Driving assistance method and driving assistance device

Abstract

The present invention is a driving assistance method by a computer, said method comprising: acquiring a route of at least one other vehicle around an own vehicle or at least one virtual other vehicle assumed around the own vehicle; determining whether or not the own vehicle is present on the route of the other vehicle; moving the own vehicle off the route of the other vehicle under a first predetermined condition if it is determined that the own vehicle is present on the route of the other vehicle; and notifying, under a second predetermined condition, a driver of the own vehicle that the own vehicle approaches a different object from the other vehicle, if it is determined that the own vehicle approaches the different object by moving the own vehicle off the route.

Description

Driving Support Method and Driving Support Device

[0001] The present invention relates to a driving support method and a driving support device.

[0002] Patent Document 1 discloses a driving support method for performing automatic driving.

[0003] Japanese Patent No. 6327043

[0004] By the way, when there are other vehicles around the host vehicle, the host vehicle may interfere with the driving of the other vehicles, which may prevent the smooth driving of the other vehicles. The present invention has been made to solve the above problems, and an object thereof is to provide a driving support method and a driving support device capable of suppressing the host vehicle from interfering with the progress of other vehicles.

[0005] The present invention is a driving support method by a computer, which acquires a route of at least one other vehicle around the host vehicle or at least one virtual other vehicle assumed around the host vehicle, determines whether the host vehicle exists on the route of the other vehicle, and when it is determined that the host vehicle exists on the route of the other vehicle, moves the host vehicle from the route of the other vehicle under a first predetermined condition, and when it is determined that the host vehicle approaches another object different from the other vehicle by moving the host vehicle from the route, notifies the driver of the host vehicle that the host vehicle is approaching the other object under a second predetermined condition.

[0006] According to the present invention, in order to avoid other vehicles, when the host vehicle approaches another object, the anxiety felt by the driver can be reduced.

[0007] It is a block diagram showing the hardware configuration of a vehicle. It is a block diagram showing the software configuration of a vehicle. It is a schematic plan view showing an example of a process of avoiding the host vehicle from the route of another vehicle. It is a schematic plan view showing an example of a process of avoiding the host vehicle from the route of another vehicle. It is a flowchart showing an example of a method for assisting fuel supply or power supply. It is a schematic plan view showing another example of a process of avoiding the host vehicle from the route of another vehicle. It is a schematic plan view showing another example of a process of avoiding the host vehicle from the route of another vehicle.

[0008] Hereinafter, an autonomous vehicle having a driver assistance method and a driver assistance device according to one embodiment of the present invention will be described with reference to the drawings.

[0009] <1. Vehicle Hardware Configuration> Figure 1 is a block diagram showing the vehicle hardware configuration. As shown in Figure 1, the vehicle 2 includes an external environment acquisition unit 21, a vehicle control unit 22, a storage unit 23, a drive unit 24, a display unit 25, a transmission / reception unit 26, and a navigation device 27. In addition, a speaker for notifications, which will be described later, may also be provided. In this embodiment, the vehicle control unit 22 corresponds to a driver assistance device.

[0010] The external environment acquisition unit 21 includes at least a shooting unit 211, a distance detection unit 212, a position detection unit 213, a direction detection unit 214, and an object detection unit 215, and acquires information regarding the position and orientation of the vehicle 2, captured images (including video) of the area around the vehicle 2, and obstacles around the vehicle 2.

[0011] The imaging units 211 are provided in multiple locations and capture images of the area around the vehicle 2, including the front, rear, and sides of the vehicle 2, and output them as image data. These units are, for example, CCD cameras, CMOS cameras, or HD cameras. The imaging units 211 continuously capture images of the area around the vehicle 2 and output the captured images to the display unit 25 as real-time video showing the area around the vehicle 2.

[0012] The distance detection unit 212 measures the distance to objects in front of and around the vehicle 2, and can use various sensors such as a laser rangefinder or an ultrasonic sensor. Examples of objects to be detected include pedestrians, bicycles, motorcycles, automobiles, and road obstacles (construction sites, traffic control materials, median strips, traffic signals, commercial facilities, residential facilities, vegetation, etc.). The state of the objects to be detected is not particularly limited, and can be detected whether they are moving or stationary.

[0013] The position detection unit 213 detects the current position of the vehicle 2, and can use, for example, a GPS device. The information regarding the current position of the vehicle 2 detected by the position detection unit 213 is output to the vehicle control unit 22.

[0014] The direction detection unit 214 detects the direction of travel of the vehicle 2 (the direction the vehicle is facing), and for example, a gyro sensor can be used.

[0015] The object detection unit 215 detects moving and stationary objects around the vehicle (in front, to the side, and behind), and can use, for example, a camera, laser radar, millimeter-wave radar, optical sensor, or infrared sensor. Examples of objects to be detected include various types of equipment, pedestrians, bicycles, motorcycles, automobiles, and road obstacles (construction sites, traffic control materials, median strips, traffic signals, commercial facilities, residential facilities, vegetation, etc.). The state of the object to be detected is not particularly limited, and it can detect objects that are moving or stationary. In addition, multiple object detection units 215 are provided to detect objects in front of, to the side of, and behind the vehicle 2.

[0016] The vehicle control unit 22 controls the movement of the vehicle 2 through automatic driving (also known as autonomous driving). For example, the vehicle control unit 22 controls the vehicle 2 to move along the input driving path based on various environmental information obtained by the external environment acquisition unit 21. It also performs processing to avoid other vehicles, as will be described later. For example, a computer such as an ECU (Electronic Control Unit) can be used as the vehicle control unit 22.

[0017] The vehicle control unit 22 uses various environmental information obtained by the external environment acquisition unit 21 to control the drive unit 24 in accordance with traffic laws and regulations and the surrounding conditions of the vehicle 2, thereby driving the vehicle 2. Specific operations include, for example, braking, turning signal operation, accelerator operation, steering operation, and shift lever operation. The automatic driving functions provided by the vehicle control unit 22 are not particularly limited, and known automatic driving technologies can be appropriately utilized.

[0018] The memory unit 23 is a storage medium for storing various types of information, and can be, for example, ROM, RAM, SRAM, HDD, SSD, or a combination thereof. The memory unit 23 stores various types of information necessary for the vehicle control unit 22 to perform various processes. For example, it stores control programs, map information, and information about the vehicle itself. The road information included in the map information includes information about various objects that restrict the vehicle's movement, such as median strips on the road and guardrails along the road.

[0019] Map information may be provided by a navigation device 27 installed in the vehicle, or by an external server, etc.

[0020] The drive unit 24 includes a drive mechanism such as an electric motor and / or an internal combustion engine that are the driving source for the vehicle, a power transmission device including a drive shaft and an automatic transmission that transmits the output from these driving sources to the drive wheels, and a braking device that brakes the wheels. Based on the control signals input from the vehicle control unit 22, the drive unit 24 generates control signals for each of these drive mechanisms and performs driving control, including acceleration and deceleration of the vehicle. The drive unit 24 may also include other equipment necessary for the vehicle 2 to run, such as headlights, turn signals, hazard lights, and wipers.

[0021] The display unit 25 is a display device such as a screen installed inside the vehicle. The display unit 25 displays, for example, instruments, maps from the navigation system, operation screens for in-vehicle equipment, images of the outside of the vehicle taken by the camera unit 211, and information related to notifications to the driver, which will be described later.

[0022] The transmitting / receiving unit 26 transmits and receives various information and signals to and from devices such as servers outside the vehicle. For example, it can receive map information from a server outside the vehicle. The transmitting / receiving unit 26 includes, for example, a wireless device which is an interface such as a wireless LAN. The wireless device includes, for example, wireless modules such as Wi-Fi® and Bluetooth®. As a result, the server 1 is connected to a network such as a wireless LAN, a public network such as the Internet, or a wireless network such as a mobile phone network including a communication base station.

[0023] The navigation device 27 is a well-known device that displays road information and other data to the input destination on its display unit based on map information. The navigation device 27 may be an in-vehicle device, or it may use a navigation application provided from an external server or the like.

[0024] <2. Vehicle Software Configuration> Figure 2 is a block diagram showing the software configuration of the vehicle control unit 22 of the vehicle. The program loaded into the RAM of the vehicle control unit 22 is interpreted and executed by the ECU, etc. As a result, as shown in Figure 2, the vehicle control unit 22 functions as a computer equipped with a route acquisition unit 221, a determination unit 222, a route generation unit 223, a drive control unit 224, and a notification unit 225.

[0025] <2-1. Route Acquisition Unit> The route acquisition unit 221 predicts the routes of other vehicles present around the vehicle 2. For example, the object detection unit 215 detects other vehicles present around the vehicle 2, and the route of the other vehicles can be predicted based on at least one of the following elements: the actions of the other vehicles (e.g., the previous travel path of the other vehicles detected around the vehicle, the display of turn signals, etc.), road conditions such as lanes and traffic lights, and objects around the other vehicles. These elements can be detected, for example, by the object detection unit 215. The same applies to the route generation unit 223, which will be described later. Such routes can be predicted, for example, by a machine learning model that has been trained with the above elements as input and the routes of other vehicles as output. Furthermore, if communication with other vehicles is possible, the route of the other vehicle set by a navigation device, for example, can be acquired through communication.

[0026] For example, consider the situation shown in Figure 3A. As shown in the figure, multiple vehicles are currently stopped on a straight road L2 connected to a road L1 where left turns are permitted. A first other vehicle 4 is stopped in front of vehicle 2, and a second other vehicle 5 is stopped behind vehicle 2. At this time, the object detection unit 215 of vehicle 2 detects the presence of both other vehicles 4 and 5, and also detects that the second other vehicle 5 has its left turn signal activated. In this situation, the route acquisition unit 221 can predict the route R1 that the second other vehicle 5 will take to turn left onto road L1.

[0027] <2-2. Determination Unit> The determination unit 222 determines whether or not the vehicle 2 is on the route of the other vehicle predicted by the route acquisition unit 221. For example, in the example of Figure 3A, it can be determined that the vehicle 2 is on the route R1 of the second other vehicle 5. That is, it can be determined that the vehicle 2 is parked in a position that obstructs the second other vehicle 5 from turning left.

[0028] Furthermore, the determination unit 222 determines whether the vehicle can avoid the path of the other vehicle. For example, it determines whether there is enough space for the vehicle 2 to move in order to avoid the path of the other vehicle.

[0029] Furthermore, as will be described later, the determination unit 222 determines whether or not other objects exist on the route R2 of the vehicle 2, which is generated to avoid the route of other vehicles. Other objects include various facilities other than other vehicles, pedestrians, bicycles, motorcycles, automobiles, road obstacles (construction sites, traffic control materials, median strips, traffic signals, commercial facilities, residential facilities, vegetation, etc.).

[0030] <2-3. Route Generation Unit> If the route generation unit 223 determines in the determination unit 222 that its own vehicle 2 is on the predicted route of another vehicle, and if there is sufficient space for the own vehicle 2 to move, it generates a route for the own vehicle 2 to avoid the other vehicle. For example, the route for the own vehicle 2 can be generated based on at least one element of road conditions such as lanes and traffic lights, surrounding objects including other vehicles, and a pre-set route to the own vehicle's destination. Such a route can be generated, for example, by a machine learning model that takes the above elements as input and the route for the own vehicle 2 as output.

[0031] For example, as shown in Figure 3A, if it is determined that vehicle 2 is on the path R1 of the second vehicle 5, vehicle 2 can avoid the path R1 of the second vehicle 5 by moving forward. Also, there is space in front of vehicle 2 to do so. Therefore, the path generation unit 223 generates a path R2 for vehicle 2 to avoid the path R1 of the second vehicle 5. In this example, a path R2 is generated for vehicle 2 to move forward.

[0032] <2-4. Drive Control Unit> The drive control unit 224 transmits a drive signal to the drive unit 24 described above to move the vehicle 2 along the generated path of the vehicle 2, and moves the vehicle 2. At this time, if the determination unit 222 determines that there is an object other than other vehicles on the path of the vehicle, it stops the vehicle before the vehicle comes into contact with the other object.

[0033] For example, as shown in Figure 3B, the drive control unit 224 transmits a drive signal to the drive unit 24, causing the vehicle 2 to move forward along the path R2. However, since there is another object (in this example, the first other vehicle 4) on the path R2, the drive control unit 224 approaches the first other vehicle 4 but stops the vehicle 2 before it makes contact with the first other vehicle 4.

[0034] <2-5. Notification Unit> When the determination unit 222 determines that there is an object other than other vehicles on the path of the vehicle 2, the notification unit 225 notifies at least the occupants, including the driver, that the vehicle 2 is approaching another object. The notification method is not particularly limited, but for example, it can be an audio notification from a speaker, a notification by displaying text, graphics, etc. indicating proximity on the display unit 25, or a notification by illumination, and multiple combinations of these can also be used. In addition to notifying that the vehicle is approaching another vehicle, the notification unit 225 can also notify the reason for the proximity. For example, it can notify, "We are moving forward to make space for the following vehicle to turn left."

[0035] Furthermore, the notification method may include at least one of the following: (1) notifying that the second other vehicle 5 is approaching according to the route R1 by displaying an image of the second other vehicle 5 taken by the camera unit 211 on the display unit 25; and (2) notifying that the proximity of the own vehicle 2 to the first other vehicle 4 is within a range where there is no contact with the first other vehicle 4 by displaying an image of the first other vehicle 4 taken by the camera unit 211.

[0036] For example, as shown in Figure 3B, when the vehicle 2 approaches the first other vehicle 4, the notification unit 225 notifies the driver of this fact.

[0037] <3. Driving Assistance Method> Next, the driving assistance method for a vehicle configured as described above will be explained with reference to the flowchart in Figure 4. Here, the flowchart in Figure 4 will be explained with reference to the examples in Figures 5A and 5B.

[0038] In the example shown in Figure 5A, a road LA has two lanes in each direction, and a road LB extends to the left and right. At the point where road LA connects to road LB, the left lane is provided with two lanes L1 and L2 for left turns and one lane L3 for right turns.

[0039] Currently, vehicle 2 is attempting to enter lane L3, which is for right turns. However, because vehicle 4 is stopped in lane L3, vehicle 2 cannot fully enter lane L3 and is stopped straddling lane L2 (for left turns) and lane L3 (for right turns). As a result, vehicle 5, which is behind vehicle 2, is blocked by vehicle 2 and cannot move forward. That is, even though there is no vehicle in front of vehicle 5 in lane L2, vehicle 5 cannot move to the front end of lane L2 and is stopped behind vehicle 2. Therefore, vehicle 2 performs the following actions according to the flowchart in Figure 4.

[0040] As shown in Figure 4, first, the route acquisition unit 221 predicts a route R1 that the second other vehicle 5 will take to turn left, based on the surrounding conditions of the vehicle 2 and the fact that the second other vehicle 5 has its left-turn signal activated (step S11). Then, the determination unit 222 determines whether the vehicle 2 is on the route R1 of the second other vehicle 5 (step S12). At this time, as shown in Figure 5A, if the vehicle 2 is on the route R1 of the second other vehicle 5 (YES in step S12), and if it is determined that there is space around the vehicle 2 to move to avoid the route R1 of the second other vehicle 5 (YES in step S13), the route generation unit 223 generates a route R2 for the vehicle 2 to avoid the route R1 of the second other vehicle 5 (step S14).

[0041] On the other hand, if vehicle 2 is not located on the route R1 of the second other vehicle 5 (NO in step S12), or if there is no space around vehicle 2 to move to avoid it (NO in step S13), vehicle 2 is set to move along the normal route. The normal route is, for example, a route set in advance by the navigation device 27, or a route arbitrarily set by the driver to reach the destination.

[0042] Subsequently, the determination unit 222 determines whether the host vehicle 2 approaches another object when traveling along the route R2 of the host vehicle 2 (step S16). If it is determined that the host vehicle 2 approaches another object (YES in step S16), it notifies the occupant that the host vehicle is approaching another vehicle (step S17). On the other hand, if it is determined that the host vehicle 2 does not approach another object (NO in step S16), it does not perform the notification and ends the process.

[0043] For example, in the example of FIG. 5B, since the first other vehicle 4 exists on the second route R2, if the host vehicle 2 travels along the second route R2, it approaches the first other vehicle 4. Therefore, the notification unit 225 notifies the occupant that the host vehicle 2 approaches the first other vehicle 4 by using the display unit 25 or the like.

[0044] <4. Features> According to the driving support method and the driving support device according to the present embodiment, by predicting or acquiring the routes of other vehicles around the host vehicle 2, it is possible to determine whether the host vehicle 2 is obstructing the progress of other vehicles. When it is determined that the host vehicle 2 is obstructing the progress of other vehicles, a route for the host vehicle 2 to avoid from the routes of other vehicles is generated, so that the obstruction of the progress of other vehicles can be suppressed. As a result, other vehicles can travel smoothly.

[0045] Further, when the host vehicle 2 is made to avoid from the routes of other vehicles, when the host vehicle 2 approaches an object different from other vehicles, it is configured to notify the occupant that the host vehicle 2 approaches another object. Particularly in the case of automatic driving, if the host vehicle 2 approaches another object without notification, the occupant may feel不安. Therefore, by performing the notification of approaching, the不安 of the occupant can be reduced.

[0046] <5. Modification Example> Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various changes are possible without departing from the gist thereof. For example, the following changes are possible. Further, the gists of the following modification examples can be appropriately combined with each other, and can also be combined with the above embodiment.

[0047] (1) In the above-described embodiment, the path of the other vehicle is predicted when the host vehicle 2 is stopped. However, before the host vehicle 2 stops, the path of the other vehicles around can be predicted, and a path of the host vehicle 2 that avoids the paths of the other vehicles can be generated. As a result, since the path can be generated before the host vehicle 2 stops, the host vehicle 2 can stop smoothly without stopping in two stages.

[0048] (2) In the above-described embodiment, an example where the host vehicle 2 approaches the first other vehicle 4 by traveling along the generated path R2 of the host vehicle 2 is shown. However, what approaches is not only the other vehicle but also all the objects detected by the object detection unit 215, such as stationary objects like the above-described road obstacles. For example, when the host vehicle 2 approaches a moving object such as a pedestrian, it can be configured to approach at a lower speed than when approaching a stationary object. Further, when approaching at a lower speed, since the host vehicle 2 approaches a moving object, the notification unit 225 can also notify that it is approaching at a lower speed.

[0049] (3) In the above-described embodiment, when the host vehicle 2 travels along the generated path R2, the notification unit 225 notifies that it is approaching the first other vehicle 4. However, a case where the notification is unnecessary can also be set. For example, after the host vehicle 2 travels along the path R2, when it is detected by a camera inside the vehicle that there is a change in at least one of the driver's (or other passengers') line of sight, expression, and behavior, the notification may be made. In such a case, it is considered that the driver is concerned that the host vehicle 2 is approaching another object such as the first other vehicle 4, and thus the notification is necessary. Thus, detecting a change in the passenger when making the notification is an example of a second predetermined condition. Also, making the notification without detecting such a change in the passenger is also an example of a second predetermined condition. Note that when the above-described change cannot be detected, it is considered that the driver is not concerned about the approach, and thus the notification can be made unnecessary.

[0050] (4) In the above embodiment, when it is determined that the vehicle 2 is on the route R1 of another vehicle, the system is configured to generate a route R2 that avoids route R1 and proceed along route R2. However, it is also possible to configure the system so that the vehicle 2 can proceed along route R2 only after permission has been given by the driver. For example, when the notification unit 225 notifies that the vehicle is on the route R1 of another vehicle and needs to move from there, the system may proceed along route R2 only when the driver gives permission using the touch panel or other operation switches on the display unit 25, or when the driver gives permission by voice. Therefore, if permission is not given, the vehicle 2 will remain stopped at its current position. As described above, permission from the driver is one example of the first predetermined condition. Allowing the vehicle to move off the route of another vehicle without obtaining such permission is also one example of the first predetermined condition.

[0051] (5) In the above embodiment, the paths of other vehicles present around the vehicle are predicted. However, even if there are no other vehicles around the vehicle, for example, it is possible to assume that there are virtual other vehicles around the vehicle and predict the paths of these virtual vehicles. For example, if it is determined that the vehicle will obstruct the progress of another vehicle when it stops in the space behind it, the above processing can be performed after predicting the paths of the virtual other vehicles. In other words, the vehicle can be made to proceed along path R2 before the other vehicle stops in the space behind it. This allows other vehicles to pass through smoothly.

[0052] (6) If the object that the vehicle 2 approaches as it travels along route R2 is a communicable object such as another vehicle, the vehicle 2 can notify the other object of its approach via communication. In this case, the vehicle may be configured to approach only if permission to approach is obtained from the other object.

[0053] (7) In the above embodiment, the case in which the vehicle is performing autonomous driving has been described, but the present invention can also be applied to vehicles that are not performing autonomous driving. That is, even when a driver is driving, as described above, it is possible to automatically determine whether or not the vehicle 2 is on the acquired route of other vehicles, and to process the case if it is determined that the vehicle is present. Furthermore, the driving support device (vehicle control unit 22) can be installed in the vehicle 2 as in the above embodiment, or it can be installed in a server, infrastructure equipment, etc. outside the vehicle that can communicate. When the driving support device is installed outside the vehicle, it is possible to receive the processing by the vehicle control unit 22 described above from the server based on communication between the vehicle 2 and the server, etc., and to control the vehicle based on that processing.

[0054] 2: Own vehicle 4: Other vehicle 5: Other vehicle 222: Determination unit 224: Drive control unit 225: Notification unit R1: Route R2: Route

Claims

1. A computer-based driving assistance method comprising: acquiring the path of at least one other vehicle in the vicinity of the vehicle, or at least one hypothetical other vehicle assumed to be in the vicinity of the vehicle; determining whether the vehicle is on the path of the other vehicle; if it is determined that the vehicle is on the path of the other vehicle, moving the vehicle off the path of the other vehicle under first predetermined conditions; and if it is determined that moving the vehicle off the path will cause the vehicle to approach an object other than the other vehicle, notifying the occupant of the vehicle of the approach under second predetermined conditions.

2. The driving assistance method according to claim 1, wherein, before the vehicle comes to a stop, the future route of the vehicle is generated, and based on the future route, it is determined whether the vehicle is on the route of the other vehicle.

3. The driving assistance method according to claim 1, wherein, when the other object is a moving object, the vehicle is controlled to move at a lower speed off the path of the other vehicle compared to when the other object is a stationary object.

4. The driving assistance method according to claim 1, wherein if it is determined that the vehicle is located on the path of the other vehicle, the driver controls the vehicle to move off the path of the other vehicle when the occupant gives permission.

5. The driving assistance method according to claim 1, wherein when the vehicle is moved off the path of the other vehicle, a detection unit provided in the vehicle detects at least one change in the occupant's gaze, facial expression, and behavior, and the vehicle notifies the occupant of the vehicle that it is approaching another object.

6. The driving assistance method according to claim 1, wherein the notification includes at least one of the following: notifying that the other vehicle is approaching the vehicle according to the acquired route, while showing an image of the other vehicle; and notifying that the vehicle's proximity to the other object is within a range where there is no contact with the other object, while showing an image of the other object.

7. The driving assistance method according to claim 1, wherein the vehicle approaches the other object only after obtaining permission from the other object through communication with the other object.

8. A driving assistance device comprising: an acquisition unit that acquires the path of at least one other vehicle in the vicinity of the vehicle, or at least one hypothetical other vehicle assumed to be in the vicinity of the vehicle; a determination unit that determines the relationship between the vehicle and an object in the vicinity of the vehicle; a drive control unit that controls the driving of the vehicle; and a notification unit that notifies the occupants of the vehicle, wherein, if the determination unit determines that the vehicle is on the path of the other vehicle, the control unit moves the vehicle to avoid the path of the other vehicle under predetermined conditions; and if, by moving the vehicle to avoid the path, the determination unit determines that the vehicle is approaching an object other than the other vehicle, the notification unit is configured to notify the occupants of the vehicle that the vehicle is approaching the other object under predetermined conditions.

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