn right at intersection CL along guiding lines MK1 and enter the desired lane on road Lb. The visible laser irradiation unit 120 used to generate the guide lines MK1 and the prohibition lines MK2 is controlled by the control unit 170, which will be described later.

[0020] FIG. 5 illustrates an example of functional blocks of a cruise control device 1000 including the above-described control unit 170. The vehicle 100 includes the cruise control device 1000. The cruise control device 1000 corresponds to a specific example of a "driving assistance device" according to an embodiment of the present disclosure. As shown in FIG. 5 , the cruise control device 1000 includes, for example, a stereo camera 110, a visible laser irradiation unit 120, a sensor unit 130, a communication unit 140, an HMI 150, a storage unit 160, and a control unit 170. The control unit 170 corresponds to a specific example of an "acquisition unit" or "control unit" in the present disclosure. The cruise control device 1000 may further include components other than those illustrated in FIG. 5. FIG. 5 illustrates an example of a portion of the configuration of the cruise control device 1000.

[0021] The stereo camera 110 is fixed, for example, to the upper center of the vehicle interior CR and includes, for example, a main camera 111 and a sub-camera 112. The main camera 111 and the sub-camera 112 are autonomous sensors that sense the real space ahead of the vehicle 100. The main camera 111 and the sub-camera 112 are, for example, arranged symmetrically on either side of the center portion in the width direction of the vehicle 100, enabling stereoscopic images of the area ahead of the vehicle 100 to be captured from different viewpoints. The stereo camera 110 is further capable of outputting to the control unit 170, for example, a pair of stereo images Ia of the area ahead of the vehicle 100 captured by the main camera 111 and the sub-camera 112. The stereo camera 110 is further capable of generating a distance image Ib calculated from the amount of displacement between the positions of corresponding objects based on the pair of stereo images Ia obtained, and outputting the distance image Ib to the control unit 170.

[0022] The stereo camera 110 is further configured to include, for example, a driving environment detection unit. The driving environment detection unit is capable of determining, for example, lane markings that divide the road around the vehicle 100 based on the distance image Ib. The driving environment detection unit is also capable of determining the road curvature of the markings that divide the left and right sides of the road (driving lane) on which the vehicle 100 is traveling, and the width between the left and right markings (vehicle width). The driving environment detection unit is also capable of performing predetermined pattern matching on the distance image Ib to detect lanes and three-dimensional objects such as structures that exist around the vehicle 100.

[0023] Here, when detecting a three-dimensional object in the driving environment detection unit, for example, the type of three-dimensional object, the distance to the three-dimensional object, the speed of the three-dimensional object, and the relative speed between the three-dimensional object and the vehicle 100 are detected. Examples of three-dimensional objects to be detected include traffic lights, intersections, road signs, stop lines, other vehicles, pedestrians, bicycles, and buildings. Examples of buildings include detached houses, apartment complexes (condominiums), commercial facilities, factories, and signs. The driving environment detection unit is capable of outputting driving environment information around the vehicle 100, including the thus acquired information on the three-dimensional object, to the control unit 170.

[0024] The visible laser irradiator 120 is provided, for example, inside the headlight HL as shown in Fig. 1. The visible laser irradiator 120, under the control of the control unit 170, irradiates, for example, a visible laser beam onto the road surface (intersection CL) ahead of the vehicle, thereby generating guiding lines MK1 and prohibition lines MK2 on the intersection CL.

[0025] As shown in FIGS. 3 and 4 , the guiding line MK1 includes a smooth curve connecting an entrance α of the intersection CL through which the vehicle 100 enters and an exit β of the intersection CL through which the vehicle 100 exits. The entrance α is located at a point of the intersection CL where it intersects with the lane La1 in which the vehicle 100 is traveling. The exit β is located at a point of the intersection CL where it intersects with one lane (e.g., oncoming lane Lb4) among lanes into which the vehicle 100 can enter after turning right (specifically, oncoming lanes Lb3 and Lb4). The guiding line MK1 is disposed, for example, in a region of the intersection CL that smoothly connects the entrance α of the intersection CL through which the vehicle 100 enters and the exit β of the intersection CL through which the vehicle 100 exits. The guiding line MK1 may be formed solely by the curve, or may be formed by an arrow pattern having an arrow at the edge of the curve on the exit β side.

[0026] 3 and 4, the prohibition line MK2 is configured as a pattern (e.g., a double line) that blocks the entrance to a lane (e.g., driving lanes Lb1 and Lb2) into which entry of the vehicle 100 is prohibited. The prohibition line MK2 is placed, for example, at a location (prohibited exit γ) of the intersection CL that intersects with a lane (e.g., driving lanes Lb1 and Lb2) into which entry of the vehicle 100 is prohibited. The prohibition line MK2 is located in the same direction as the guiding line MK1 (e.g., to the right front or left front) as seen by the driver of the vehicle 100, and is located adjacent to the guiding line MK1.

[0027] When the vehicle 100 approaches the intersection CL to the extent that the entrance α is not visible to the driver of the vehicle 100, or when the vehicle 100 enters the intersection CL, the start point Ps of the guiding line MK1 may be generated within an area of ​​the intersection CL that is visible to the driver of the vehicle 100. Furthermore, when the vehicle 100 enters the intersection CL, the end point Pe of the guiding line MK1 may be generated within one of the lanes (specifically, oncoming lanes Lb3, Lb4) of the intersection CL that the vehicle 100 can enter after turning right (for example, oncoming lane Lb4).

[0028] The visible laser irradiation unit 120 includes, for example, a laser emission unit capable of emitting a visible laser beam, an emission control driver capable of controlling the emission of the laser emission unit, an optical system capable of scanning the visible laser beam on the travel path 200, and a scan control driver capable of controlling the scanning of the visible laser beam by the optical system. The emission control driver is capable of controlling the emission of the laser emission unit under control of the control unit 170. The scan control driver is capable of controlling the operation of the optical system under control of the control unit 170. The laser emission unit includes, for example, a semiconductor laser that emits a visible laser beam. The optical system is configured to include, for example, a polygon mirror and an fθ lens. The polygon mirror reflects the visible laser beam emitted from the laser emission unit and is capable of scanning the reflected light of the visible laser beam on the travel path 200 via the fθ lens.

[0029] The sensor unit 130 is configured to include various sensors mounted on the vehicle 100. The sensor unit 130 is configured to include, for example, a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, a steering angular velocity sensor, and a steering torque sensor. The sensor unit 130 may include sensors other than those described above.

[0030] The vehicle speed sensor is capable of detecting the speed (vehicle speed) of the vehicle 1. The vehicle speed sensor is capable of outputting time series data on the detected vehicle speed to the control unit 170. The acceleration sensor is capable of detecting acceleration applied to the vehicle 100. The acceleration sensor is capable of outputting time series data on the detected acceleration in three directions to the control unit 170. The angular velocity sensor is capable of detecting the angular velocity of the vehicle 1. The angular velocity sensor is capable of outputting time series data on the detected three angular velocities (yaw angular velocity, roll angular velocity, and pitch angular velocity) to the control unit 170.

[0031] The steering angular velocity sensor is capable of detecting the rotation speed of the steering angle (steering wheel angle) of the steering wheel of the vehicle 100. The steering angular velocity sensor is capable of outputting time series data on the detected steering angular velocity to the control unit 170. The steering torque sensor is capable of detecting the steering torque generated by the driver's steering wheel operation. The steering torque sensor is capable of outputting time series data on the detected steering torque to the control unit 170.

[0032] The communication unit 140 can acquire data to supplement data that cannot be obtained from the stereo image Ia and the distance image Ib, for example, through vehicle-to-vehicle communication, road-to-vehicle communication, and satellite communication. The communication unit 140 can output the acquired data to the control unit 170.

[0033] The communication unit 140 can acquire data (e.g., vehicle position and vehicle speed) obtained by other vehicles through, for example, vehicle-to-vehicle communication. The communication unit 140 can receive positioning signals transmitted from multiple positioning satellites through, for example, satellite communication.

[0034] The communication unit 140 is capable of acquiring road map data of the surroundings of the vehicle 100, for example, through road-to-vehicle communication. The road map data is made up of, for example, highly accurate road map information (dynamic map) and has static information and quasi-static information that mainly constitute road information, and quasi-dynamic information and dynamic information that mainly constitute traffic information.

[0035] Static information constituting road information includes, for example, information that requires updates within one month, such as roads, structures on roads, structures around roads, lane information, road surface information, and permanent traffic regulations. "Roads" include, for example, road location information and shape information, as well as intersection and road attribute information (e.g., national highways, prefectural roads, city roads, private roads, priority roads, non-priority roads, general roads, expressways, number of lanes, presence or absence of median strips, presence or absence of dedicated right-turn lanes, time-delayed traffic, pedestrian-vehicle separation), etc. "Structures on roads" include, for example, traffic signs, traffic lights, convex mirrors, pedestrian bridges, bus stops, garbage collection stations, etc. "Structures around roads" include, for example, various buildings, parks, etc.

[0036] The quasi-static information that constitutes the road information is made up of information that needs to be updated every hour, such as traffic regulation information due to road construction or events, wide-area weather information, and congestion forecasts.

[0037] The semi-dynamic information that constitutes traffic information is composed of information that requires updating within one minute, such as the actual traffic congestion situation at the time of observation, driving restrictions, temporary driving obstructions such as fallen objects and obstacles, actual accident conditions, and narrow-area weather information.

[0038] The dynamic information that constitutes the traffic information is composed of information that needs to be updated every second, such as information sent and exchanged between mobile bodies, information on currently displayed traffic signals, information on pedestrians and bicycles at intersections, information on vehicles traveling on roads, etc. Such road map information is maintained and updated periodically until the next information is received from each vehicle, and the updated road map information is transmitted to each vehicle as appropriate via the communication unit 20.

[0039] The storage unit 160 is configured, for example, by a non-volatile memory, such as an EEPROM (Electrically Erasable Programmable Read-Only Memory), a flash memory, a resistance change memory, etc. The storage unit 160 stores, for example, a road map DB 161, a control flag 162, a resolution table 163, and a front position table 164, as shown in FIG.

[0040] The road map DB 161 includes high-precision road map information (dynamic map). This high-precision road map information, like road map information acquired from an external source via road-to-vehicle communication, mainly includes static information and quasi-static information constituting road information, and quasi-dynamic information and dynamic information constituting traffic information.

[0041] The resolution table 163 includes size data in a predetermined pixel unit (e.g., 1 pixel) for the stereo image Ia or the distance image Ib. The resolution table 163 includes Y-direction resolution in a direction corresponding to the traveling direction of the vehicle 100 (the Y direction in FIG. 4 ) for each predetermined pixel unit (e.g., 1 pixel) for the stereo image Ia or the distance image Ib. The resolution table 163 further includes X-direction resolution in a direction corresponding to the direction perpendicular to the traveling direction of the vehicle 100 (the Y direction in FIG. 4 ) for the stereo image Ia or the distance image Ib (the X direction in FIG. 4 ). For example, the resolution table 163 stores (2 mm, 3 mm) as the pixel resolution (X-direction resolution, Y-direction resolution) corresponding to a position 20 m ahead from the front end of the vehicle 100. For example, the resolution table 163 stores (1 mm, 2 mm) as the pixel resolution (X-direction resolution, Y-direction resolution) corresponding to a position 5 m ahead from the front end of the vehicle 100.

[0042] The front position table 164 includes position data of the road 200 ahead of the vehicle 100 for each pixel in the stereo image Ia or the distance image Ib. Assume that the stereo image Ia or the distance image Ib is configured with m×n pixels, where m is the number of pixels in the X direction and n is the number of pixels in the Y direction. In this case, the front position table 164 specifies, for example, the position data of the (m / 2)th pixel in the X direction of the stereo image Ia or the distance image Ib and the n-th pixel in the Y direction of the stereo image Ia or the distance image Ib as being the center position in the width direction of the vehicle 100 and a position 20 m ahead from the front end of the vehicle 100. The front position table 164 also specifies, for example, the position data of the (m / 2)th pixel in the X direction of the stereo image Ia or the distance image Ib and the first pixel in the Y direction of the stereo image Ia or the distance image Ib as being the center position in the width direction of the vehicle 100 and a position 5 m ahead from the front end of the vehicle 100.

[0043] The control unit 170 has, for example, a driving assistance unit 171 as shown in Fig. 5. The driving assistance unit 171 is capable of assisting the driver in driving the vehicle 100. The driving assistance unit 171 has, for example, a data acquisition unit 71, a drawing position derivation unit 72, and a laser irradiation control unit 73 as shown in Fig. 5.

[0044] The data acquisition unit 71 is capable of periodically acquiring data on the situation or state of the vehicle 100 by monitoring. Specifically, the data acquisition unit 71 is capable of periodically acquiring various data obtained from the sensor unit 130, various data obtained from the outside via the communication unit 140, and various control signals for various devices of the vehicle 100. The data acquisition unit 71 is capable of periodically acquiring, for example, stereo images Ia or distance images Ib from the stereo camera 110. The data acquisition unit 71 is further capable of periodically acquiring position information of the vehicle 100 based on the various acquired data and various control signals, and periodically acquiring surrounding map data including the acquired position of the vehicle 100 from the road map data DB 161 of the storage unit 160.

[0045] The data acquisition unit 71 can further acquire new data based on the various data and control signals obtained, for example. The data acquisition unit 71 can acquire attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) ahead of the vehicle 100, for example, from map data and the stereo image Ia or the distance image Ib.

[0046] The drawing position derivation unit 72 is capable of determining whether or not there are multiple accessible lanes at the intersection (road Lb) of the intersection CL, through which the vehicle 100 can enter, based on the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib. When the drawing position derivation unit 72 detects the presence of multiple accessible lanes, it is capable of identifying one lane (e.g., oncoming lane Lb4) from among the multiple accessible lanes, based on the attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the situation or state of the intersection CL and the crossroad (road Lb) included in at least one of the map data acquired by the data acquisition unit 71 and the stereo image Ia or the distance image Ib. The drawing position derivation unit 72 is capable of identifying one lane (for example, the oncoming lane Lb4) from among the multiple accessible lanes based on the attribute information and position information of each structure that constitutes the intersection CL and the crossroad (road Lb) and the lighting state of the turn indicator DI (the control signal given to the turn indicator DI).

[0047] 4 , when there are no other vehicles within the intersection CL and no pedestrians crossing the crosswalk CW2 or no obstacles such as a construction area at the intersection (road Lb) after a right turn, the drawing position deriving unit 72 can identify an oncoming lane Lb4 as the lane into which the vehicle 100 will enter. For example, as shown in FIG. 4 , the drawing position deriving unit 72 can identify a lane (e.g., oncoming lane Lb4) that allows the vehicle 100 to smoothly enter the intersection (road Lb) at the intersection CL from the travel path (e.g., travel lane La1) of the vehicle 100 as the lane into which the vehicle 100 will enter.

[0048] The drawing position derivation unit 72 is capable of deriving the drawing position on the road surface of the guiding line MK1 that guides the vehicle 100 to the lane identified as described above (specific lane). The drawing position derivation unit 72 is capable of deriving the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example. The drawing position derivation unit 72 is capable of deriving the position of the guiding line MK1 on the road surface that corresponds to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the resolution table 163 and the front position table 164. The drawing position derivation unit 72 is capable of setting the position of the guiding line MK1 derived in this manner on the road surface as the drawing position (first drawing position).

[0049] 6 shows an example of the vehicle 100 and the intersection CL when the road La at the intersection CL in FIG. 5 is a two-lane road. The two-lane road La is composed of a driving lane La1, a driving lane La2 adjacent to the driving lane La1, an oncoming lane La3 extending along the driving lane La2 via a center divider CS, and an oncoming lane La4 adjacent to the oncoming lane La3. Near the intersection CL, the driving lane La2 becomes two right-turn lanes La21 and La22, and a portion of the oncoming lane La3 is replaced by the lane La22. Assume that the vehicle 100 is traveling in the right-turn lane La21 near the intersection CL.

[0050] The drawing position derivation unit 72 is capable of determining whether or not multiple right-turn lanes exist in the lane (road La) on which the vehicle 100 is traveling, based on the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib. When the drawing position derivation unit 72 detects the existence of multiple right-turn lanes, it is further capable of determining whether or not the vehicle 100 is traveling in any of the multiple right-turn lanes, based on the stereo image Ia or the distance image Ib. When the drawing position derivation unit 72 detects that the vehicle 100 is traveling in any of the multiple right-turn lanes, it is capable of identifying, as a guiding line MK1, a guiding line MK1 that guides the vehicle 100 from the right-turn lane on which the vehicle 100 is traveling (e.g., the right-turn lane La21 in FIG. 6 ) to a specific lane (e.g., the oncoming lane Lb4 in FIG. 6 ). The drawing position deriving unit 72 can set, for example, the position on the road surface of the guiding line MK1 derived in this way as the drawing position (first drawing position).

[0051] The drawing position derivation unit 72 is capable of determining whether or not there are one or more no-entry roads that the vehicle 100 cannot enter in the traveling direction of the vehicle 100 at the intersection CL, based on the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib. When the drawing position derivation unit 72 detects the presence of one or more no-entry roads, it is capable of deriving drawing positions (second drawing positions) on the road surface of signs (prohibition lines MK2) indicating that entry to the one or more no-entry roads is prohibited, based on the stereo image Ia or the distance image Ib.

[0052] The drawing position derivation unit 72 is capable of deriving the position of the prohibition line MK2 in the stereo image Ia or the distance image Ib, for example. The drawing position derivation unit 72 is capable of deriving the position of the prohibition line MK2 on the road surface that corresponds to the position of the prohibition line MK2 in the stereo image Ia or the distance image Ib, for example, based on the resolution table 163 and the front position table 164. The drawing position derivation unit 72 is capable of setting the position of the prohibition line MK2 derived in this manner on the road surface as the drawing position (second drawing position).

[0053] The laser irradiation control unit 73 is capable of controlling the irradiation (drawing) of the visible laser beam from the visible laser irradiation unit 120. The laser irradiation control unit 73 is capable of controlling the irradiation (drawing) of the visible laser beam from the visible laser irradiation unit 120 when visibility is poor, for example, at night or due to daytime twilight or dense fog. Whether it is nighttime or not can be detected, for example, by a sensor that detects the brightness around the vehicle 100. Daytime twilight or dense fog can be detected, for example, by analyzing the stereo image Ia. The control unit 170 is capable of determining whether it is nighttime or not based on, for example, detection data obtained from the sensor that detects the brightness around the vehicle 100, and if it is nighttime, outputting a signal indicating that it is nighttime to the laser irradiation control unit 73. The control unit 170 is capable of determining whether it is daytime twilight or dense fog by, for example, analyzing the stereo image Ia, and if it is daytime twilight or dense fog, outputting a signal indicating that it is dusk or dense fog to the laser irradiation control unit 73. The laser irradiation control unit 73 is capable of controlling the irradiation (drawing) of the visible laser beam from the visible laser irradiation unit 120 only when, for example, it receives a signal indicating that it is nighttime or a signal indicating that it is twilight or thick fog from the control unit 170. The laser irradiation control unit 73 is capable of generating control signals required for generating (drawing) the guiding line MK1 and the prohibition line MK2 based on the drawing positions (first drawing position and second drawing position) obtained by the drawing position derivation unit 72, and outputting the control signals to the visible laser irradiation unit 120.

[0054] [Operation] Next, the operation of the cruise control device 1000 will be described with reference to Fig. 7. Fig. 7 is a diagram for explaining an example of a driving assistance procedure in the cruise control device 1000.

[0055] The cruise control device 1000 determines whether the control flag 162 is on ("1") (step S101). If the control flag 162 is on ("1") (step S101; Y), the cruise control device 1000 acquires various data obtained from the sensor unit 130, various data obtained from the outside via the communication unit 140, and various control signals for various devices of the vehicle 100. The cruise control device 1000 also acquires a stereo image Ia or a distance image Ib from the stereo camera 110. Based on the acquired various data and various control signals, the cruise control device 100 further acquires position information of the vehicle 100 and surrounding map data including the acquired position of the vehicle 100 from the road map data DB 161 in the storage unit 160. The data acquisition unit 71 further acquires attribute information and position information of each structure constituting the intersection CL and crossroad (road Lb) ahead of the vehicle 100 from the map data and the stereo image Ia or the distance image Ib, etc. In this way, the driving control device 1000 acquires map data, image data, etc. (step S102).

[0056] Next, the cruise control device 1000 determines whether or not a control signal for flashing the right turn indicator DI of the vehicle 100 is being output from the switch 152, that is, whether or not the right turn indicator DI of the vehicle 100 is illuminated (step S103). Step S103 is executed when a planned travel route is not set in the navigation system of the vehicle 100, or when a navigation system is not installed in the vehicle 100.

[0057] When the driving control device 1000 detects a control signal for flashing the right direction indicator DI of the vehicle 100 (step S103; Y), it determines whether or not there are multiple entry-enabled lanes, into which the vehicle 100 can enter, on the right side of the intersection Lb at the intersection Lb in the map data, attribute information of the structures constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or distance image Ib acquired by the data acquisition unit 71 (step S104).When the driving control device 1000 detects the presence of multiple entry-enabled lanes (step S104; Y), it determines whether or not there are one or more no-entry lanes, into which the vehicle 100 cannot enter, in the traveling direction of the vehicle 100 at the intersection CL in the map data, attribute information of the structures constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or distance image Ib acquired by the data acquisition unit 71 (step S105).

[0058] When the driving control device 1000 detects the presence of one or more no-entry lanes (step S105; Y), it derives the positions of the guiding lines MK1 and the prohibition lines MK2 on the road surface (step S106). The driving control device 1000 identifies one lane from the multiple permitted entry lanes, for example, based on attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb), and the map data acquired by the data acquisition unit 71 and the situation or state of the intersection CL and the crossroad (road Lb) included in at least one of the stereo image Ia or the distance image Ib. When the driving control device 1000 detects in the stereo image Ia or the distance image Ib that the vehicle 100 is traveling in one of multiple right-turn lanes, it identifies a guiding line MK1 that guides the vehicle 100 from the right-turn lane in which the vehicle 100 is traveling to the specific lane.

[0059] The driving control device 1000 derives the position of the guiding line MK1 on the road surface corresponding to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the resolution table 163 and the front position table 164. The driving control device 1000 further derives the position of the prohibition line MK2 on the road surface corresponding to the position of the prohibition line MK2 in the stereo image Ia or the distance image Ib, for example, based on the resolution table 163 and the front position table 164.

[0060] Based on the derived position information, the driving control device 1000 generates a control signal required to generate (draw) the guiding line MK1 and the prohibition line MK2, and outputs the generated control signal to the visible laser irradiation unit 120. When the control signal is input from the control unit 170, the visible laser irradiation unit 120 irradiates a visible laser beam onto a predetermined position at the intersection CL ahead of the vehicle 100 based on the input control signal (step S107). As a result, the guiding line MK1 and the prohibition line MK2 are drawn at the predetermined position at the intersection CL ahead of the vehicle 100. In this manner, driving assistance is performed.

[0061] [Effects] Next, the effects of vehicle 100 according to this embodiment will be described.

[0062] In this embodiment, when the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib detects that there are multiple accessible lanes at the intersection (road Lb) of the intersection CL, through which the vehicle 100 can enter. Based on the attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the situation or state of the intersection CL and the crossroad (road Lb) included in at least one of the map data acquired by the data acquisition unit 71 and the stereo image Ia or the distance image Ib, one lane (e.g., oncoming lane Lb4) is identified from the multiple accessible lanes. Then, a drawing position (first drawing position) on the road surface of a guiding line MK1 for guiding the vehicle 100 to the identified specific lane is derived. The guiding line MK1 can be drawn by controlling the irradiation of the visible laser beam based on the first drawing position. As a result, even when visibility is poor due to nighttime, twilight during the day, or thick fog, the driver of vehicle 100 can rely on guide line MK1 to estimate the actual road structure, thereby ensuring safe driving.

[0063] In this embodiment, the presence of multiple right-turn lanes in the lane (road La) on which the vehicle 100 is traveling is detected from the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib. Furthermore, if the stereo image Ia or the distance image Ib detects that the vehicle 100 is traveling in one of the multiple right-turn lanes, a guiding line MK1 is identified as a guiding line MK1 that guides the vehicle 100 from the right-turn lane on which the vehicle 100 is traveling (e.g., right-turn lane La21 in FIG. 6 ) to a specific lane (e.g., oncoming lane Lb4 in FIG. 6 ). The position of the identified guiding line MK1 on the road surface is set as a drawing position (first drawing position). Thus, the guiding line MK1 can be drawn by controlling the irradiation of the visible laser beam based on the first drawing position. As a result, even when visibility is poor due to nighttime, twilight during the day, or thick fog, the driver of vehicle 100 can rely on guide line MK1 to estimate the actual road structure, thereby ensuring safe driving.

[0064] Furthermore, in this embodiment, when the presence of one or more no-entry lanes that the vehicle 100 cannot enter is detected in the direction of travel of the vehicle 100 at the intersection CL from the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib, the position of the prohibition line MK2 on the road surface is derived. The prohibition line MK2 can then be drawn by controlling the irradiation of the visible laser beam based on the derived drawing position of the prohibition line MK2. As a result, even at night, during twilight hours, thick fog, or other times when visibility is poor, the driver of the vehicle 100 can estimate the actual road structure by relying on the prohibition line MK2, thereby ensuring safe driving.

[0065] Furthermore, in this embodiment, if the planned driving route is not set in the navigation system or if the navigation system is not installed in the vehicle 100, the drawing position (first drawing position) of the guiding line MK1 on the road surface is derived based on the attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the illumination state of the turn signal DI of the vehicle 100 (the control signal given to the turn signal DI). Thus, the guiding line MK1 can be drawn by controlling the irradiation of the visible laser beam based on the first drawing position. As a result, even when visibility is poor due to nighttime, daytime twilight, thick fog, or the like, the driver of the vehicle 100 can estimate the actual road structure by relying on the guiding line MK1, thereby ensuring safe driving.

[0066] Furthermore, in this embodiment, when the emission of visible laser light is controlled when visibility is poor due to nighttime, twilight during the day, thick fog, or the like, the driver of vehicle 100 can rely on guiding line MK1 to estimate the actual road structure even when visibility is poor, thereby ensuring safe driving.

[0067] 2. Modifications of the First Embodiment [Modification 2-1] In the first embodiment, for example, as shown in FIG. 8 , when a preceding vehicle (vehicle 100c) is present ahead of the vehicle 100, the drawing position deriving unit 72 can derive the drawing position of the guiding line MK1 on the road surface, taking into account the presence of the vehicle 100c. For example, when the drawing position deriving unit 72 detects the preceding vehicle (vehicle 100c) ahead of the vehicle 100 from the stereo image Ia or the distance image Ib, the drawing position deriving unit 72 can derive the position of the guiding line MK1 in the stereo image Ia or the distance image Ib so that the guiding line MK1 is contained only in the area in front of the vehicle 100c. In this case, for example, as shown in FIG. 8 , the guiding line MK1 includes a smooth curve connecting an entrance α of the intersection CL through which the vehicle 100 enters and an area δ adjacent to and in front of the vehicle 100c. This makes it possible to prevent the visible laser beam from the visible laser irradiation unit 120 from being irradiated onto the vehicle 100c.

[0068] [Variation 2-2] In the first embodiment, for example, if a construction area UC exists on road Lb as a monitoring target, as shown in FIG. 9 , the drawing position deriving unit 72 can take the presence of the construction area UC into consideration and identify one lane (e.g., oncoming lane Lb3) that does not include the construction area UC from among multiple accessible lanes that the vehicle 100 can enter at the intersection CL (road Lb). For example, when the drawing position deriving unit 72 detects the construction area UC as a monitoring target from the stereo image Ia or distance image Ib, the drawing position deriving unit 72 can derive a drawing position on the road surface of a guiding line MK1 that guides the vehicle 100 to a specific lane (e.g., oncoming lane Lb3 in FIG. 9 ) at the intersection CL while avoiding collision with the construction area UC, based on the attribute information and position information of each structure that constitutes the intersection CL and the crossroad (road Lb) and the position information of the construction area UC.

[0069] The drawing position derivation unit 72 is capable of deriving the drawing position on the road surface of the guiding line MK1 that guides the vehicle 100 to the lane identified as described above (specific lane). The drawing position derivation unit 72 is capable of deriving the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example. The drawing position derivation unit 72 is capable of deriving the position of the guiding line MK1 on the road surface that corresponds to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the resolution table 163 and the front position table 164. The drawing position derivation unit 72 is capable of setting the position of the guiding line MK1 derived in this manner on the road surface as the drawing position (first drawing position).

[0070] In this modification, when a construction area UC is detected as a monitoring target from the stereo image Ia or the distance image Ib, a guiding line MK1 is identified based on the attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the position information of the construction area UC. The guiding line MK1 guides the vehicle 100 to a specific lane (e.g., the oncoming lane Lb3 in FIG. 9 ) at the intersection CL while avoiding a collision with the construction area UC. A drawing position (first drawing position) on the road surface of the guiding line MK1 that guides the vehicle 100 to the identified specific lane is then derived. The guiding line MK1 can be drawn by controlling the irradiation of the visible laser beam based on the first drawing position. As a result, even at night, during poor visibility due to twilight or thick fog, the driver of the vehicle 100 can rely on the guiding line MK1 to estimate the actual road structure, ensuring safe driving.

[0071] [Variation 2-3] In the first embodiment described above, for example, as shown in FIG. 10 , when a pedestrian 100d is present as a monitoring target at a crosswalk CW2, the drawing position derivation unit 72 is able to identify, by taking into consideration the traveling direction of the pedestrian 100d, one lane (for example, oncoming lane Lb4) in which the possibility of a collision between the vehicle 100 and the pedestrian 100d is lowest from among a plurality of accessible lanes through which the vehicle 100 can enter the intersection (road Lb) at the intersection CL. For example, when the drawing position derivation unit 72 detects a pedestrian 100d as a monitoring target from the stereo image Ia or the distance image Ib, it is able to derive the drawing position on the road surface of the guide line MK1 that guides the vehicle 100 into a specific lane (for example, the oncoming lane Lb4 in Figure 10) at the intersection CL based on the attribute information and position information of each structure that makes up the intersection CL and the crossroad (road Lb) and the position information of the pedestrian 100d.

[0072] The drawing position derivation unit 72 is capable of deriving the drawing position on the road surface of the guiding line MK1 that guides the vehicle 100 to the lane identified as described above (specific lane). The drawing position derivation unit 72 is capable of deriving the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example. The drawing position derivation unit 72 is capable of deriving the position of the guiding line MK1 on the road surface that corresponds to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the resolution table 163 and the front position table 164. The drawing position derivation unit 72 is capable of setting the position of the guiding line MK1 derived in this manner on the road surface as the drawing position (first drawing position).

[0073] In this modification, when a pedestrian 100d is detected as a monitoring target from the stereo image Ia or the distance image Ib, a guiding line MK1 is identified based on attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the position information of the pedestrian 100d. The guiding line MK1 guides the vehicle 100 to a specific lane (e.g., the oncoming lane Lb4 in FIG. 10 ) at the intersection CL while avoiding a collision between the vehicle 100 and the pedestrian 100d. A drawing position (first drawing position) on the road surface of the guiding line MK1 that guides the vehicle 100 to the identified specific lane is then derived. The guiding line MK1 can be drawn by controlling the irradiation of the visible laser beam based on the first drawing position. As a result, even at night, during poor visibility due to twilight or thick fog, the driver of the vehicle 100 can rely on the guiding line MK1 to estimate the actual road structure, ensuring safe driving.

[0074] [Modification 2-4] In the first embodiment and its modifications, the driving control device 1000 may further include a navigation system 180, for example, as shown in FIG.

[0075] The navigation system 180 is capable of guiding the vehicle 100 to a set destination based on the position information of the vehicle 100 obtained based on the positioning signal acquired via the communication unit 140. The navigation system 180 is capable of setting a destination based on destination information input by the driver via the center panel display 154. The navigation system 180 is capable of generating information on candidate driving routes from the current position of the vehicle 100 to the destination. The navigation system 180 is capable of transmitting the information on candidate driving routes from the current position of the vehicle 100 to the destination to the control unit 170. The navigation system 180 is capable of setting a driving route selected by the driver from among the candidate driving routes as the driving route, and outputting a video signal to the center panel display 154 that displays map data reflecting the set driving route.

[0076] [Operation] Next, the operation of the cruise control device 1000 will be described with reference to Fig. 12. Fig. 12 is a diagram for explaining an example of a driving assistance procedure in the cruise control device 1000.

[0077] The cruise control device 1000 determines whether the control flag 162 is on ("1") (step S201). If the control flag 162 is on ("1") (step S201; Y), the cruise control device 1000 acquires various data obtained from the sensor unit 130, various data obtained from the outside via the communication unit 140, and various control signals for various devices of the vehicle 100. The cruise control device 1000 also acquires a stereo image Ia or a distance image Ib from the stereo camera 110. Based on the acquired various data and various control signals, the cruise control device 100 further acquires position information of the vehicle 100 and surrounding map data including the acquired position of the vehicle 100 from the road map data DB 161 in the storage unit 160. The data acquisition unit 71 further acquires attribute information and position information of each structure constituting the intersection CL and crossroad (road Lb) ahead of the vehicle 100 from the map data and the stereo image Ia or the distance image Ib, etc. In this way, the driving control device 1000 acquires map data, image data, etc. (step S202).

[0078] Next, the cruise control device 1000 determines whether a planned driving route has been set in the navigation system 180 (step S203). If a planned driving route has been set in the navigation system 180 (step S203; Y), the cruise control device 1000 determines whether multiple entry lanes into which the vehicle 100 can enter exist on the planned driving route at the intersection Lb in the map data, attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or distance image Ib acquired by the data acquisition unit 71 (step S204). If the cruise control device 1000 detects the existence of multiple entry lanes (step S204; Y), the cruise control device 1000 determines whether one or more no-entry lanes into which the vehicle 100 cannot enter exist in the traveling direction of the vehicle 100 at the intersection CL in the map data, attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or distance image Ib acquired by the data acquisition unit 71 (step S205).

[0079] When the driving control device 1000 detects the presence of one or more no-entry lanes (step S205; Y), it derives the positions of the guiding lines MK1 and the prohibition lines MK2 on the road surface (step S206). The driving control device 1000 identifies one lane from the multiple permitted entry lanes, for example, based on attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb), and the map data acquired by the data acquisition unit 71 and the situation or state of the intersection CL and the crossroad (road Lb) included in at least one of the stereo image Ia or the distance image Ib. When the driving control device 1000 detects in the stereo image Ia or the distance image Ib that the vehicle 100 is traveling in one of multiple right-turn lanes, it identifies a guiding line MK1 that guides the vehicle 100 from the right-turn lane in which the vehicle 100 is traveling to the specific lane.

[0080] The driving control device 1000 derives the position of the guiding line MK1 on the road surface corresponding to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the resolution table 163 and the front position table 164. The driving control device 1000 further derives the position of the prohibition line MK2 on the road surface corresponding to the position of the prohibition line MK2 in the stereo image Ia or the distance image Ib, for example, based on the resolution table 163 and the front position table 164.

[0081] Based on the derived position information, the driving control device 1000 generates a control signal required to generate (draw) the guiding line MK1 and the prohibition line MK2, and outputs the generated control signal to the visible laser irradiation unit 120. When the control signal is input from the driving control device 1000, the visible laser irradiation unit 120 irradiates a visible laser beam onto a predetermined position at the intersection CL ahead of the vehicle 100 based on the input control signal (step S207). As a result, the guiding line MK1 and the prohibition line MK2 are drawn at the predetermined position at the intersection CL ahead of the vehicle 100. In this manner, driving assistance is performed.

[0082] In this modification, when a planned driving route is set in the navigation system 180, a drawing position (first drawing position) of the guiding line MK1 on the road surface is derived based on the attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the planned driving route at the crossroad Lb. Thus, the guiding line MK1 can be drawn by controlling the irradiation of the visible laser beam based on the first drawing position. As a result, even when visibility is poor at night, during twilight or thick fog, the driver of the vehicle 100 can estimate the actual road structure by relying on the guiding line MK1, thereby ensuring safe driving.

[0083] 3. Second embodiment [Configuration] Next, a vehicle 300 according to a second embodiment of the present disclosure will be described. In the following, components common to the first embodiment will be assigned the same reference numerals. Furthermore, descriptions of components common to the first embodiment will be omitted as appropriate.

[0084] FIG. 13 illustrates an example of the appearance of the front portion of a vehicle 300 according to the second embodiment of the present disclosure. The drive system of the vehicle 300 is not particularly limited, and the vehicle 300 can be driven, for example, by at least one of an engine and a motor. As shown in FIG. 13 , the vehicle 300 includes a pair of left and right headlights HL and a front window FW at its front portion. A stereo camera 110 including a main camera 111 and a sub-camera 112 is provided in the vehicle interior CR, which is visible from the outside through the front window FW. FIG. 13 illustrates an example of the vehicle 300 traveling on a road 200. A turn signal DI is further provided inside each headlight HL. Each turn signal DI can flash based on a control signal input from a switch 152 of an HMI 190, which will be described later.

[0085] 14 , the vehicle 300 further includes an HMI 190. The HMI 190 includes, for example, a steering wheel 151, switches 152, a meter panel display 153, a center panel display 154, a speaker 155, paddle shifters 156, and a head-up display (HUD) 191. The HUD 191 is a display device that projects an image onto a display surface 191A of the front windshield FW, thereby superimposing the projected image on the scenery ahead of the vehicle 300.

[0086] 15 shows an example of a view ahead of the vehicle as viewed from the driver's seat while the vehicle 300 is traveling on the roadway 200. The HUD 191 is capable of displaying an image including guiding lines MK1 and prohibition lines MK2 on a display surface 191A of the front windshield FW, as shown in FIG. 15. In this embodiment, the guiding lines MK1 and prohibition lines MK2 are a form of markers.

[0087] FIG. 16 illustrates an example of functional blocks of a cruise control device 2000 mounted on a vehicle 300. The vehicle 300 includes the cruise control device 2000. The cruise control device 2000 corresponds to a specific example of a "driving assistance device" according to an embodiment of the present disclosure. As shown in FIG. 16 , the cruise control device 2000 includes, for example, a stereo camera 110, a sensor unit 130, a communication unit 140, an HMI 190, a storage unit 160, and a control unit 170. The control unit 170 corresponds to a specific example of an "acquisition unit" or "control unit" in the present disclosure. The cruise control device 2000 may further include components other than those illustrated in FIG. 16 . FIG. 16 illustrates an example of a portion of the configuration of the cruise control device 2000.

[0088] The storage unit 160 is configured, for example, by a nonvolatile memory, such as an EEPROM, a flash memory, a resistance change memory, etc. The storage unit 160 stores, for example, a road map DB 161, a control flag 162, a front position table 164, and a HUD position table 165, as shown in FIG.

[0089] HUD position table 165 includes position data for each pixel on display surface 191A (the image displayed on display surface 191A) on road 200 ahead of vehicle 300. Assume that the image displayed on display surface 191A is configured with m×n pixels, where m is the number of pixels in the X direction and n is the number of pixels in the Y direction. In this case, HUD position table 165 specifies, for example, that the position data for the (m / 2)th pixel in the X direction of the image displayed on display surface 191A and the nth pixel in the Y direction of the image displayed on display surface 191A is the center position in the width direction of vehicle 300 and a position 10 m ahead from the front end of vehicle 300. Furthermore, the HUD position table 165 specifies, for example, that the position data of the (m / 2)th pixel in the X direction of the image displayed on the display surface 191A and the first pixel in the Y direction of the image displayed on the display surface 191A is the center position in the width direction of the vehicle 300 and a position 3 m ahead from the front end of the vehicle 300.

[0090] The control unit 170 has, for example, a driving assistance unit 171 as shown in Fig. 16 . The driving assistance unit 171 is capable of assisting the driver in driving the vehicle 300. The driving assistance unit 171 has, for example, a data acquisition unit 71, a drawing position derivation unit 74, and a HUD drawing control unit 75 as shown in Fig. 16 .

[0091] The data acquisition unit 71 is capable of periodically acquiring data on the situation or state of the vehicle 300 by monitoring. Specifically, the data acquisition unit 71 is capable of periodically acquiring various data obtained from the sensor unit 130, various data obtained from the outside via the communication unit 140, and various control signals for various devices of the vehicle 300. The data acquisition unit 71 is capable of periodically acquiring, for example, stereo images Ia or distance images Ib from the stereo camera 110. The data acquisition unit 71 is further capable of periodically acquiring position information of the vehicle 300 based on the various acquired data and various control signals, and periodically acquiring surrounding map data including the acquired position of the vehicle 300 from the road map data DB 161 of the storage unit 160.

[0092] The data acquisition unit 71 can further acquire new data based on the various data and control signals obtained, for example. The data acquisition unit 71 can acquire attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) ahead of the vehicle 300, for example, from map data and the stereo image Ia or the distance image Ib.

[0093] The drawing position derivation unit 74 is capable of determining whether or not there are multiple accessible lanes at the intersection (road Lb) of the intersection CL, through which the vehicle 300 can enter, based on the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib. When the drawing position derivation unit 74 detects the presence of multiple accessible lanes, it is capable of identifying one lane (e.g., oncoming lane Lb4) from among the multiple accessible lanes, based on the attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the situation or state of the intersection CL and the crossroad (road Lb) included in at least one of the map data acquired by the data acquisition unit 71 and the stereo image Ia or the distance image Ib. The drawing position derivation unit 74 is capable of identifying one lane (for example, the oncoming lane Lb4) from among the multiple accessible lanes based on the attribute information and position information of each structure that constitutes the intersection CL and the crossroad (road Lb) and the lighting state of the turn indicator DI (the control signal given to the turn indicator DI).

[0094] 15 , for example, when there are no other vehicles within the intersection CL and no pedestrians crossing the crosswalk CW2 or no obstacles such as a construction area at the intersection (road Lb) after a right turn, the drawing position deriving unit 74 can identify the oncoming lane Lb4 as the lane into which the vehicle 300 will enter. For example, as shown in FIG. 15 , the drawing position deriving unit 74 can identify a lane (e.g., the oncoming lane Lb4) that allows the vehicle 300 to smoothly enter the intersection (road Lb) at the intersection CL from the travel path (e.g., the travel lane La1) of the vehicle 300 as the lane into which the vehicle 300 will enter.

[0095] The drawing position derivation unit 74 is capable of deriving the drawing position on the HUD 190 (image displayed on the display surface 191A) of the guiding line MK1 that guides the vehicle 300 to the lane identified as described above (specific lane). The drawing position derivation unit 74 is capable of deriving the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example. The drawing position derivation unit 74 is capable of deriving the position of the guiding line MK1 on the HUD 190 (image displayed on the display surface 191A) that corresponds to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the front position table 164 and the HUD position table 165. The drawing position derivation unit 74 is capable of setting the position of the guiding line MK1 derived in this manner on the HUD 190 (image displayed on the display surface 191A) as the drawing position (first drawing position), for example.

[0096] The drawing position derivation unit 74 is capable of determining whether or not multiple right-turn lanes exist in the lane (road La) on which the vehicle 300 is traveling, based on the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib. When the drawing position derivation unit 74 detects the existence of multiple right-turn lanes, it is further capable of determining whether or not the vehicle 300 is traveling in any of the multiple right-turn lanes, based on the stereo image Ia or the distance image Ib. When the drawing position derivation unit 74 detects that the vehicle 300 is traveling in any of the multiple right-turn lanes, it is capable of identifying, as a guiding line MK1, a guiding line MK1 that guides the vehicle 300 from the right-turn lane on which the vehicle 300 is traveling (e.g., right-turn lane La21) to a specific lane (e.g., oncoming lane Lb4). The drawing position derivation unit 74 is capable of setting, for example, the position of the guide line MK1 derived in this manner on the HUD 190 (the image displayed on the display surface 191A) as the drawing position (first drawing position).

[0097] The drawing position derivation unit 74 is capable of determining whether or not there are one or more no-entry roads that the vehicle 300 cannot enter in the traveling direction of the vehicle 300 at the intersection CL, based on the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib. When the drawing position derivation unit 74 detects the presence of one or more no-entry roads, it is capable of deriving a drawing position (second drawing position) on the HUD 190 (image displayed on the display surface 191A) of a sign (prohibition line MK2) indicating that entry into the one or more no-entry roads is prohibited in the stereo image Ia or the distance image Ib.

[0098] The drawing position derivation unit 74 is capable of deriving, for example, the position of the prohibition line MK2 in the stereo image Ia or the distance image Ib. The drawing position derivation unit 74 is capable of deriving, for example, the position of the prohibition line MK2 on the HUD 190 (the image displayed on the display surface 191A) that corresponds to the position of the prohibition line MK2 in the stereo image Ia or the distance image Ib, based on the front position table 164 and the HUD position table 165. The drawing position derivation unit 74 is capable of setting, for example, the position of the prohibition line MK2 derived in this manner on the HUD 190 (the image displayed on the display surface 191A) as the drawing position (second drawing position).

[0099] The HUD drawing control unit 75 is capable of generating a video signal for generating an image including the guiding lines MKa and the prohibition lines MKb based on the drawing positions (first drawing position and second drawing position) obtained by the drawing position derivation unit 74, and outputting the video signal to the HUD 191. The HUD drawing control unit 75 is capable of generating a video signal for generating an image including the guiding lines MKa and the prohibition lines MKb when visibility is poor, for example, at night, during twilight or in thick fog, and outputting the video signal to the HUD 191. Based on the video signal input from the HUD drawing control unit 75, the HUD 191 is capable of displaying an image including the guiding lines MK1 and the prohibition lines MK2 on a display surface 191A of the front windshield FW, for example, as shown in FIG. 15 .

[0100] [Operation] Next, the operation of the driving control device 2000 will be described with reference to Fig. 17. Fig. 17 is a diagram for explaining an example of a driving assistance procedure in the driving control device 2000.

[0101] The cruise control device 2000 determines whether the control flag 162 is on ("1") (step S301). If the control flag 162 is on ("1") (step S301; Y), the cruise control device 2000 acquires various data obtained from the sensor unit 130, various data obtained from the outside via the communication unit 140, and various control signals for various devices of the vehicle 300. The cruise control device 2000 also acquires a stereo image Ia or a distance image Ib from the stereo camera 110. Based on the acquired various data and various control signals, the cruise control device 2000 further acquires position information of the vehicle 300 and surrounding map data including the acquired position of the vehicle 300 from the road map data DB 161 in the storage unit 160. The data acquisition unit 71 further acquires attribute information and position information of each structure constituting the intersection CL and crossroad (road Lb) ahead of the vehicle 300 from the map data and the stereo image Ia or the distance image Ib, etc. In this way, the driving control device 2000 acquires map data, image data, and the like (step S302).

[0102] Next, the cruise control device 2000 determines whether or not a control signal for flashing the right direction indicator DI of the vehicle 300 is being output from the switch 152, that is, whether or not the right direction indicator DI of the vehicle 300 is illuminated (step S303). Step S303 is executed when a planned travel route is not set in the navigation system of the vehicle 300, or when a navigation system is not installed in the vehicle 300.

[0103] When the driving control device 2000 detects a control signal for flashing the right direction indicator DI of the vehicle 300 (step S303; Y), it determines whether or not there are multiple entry-enabled lanes, into which the vehicle 300 can enter, on the right side of the intersection Lb at the intersection Lb in the map data, attribute information of the structures constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or distance image Ib acquired by the data acquisition unit 71 (step S304).When the driving control device 2000 detects the presence of multiple entry-enabled lanes (step S304; Y), it determines whether or not there are one or more no-entry lanes, into which the vehicle 300 cannot enter, in the traveling direction of the vehicle 300 at the intersection CL in the map data, attribute information of the structures constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or distance image Ib acquired by the data acquisition unit 71 (step S305).

[0104] When the driving control device 2000 detects the presence of one or more no-entry lanes (step S305; Y), it derives the positions of the guiding line MK1 and the prohibition line MK2 on the HUD 190 (the image displayed on the display surface 191A) (step S306). The driving control device 2000 identifies one lane from the multiple permitted entry lanes, for example, based on attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb), and the map data acquired by the data acquisition unit 71 and the situation or state of the intersection CL and the crossroad (road Lb) included in at least one of the stereo image Ia or the distance image Ib. When the driving control device 2000 detects in the stereo image Ia or the distance image Ib that the vehicle 300 is traveling in one of multiple right-turn lanes, it identifies a guiding line MK1 that guides the vehicle 300 from the right-turn lane in which the vehicle 300 is traveling to the specific lane.

[0105] The driving control device 2000 derives the position of the guiding line MK1 on the HUD 190 (the image displayed on the display surface 191A) that corresponds to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the front position table 164 and the HUD position table 165. The driving control device 2000 further derives the position of the prohibition line MK2 on the HUD 190 (the image displayed on the display surface 191A) that corresponds to the position of the prohibition line MK2 in the stereo image Ia or the distance image Ib, for example, based on the front position table 164 and the HUD position table 165.

[0106] The driving control device 2000 generates a video signal including the guiding lines MK1 and the prohibition lines MK2 based on the derived position information, and outputs the video signal to the HUD 190. When the video signal is input from the control unit 170, the HUD 190 displays an image including the guiding lines MK1 and the prohibition lines MK2 on the display surface 191A of the front windshield FW based on the input video signal (step S307). As a result, the guiding lines MK1 and the prohibition lines MK2 are drawn on the front windshield FW at positions corresponding to predetermined positions of the intersection CL ahead of the vehicle 300. In this manner, driving assistance is performed.

[0107] [Effects] Next, effects of the vehicle 300 according to this embodiment will be described.

[0108] In this embodiment, when it is detected that there are multiple accessible lanes at the intersection (road Lb) of the intersection CL from the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib, one lane (e.g., oncoming lane Lb4) from among the multiple accessible lanes is identified based on the attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the situation or state of the intersection CL and the crossroad (road Lb) included in at least one of the map data, stereo image Ia, or distance image Ib acquired by the data acquisition unit 71. Then, a drawing position (first drawing position) of the guiding line MK1 that guides the vehicle 300 to the identified specific lane is derived on the HUD 190 (the image displayed on the display surface 191A). Thus, by generating a video signal based on the first drawing position, the guiding line MK1 can be drawn on the front windshield FW. As a result, even when visibility is poor at night, during twilight or in thick fog, the driver of the vehicle 300 can estimate the actual road structure by relying on the guiding line MK1, thereby ensuring safe driving.

[0109] In this embodiment, the presence of multiple right-turn lanes in the lane (road La) on which the vehicle 100 is traveling is detected from the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or distance image Ib. Furthermore, if the stereo image Ia or distance image Ib detects that the vehicle 300 is traveling in one of the multiple right-turn lanes, a guiding line MK1 is identified as a guiding line MK1 that guides the vehicle 300 from the right-turn lane (e.g., right-turn lane La21) on which the vehicle 300 is traveling to a specific lane (e.g., oncoming lane Lb4). The position of the identified guiding line MK1 on the HUD 190 (the image displayed on the display surface 191A) is set as a drawing position (first drawing position). Thus, the guiding line MK1 can be drawn on the windshield FW by generating a video signal based on the first drawing position. As a result, even when visibility is poor due to nighttime, twilight during the day, or thick fog, the driver of vehicle 300 can rely on guide line MK1 to estimate the actual road structure, thereby ensuring safe driving.

[0110] Furthermore, in this embodiment, when the presence of one or more no-entry lanes that the vehicle 300 cannot enter is detected in the direction of travel of the vehicle 300 at the intersection CL from the map data acquired by the data acquisition unit 71, the attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or the distance image Ib, the position of the prohibition line MK2 on the HUD 190 (the image displayed on the display surface 191A) is derived. Then, a video signal is generated based on the derived position of the prohibition line MK2, thereby rendering the prohibition line MK2 on the front windshield FW. As a result, even at night, during twilight hours, or when visibility is poor due to dense fog, the driver of the vehicle 300 can estimate the actual road structure by relying on the prohibition line MK2, thereby ensuring safe driving.

[0111] Furthermore, in this embodiment, if the planned driving route is not set in the navigation system or if the navigation system is not installed in the vehicle 300, the drawing position (first drawing position) of the guiding line MK1 on the HUD 190 (the image displayed on the display surface 191A) is derived based on the attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the illumination state of the turn signal DI of the vehicle 300 (the control signal provided to the turn signal DI). Thus, by generating a video signal based on the first drawing position, the guiding line MK1 can be drawn on the front windshield FW. As a result, even at night, during twilight hours during the day, or when visibility is poor due to dense fog, the driver of the vehicle 300 can estimate the actual road structure by relying on the guiding line MK1, thereby ensuring safe driving.

[0112] Furthermore, in this embodiment, when visibility is poor at night, during twilight or thick fog, etc., if an image including the guiding line MK1 is displayed on the front window FW, the driver of the vehicle 300 can rely on the guiding line MK1 to estimate the actual road structure, even when visibility is poor, thereby ensuring safe driving.

[0113] 4. Modifications of the Second Embodiment [Modification 4-1] In the second embodiment, for example, if a preceding vehicle (vehicle 100c) is present ahead of vehicle 300, the drawing position deriving unit 74 is able to derive the drawing position of the guiding line MK1 on the HUD 190 (the image displayed on display surface 191A) taking into account the presence of vehicle 100c. For example, if the drawing position deriving unit 74 detects the preceding vehicle (vehicle 100c) ahead of vehicle 300 from the stereo image Ia or the distance image Ib, the drawing position deriving unit 74 is able to derive the position of the guiding line MK1 in the stereo image Ia or the distance image Ib so that the guiding line MK1 is contained only in the area in front of vehicle 100c. In this case, the guiding line MK1 is configured to include, for example, a smooth curve connecting an entrance α of the intersection CL through which vehicle 300 enters and an area δ adjacent to and in front of vehicle 100c. This prevents the vehicle 100c from being difficult to see due to the guide line MK1.

[0114] [Variation 4-2] In the second embodiment, for example, if a construction area UC exists on road Lb as a monitoring target, the drawing position derivation unit 74 can take the presence of the construction area UC into consideration and identify one lane (e.g., oncoming lane Lb3) that does not include the construction area UC from among multiple accessible lanes that the vehicle 300 can enter at the intersection CL (road Lb). When the drawing position derivation unit 74 detects the construction area UC as a monitoring target from, for example, the stereo image Ia or the distance image Ib, it can derive a drawing position on the road surface of a guiding line MK1 that guides the vehicle 300 to a specific lane (e.g., oncoming lane Lb3) at the intersection CL while avoiding collision with the construction area UC, based on the attribute information and position information of each structure that constitutes the intersection CL and the crossroad (road Lb) and the position information of the construction area UC.

[0115] The drawing position derivation unit 74 is capable of deriving the drawing position on the HUD 190 (image displayed on the display surface 191A) of the guiding line MK1 that guides the vehicle 300 to the lane identified as described above (specific lane). The drawing position derivation unit 74 is capable of deriving the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example. The drawing position derivation unit 74 is capable of deriving the position of the guiding line MK1 on the HUD 190 (image displayed on the display surface 191A) that corresponds to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the front position table 164 and the HUD position table 165. The drawing position derivation unit 74 is capable of setting the position of the guiding line MK1 derived in this manner on the HUD 190 (image displayed on the display surface 191A) as the drawing position (first drawing position), for example.

[0116] In this modification, when a construction area UC is detected as a monitoring target from the stereo image Ia or the distance image Ib, a guiding line MK1 is identified based on the attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the position information of the construction area UC. The guiding line MK1 guides the vehicle 300 to a specific lane (e.g., oncoming lane Lb3) at the intersection CL while avoiding a collision with the construction area UC. A drawing position (first drawing position) of the guiding line MK1 guiding the vehicle 300 to the identified specific lane is then derived on the HUD 190 (image displayed on the display surface 191A). A video signal is thus generated based on the first drawing position, allowing the guiding line MK1 to be drawn on the front windshield FW. As a result, even at night, during poor visibility due to twilight or thick fog, the driver of the vehicle 300 can rely on the guiding line MK1 to estimate the actual road structure, ensuring safe driving.

[0117] [Variant 4-3] In the second embodiment described above, for example, if a pedestrian 100d is present as a monitoring target at the crosswalk CW2, the drawing position derivation unit 74 is able to take into consideration the direction of travel of the pedestrian 100d and identify one lane (for example, the oncoming lane Lb4) in which the possibility of a collision between the vehicle 300 and the pedestrian 100d is lowest from among a plurality of accessible lanes through which the vehicle 300 can enter the intersection (road Lb) at the intersection CL. For example, when the drawing position derivation unit 74 detects a pedestrian 100d as a monitoring target from the stereo image Ia or the distance image Ib, it is able to derive the drawing position on the HUD 190 (the image displayed on the display surface 191A) of the guide line MK1 that guides the vehicle 300 to a specific lane (for example, the oncoming lane Lb4) at the intersection CL while avoiding a collision between the vehicle 300 and the pedestrian 100d, based on the attribute information and position information of each structure that constitutes the intersection CL and the crossroad (road Lb) and the position information of the pedestrian 100d.

[0118] The drawing position derivation unit 74 is capable of deriving the drawing position on the HUD 190 (the image displayed on the display surface 191A) of the guiding line MK1 that guides the vehicle 300 to the lane identified as described above (the specific lane). The drawing position derivation unit 74 is capable of deriving the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example. The drawing position derivation unit 74 is capable of deriving the position of the guiding line MK1 on the HUD 190 (the image displayed on the display surface 191A) that corresponds to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the front position table 164 and the HUD position table 165. The drawing position derivation unit 74 is capable of setting the position of the guiding line MK1 derived in this manner on the road surface as the drawing position (first drawing position), for example.

[0119] In this modification, when a pedestrian 100d is detected as a monitoring target from the stereo image Ia or the distance image Ib, a guiding line MK1 is identified as a guiding line MK1 that guides the vehicle 300 into a specific lane (e.g., oncoming lane Lb4) at the intersection CL while avoiding a collision between the vehicle 300 and the pedestrian 100d, based on attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and position information of the pedestrian 100d. Then, a drawing position (first drawing position) of the guiding line MK1 that guides the vehicle 300 into the identified specific lane is derived on the HUD 190 (the image displayed on the display surface 191A). Thus, a video signal is generated based on the first drawing position, and the guiding line MK1 can be drawn on the windshield FW. As a result, even when visibility is poor due to nighttime, twilight during the day, or thick fog, the driver of vehicle 300 can rely on guide line MK1 to estimate the actual road structure, thereby ensuring safe driving.

[0120] [Modification 4-4] In the second embodiment and its modifications, the cruise control device 2000 may further include a navigation system 180, as shown in FIG. 18, for example.

[0121] The navigation system 180 is capable of guiding the vehicle 300 to a set destination based on the position information of the vehicle 300 obtained based on the positioning signal acquired via the communication unit 140. The navigation system 180 is capable of setting a destination based on destination information input by the driver via the center panel display 154. The navigation system 180 is capable of generating information on candidate driving routes from the current position of the vehicle 300 to the destination. The navigation system 180 is capable of transmitting the information on candidate driving routes from the current position of the vehicle 300 to the destination to the control unit 170. The navigation system 180 is capable of setting a driving route selected by the driver from among the candidate driving routes as the driving route, and outputting a video signal to the center panel display 154 that displays map data reflecting the set driving route.

[0122] [Operation] Next, the operation of the driving control device 2000 will be described with reference to Fig. 19. Fig. 19 is a diagram for explaining an example of a driving assistance procedure in the driving control device 2000.

[0123] The cruise control device 2000 determines whether the control flag 162 is on ("1") (step S401). If the control flag 162 is on ("1") (step S401; Y), the cruise control device 2000 acquires various data obtained from the sensor unit 130, various data obtained from the outside via the communication unit 140, and various control signals for various devices of the vehicle 300. The cruise control device 2000 also acquires a stereo image Ia or a distance image Ib from the stereo camera 110. Based on the acquired various data and various control signals, the cruise control device 2000 further acquires position information of the vehicle 300 and surrounding map data including the acquired position of the vehicle 300 from the road map data DB 161 in the storage unit 160. The data acquisition unit 71 further acquires attribute information and position information of each structure constituting the intersection CL and crossroad (road Lb) ahead of the vehicle 300 from the map data and the stereo image Ia or the distance image Ib, etc. In this way, the driving control device 2000 acquires map data, image data, etc. (step S402).

[0124] Next, the driving control device 2000 determines whether a planned driving route has been set in the navigation system 180 (step S403). If a planned driving route has been set in the navigation system 180 (step S403; Y), the driving control device 2000 determines whether multiple entry lanes into which the vehicle 300 can enter exist on the planned driving route at the intersection Lb in the map data, attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or distance image Ib acquired by the data acquisition unit 71 (step S404). If the driving control device 2000 detects the existence of multiple entry lanes (step S404; Y), the driving control device 2000 determines whether one or more no-entry lanes into which the vehicle 300 cannot enter exist in the traveling direction of the vehicle 300 at the intersection CL in the map data, attribute information of each structure constituting the intersection CL and the crossroad (road Lb), or the stereo image Ia or distance image Ib acquired by the data acquisition unit 71 (step S405).

[0125] When the driving control device 2000 detects the presence of one or more no-entry lanes (step S405; Y), it derives the positions of the guiding line MK1 and the prohibition line MK2 on the HUD 190 (the image displayed on the display surface 191A) (step S406). The driving control device 2000 identifies one lane from the multiple permitted entry lanes, for example, based on attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb), and the map data acquired by the data acquisition unit 71 and the situation or state of the intersection CL and the crossroad (road Lb) included in at least one of the stereo image Ia or the distance image Ib. When the driving control device 2000 detects in the stereo image Ia or the distance image Ib that the vehicle 300 is traveling in one of multiple right-turn lanes, it identifies a guiding line MK1 that guides the vehicle 300 from the right-turn lane in which the vehicle 300 is traveling to the specific lane.

[0126] The driving control device 2000 derives the position of the guiding line MK1 on the HUD 190 (the image displayed on the display surface 191A) that corresponds to the position of the guiding line MK1 in the stereo image Ia or the distance image Ib, for example, based on the front position table 164 and the HUD position table 165. The driving control device 2000 further derives the position of the prohibition line MK2 on the HUD 190 (the image displayed on the display surface 191A) that corresponds to the position of the prohibition line MK2 in the stereo image Ia or the distance image Ib, for example, based on the front position table 164 and the HUD position table 165.

[0127] The driving control device 2000 generates a video signal including the guiding lines MK1 and the prohibition lines MK2 based on the derived position information, and outputs the video signal to the HUD 190. When the video signal is input from the control unit 170, the HUD 190 displays the video signal on the display surface 191A of the front windshield FW based on the input video signal (step S407). As a result, the guiding lines MK1 and the prohibition lines MK2 are drawn on the front windshield FW at positions corresponding to predetermined positions of the intersection CL ahead of the vehicle 300. In this manner, driving assistance is performed.

[0128] In this modification, when a planned driving route is set in the navigation system 180, a drawing position (first drawing position) of the guiding line MK1 on the HUD 190 (image displayed on the display surface 191A) is derived based on attribute information and position information of each structure constituting the intersection CL and the crossroad (road Lb) and the planned driving route at the crossroad Lb. Thus, by generating a video signal based on the first drawing position, the guiding line MK1 can be drawn on the front windshield FW. As a result, even when visibility is poor at night, during twilight or thick fog, the driver of the vehicle 300 can estimate the actual road structure by relying on the guiding line MK1, thereby ensuring safe driving.

[0129] Although the present disclosure has been described above using a number of embodiments and their modifications, the present disclosure is not limited to these embodiments and various modifications are possible. The effects described in this specification are merely examples, and the effects of the present disclosure are not limited to the effects described in this specification. Therefore, other effects may be obtained with respect to the present disclosure.

[0130] The first and second embodiments and their modifications are based on the assumption that the country or region has traffic rules that require vehicle 100 or vehicle 300 to travel in the right lane. However, if the country or region has traffic rules that require vehicle 100 or vehicle 300 to travel in the left lane, then in the first and second embodiments and their modifications, "the right side of vehicle 100" should be read as "the left side of vehicle 100" and "the right side of vehicle 300" should be read as "the left side of vehicle 300."

[0131] Furthermore, the present disclosure may take the following aspects. (1) An information processing system includes an acquisition unit capable of acquiring map data and image data of an intersection ahead of a first vehicle; and a control unit capable of providing driving assistance for the first vehicle based on the map data and the image data acquired by the acquisition unit, wherein the control unit is capable of: acquiring, from the map data and the image data, attribute information and position information of each structure constituting the intersection ahead of the first vehicle; when it is detected in the map data, the attribute information of each of the structures, or the image data that there are multiple accessible lanes at an intersection where the first vehicle can enter, identifying one lane from the multiple accessible lanes based on the attribute information and the position information of each of the structures and the situation or state of the intersection and the crossroads intersecting with the driving path of the first vehicle at the intersection, which are included in at least one of the map data and the image data, and deriving a first drawing position on a road surface of a guiding line that guides the first vehicle to the identified specific lane; and controlling the irradiation of visible laser light based on the first drawing position. 2. The driving assistance device according to claim 1, wherein the control unit is capable of, when detecting one or more second vehicles, one or more obstacles, or one or more pedestrians present at the intersection or near the intersection as monitoring targets from the image data, specifying, as the guiding line, a guiding line that guides the first vehicle to the specific lane at the intersection while avoiding collision with the monitoring targets, based on the attribute information and the position information of each of the structures and the position information of the monitoring targets, and deriving the first drawing position of the specified guiding line.(3) The driving assistance device according to (1), wherein the control unit is capable of detecting, in the map data, the attribute information of each of the structures, or the image data, that a lane in which the first vehicle is traveling has a plurality of right-turn lanes, and when detecting in the image data that the first vehicle is traveling in any of the plurality of right-turn lanes, specifying, as the guiding line, a guiding line that guides the first vehicle from the right-turn lane in which the first vehicle is traveling to the specific lane, and deriving the first drawing position of the specified guiding line. (4) The driving assistance device according to any one of (1) to (3), wherein the control unit is capable of deriving, based on the map data and the image data, a second drawing position on the road surface of a sign indicating that entry into a no-entry road that is present in a traveling direction of the first vehicle at the intersection is prohibited, and controlling the irradiation of the visible laser light based on the first drawing position and the second drawing position. (5) The driving assistance device according to any one of (1) to (4), wherein the control unit is capable of deriving the first drawing position based on the attribute information and the position information of each of the structures and the planned driving route when a planned driving route is set in a navigation system. (6) The driving assistance device according to any one of (1) to (4), wherein the control unit is capable of deriving the first drawing position based on the attribute information and the position information of each of the structures and a lighting state of a turn signal of the first vehicle when a planned driving route is not set in a navigation system or the navigation system is not installed in the first vehicle. (7) The driving assistance device according to any one of (1) to (6), wherein the control unit is capable of controlling the irradiation of the visible laser light at night. (8) The driving assistance device according to any one of (1) to (7), wherein the attribute information and the position information of each of the structures include attribute and position information of an intersection.(9) An information processing system includes an acquisition unit capable of acquiring map data and image data of an intersection ahead of a first vehicle; and a control unit capable of providing driving assistance for the first vehicle based on the map data and the image data acquired by the acquisition unit, wherein the control unit: acquires, from the map data and the image data, attribute information and position information of each structure constituting the intersection ahead of the first vehicle; and, when it is detected in the map data, the attribute information of each of the structures, or the image data that there are multiple accessible lanes at an intersection where the first vehicle can enter, identifies one lane from the multiple accessible lanes based on the attribute information and the position information of each of the structures and the situation or state of the intersection and the crossroads intersecting with the driving path of the first vehicle at the intersection, which are included in at least one of the map data and the image data, and derives a first drawing position on the HUD of a guiding line that guides the first vehicle to the identified specific lane. and generating image data including a marker drawn based on the first drawing position and outputting the generated image data to the HUD. (10) The driving assistance device according to (9), wherein when the control unit detects one or more second vehicles, one or more obstacles, or one or more pedestrians present at the intersection or near the intersection as monitoring targets from the image data, the control unit is capable of specifying, as the guiding line, a guiding line that guides the first vehicle to the specific lane at the intersection while avoiding a collision with the monitoring target, based on the attribute information and the position information of each of the structures and the position information of the monitoring target, and deriving the first drawing position of the specified guiding line.(11) The driving assistance device according to (9), wherein the control unit is capable of: detecting, in the map data, the attribute information of each of the structures, or the image data, that a lane in which the first vehicle is traveling has a plurality of right-turn lanes; and, when detecting, in the image data, that the first vehicle is traveling in any of the plurality of right-turn lanes, specifying, as the guiding line, a guiding line that guides the first vehicle from the right-turn lane in which the first vehicle is traveling to the specific lane, and deriving the first drawing position of the specified guiding line. (12) The driving assistance device according to any one of (9) to (11), wherein the control unit is capable of: deriving, based on structure information of the intersection, a second drawing position on the HUD of a sign indicating that entry into a no-entry road that is present at the intersection in a traveling direction of the first vehicle, (13) The driving assistance device according to any one of (9) to (12), wherein the control unit is capable of deriving the first drawing position based on structural information of the intersection, position information of the monitored target, and the planned driving route when a planned driving route is set in a navigation system. (14) The driving assistance device according to any one of (9) to (12), wherein the control unit is capable of deriving the first drawing position based on structural information of the intersection, position information of the monitored target, and a lighting state of a turn signal of the first vehicle when a planned driving route is not set in a navigation system or the navigation system is not installed in the first vehicle. (15) The driving assistance device according to any one of (9) to (14), wherein the control unit is capable of generating the image data during the day and outputting it to the HUD. (16) The driving assistance device according to any one of (9) to (15), wherein the attribute information and the position information of each of the structures include attribute and position information of a crossing at the intersection.(17) A vehicle equipped with a driving assistance device, wherein the driving assistance device comprises: an acquisition unit capable of acquiring map data and image data of an intersection ahead of the vehicle; and a control unit capable of providing driving assistance to the vehicle based on the map data and the image data acquired by the acquisition unit, wherein the control unit is capable of: acquiring, from the map data and the image data, attribute information and position information of each structure constituting the intersection ahead of the vehicle; when it is detected in the map data, the attribute information of each of the structures, or the image data that there are multiple enterable lanes at an intersection where the vehicle can enter, identifying one lane from the multiple enterable lanes based on the attribute information and the position information of each of the structures and the situation or state of the intersection and the crossroads intersecting with the vehicle's driving path at the intersection, which are included in at least one of the map data and the image data, and deriving a drawing position on the road surface of a guiding line that guides the vehicle to the identified specific lane; and controlling the irradiation of visible laser light based on the drawing position.(18) A vehicle equipped with a driving assistance device, the driving assistance device comprising: an acquisition unit capable of acquiring map data and image data of an intersection ahead of the vehicle; and a control unit capable of providing driving assistance to the vehicle based on the map data and the image data acquired by the acquisition unit, wherein the control unit: acquires, from the map data and the image data, attribute information and position information of each structure constituting the intersection ahead of the vehicle; and, when it is detected in the map data, the attribute information of each of the structures, or the image data that there are multiple enterable lanes at an intersection where the vehicle can enter, identifies one lane from the multiple enterable lanes based on the attribute information and the position information of each of the structures and a situation or state of the intersection and an intersection intersecting with the vehicle's driving path at the intersection, which are included in at least one of the map data and the image data, and derives a drawing position on a HUD of a guiding line that guides the vehicle to the identified lane; generating image data including a marker drawn based on the drawing position, and outputting the image data to the HUD.

[0132] The control unit 170 shown in FIGS. 5, 11, 16, and 18 may be implemented by circuitry including at least one semiconductor integrated circuit, such as at least one processor (e.g., a central processing unit (CPU)), at least one application-specific integrated circuit (ASIC), and / or at least one field-programmable gate array (FPGA). The at least one processor may be configured to perform all or a portion of the various functions of the control unit 170 shown in FIGS. 5, 11, 16, and 18 by reading instructions from at least one non-transitory, tangible computer-readable medium. Such medium may take various forms, including, but not limited to, various magnetic media such as hard disks, various optical media such as CDs or DVDs, and various semiconductor memories (i.e., semiconductor circuits) such as volatile or non-volatile memories. Volatile memory may include DRAM and SRAM. Non-volatile memory may include ROM and NVRAM. An ASIC is an integrated circuit (IC) specialized to perform all or part of the various functions of the control unit 170 shown in Figures 5, 11, 16, and 18. An FPGA is an integrated circuit designed to be configurable after manufacture to perform all or part of the various functions of the control unit 170 shown in Figures 5, 11, 16, and 18.

Claims

1. An apparatus comprising: an acquisition unit capable of acquiring map data and image data of an intersection ahead of a first vehicle; and a control unit capable of providing driving assistance for the first vehicle based on the map data and the image data acquired by the acquisition unit, wherein the control unit is capable of: acquiring, from the map data and the image data, attribute information and position information of each structure constituting the intersection ahead of the first vehicle; when it is detected in the map data, the attribute information of each of the structures, or the image data that there are multiple accessible lanes at an intersection where the first vehicle can enter, identifying one lane from the multiple accessible lanes based on the attribute information and the position information of each of the structures and the situation or state of the intersection and the crossroads intersecting the driving path of the first vehicle at the intersection, which are included in at least one of the map data and the image data, and deriving a first drawing position on the road surface of a guide line that guides the first vehicle to the identified specific lane; and controlling the irradiation of visible laser light based on the first drawing position. Driving assistance device.

2. The driving assistance device according to claim 1, wherein the control unit is capable of, when it detects from the image data one or more second vehicles, one or more obstacles, or one or more pedestrians present at or near the intersection as monitoring targets, specifying, as the guiding line, a guiding line that guides the first vehicle to the specific lane at the intersection while avoiding collision with the monitoring targets, based on the attribute information and the position information of each of the structures and the position information of the monitoring targets, and deriving the first drawing position of the specified guiding line.

3. The driving assistance device according to claim 1, wherein the control unit is capable of detecting, in the map data, the attribute information of each of the structures, or the image data, that there are multiple right-turn lanes in the lane in which the first vehicle is traveling, and further, when it detects in the image data that the first vehicle is traveling in one of the multiple right-turn lanes, identifying, as the guiding line, a guiding line that guides the first vehicle from the right-turn lane in which the first vehicle is traveling to the specific lane, and deriving the first drawing position of the identified guiding line.

4. The driving assistance device according to claim 1, wherein the control unit is capable of: deriving, based on the map data and the image data, a second drawing position on the road surface of a sign indicating that entry into a no-entry road that is present in the direction of travel of the first vehicle at the intersection; and controlling the irradiation of the visible laser light based on the first drawing position and the second drawing position.

5. The driving assistance device according to claim 1, wherein the control unit is capable of deriving the first drawing position based on the attribute information and position information of each of the structures and the planned driving route when a planned driving route is set in a navigation system.

6. The driving assistance device according to claim 1, wherein the control unit is capable of deriving the first drawing position based on the attribute information and the position information of each of the structures and the illumination state of the turn signals of the first vehicle when a planned driving route is not set in a navigation system or when the navigation system is not installed in the first vehicle.

7. The driving assistance device according to claim 1, wherein the attribute information and the position information of each of the structures include attribute information and position information of an intersection at the intersection.

Images