CN107554530A - Drive assistance device, driving assistance method and drive assist system - Google Patents
Drive assistance device, driving assistance method and drive assist system Download PDFInfo
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Abstract
Drive assistance device, driving assistance method and drive assist system provided by the invention, driving auxiliary is carried out to user so that user even in drive difficult sections of road can also feel at ease, it is safety, correct and be smoothly through.The drive assistance device is used for the vehicle with manual drive pattern and automatic driving mode, has：Cartographic information acquisition unit, obtain the cartographic information of the information for the path of navigation for including arriving at；Difficult section test section is driven, detects the driving difficulty section on the path of navigation；And control unit, in the case where detecting the difficult section of driving by the difficult section test section of driving, the control unit is controlled, and the driving model of the vehicle is switched into the automatic driving mode.
Description
Technical field
The present invention relates to drive assistance device, driving assistance method and drive assist system, more particularly to have and drive manually
Sail drive assistance device, driving assistance method and drive assist system used in the vehicle of pattern and automatic driving mode.
Background technology
In recent years, as the popularization of vehicle, the research of the driving ancillary technique based on various software and hardwares are also developing.
On the one hand, the vehicle with manual drive pattern and automatic driving mode existing at present, for such vehicle
Driving auxiliary, it is proposed that many technical schemes.For example, in patent document 1, there is provided a kind of safe driving assistant system, thing
Safe driving reference data is first stored, detection driver drives the driver behavior situation of vehicle, and the actual driving of driver is grasped
Make situation to be contrasted with safe driving reference data, judge the driving efficiency of driver, when driving efficiency is in safe driving model
It is automatic driving mode from manual drive pattern switching when outside enclosing.Thereby, it is possible to be judged as that driver can not carry out safety
Automatic driving mode is switched to during driving, and realizes safe driving.
On the other hand, guider that is built-in or being external in vehicle can be also provided based on traffic information, congestion information, limit
The driving auxiliary of fast information etc..For example, when driving is provided with the vehicle of guider, user can set mesh to guider
Ground and drive vehicle under the guiding of guider along the path of navigation searched.Reach the destination set by user
Path of navigation by driving difficult section such as rotary island or when complicated left and right is turned, current guider, by guiding
Road-map is amplified on picture and the route that should be travelled is highlighted and/or such as " front five is exported by loudspeaker
The voice prompt of ten meters of right-hand bends ", " second, front crossing enters main road " etc., prompting is guided to user.
But be particularly among actually driving, it is necessary to situation about constantly paying attention to very more, when actually driving over example
When such as rotary island drives difficult section, because vehicle is more, gateway is more, the environment at short, each crossing of the distance between adjacent entrance
Similar etc., even if guider has carried out picture prompting and auditory tone cues, driver especially new hand driver may be in mistake
Gateway leave rotary island and depart from path of navigation or do not know this leaves rotary island and the fascination that hesitates from which gateway, this can make
Time cost, the fuel cost increase that user arrives at are obtained, traffic accident may also be triggered in addition and reduce driving safety
Property.
Patent document 1：Japanese Unexamined Patent Publication 2005-250564 publications
The content of the invention
The present invention be in order to solve above-mentioned problems of the prior art and make, and it is an object of the present invention to provide a kind of drive
Servicing unit, driving assistance method and drive assist system, it can ensure that user feels at ease, be safety, correct and be smoothly through and drive
Sail difficult section.
In order to reach above-mentioned purpose, drive assistance device provided by the invention, for manual drive pattern and automatically
The vehicle of driving model, it is characterised in that have：Cartographic information acquisition unit, acquisition include the path of navigation arrived at
The cartographic information of information；Difficult section test section is driven, detects the driving difficulty section on the path of navigation；And control
Portion, in the case where detecting the difficult section of driving by the difficult section test section of driving, the control unit is controlled
System, the automatic driving mode is switched to by the driving model of the vehicle.
Drive assistance device provided by the invention, it is characterised in that the drive assistance device is also sentenced with driving model
Disconnected portion, the driving model judging part judge whether the current driving model of the vehicle is the manual drive pattern, passed through
The difficult section test section of driving detects the difficult section of the driving and is judged as by the driving model judging part
In the case that the current driving model of the vehicle is the manual drive pattern, the control unit is controlled, by the car
Driving model from the manual drive pattern switching be the automatic driving mode.
Drive assistance device provided by the invention, it is characterised in that the drive assistance device also has speed judging part,
The speed judging part judge the vehicle travel speed whether be more than fixing speed, when will enter it is described drive it is difficult
The travel speed of the vehicle is judged as in the case of more than fixing speed by the speed judging part during section, the control
The driving model that the vehicle enters to be about in portion processed switches to the control of the automatic driving mode.
Drive assistance device provided by the invention, it is characterised in that the drive assistance device also has Distance Judgment portion,
The Distance Judgment portion judges whether distance of the vehicle away from the difficult section of driving is within distance to a declared goal, by described
Drive difficult section test section detect it is described drive difficult section in the case of, drive difficult section away from described in the vehicle
Distance within distance to a declared goal when, the control unit is controlled, by the driving model of the vehicle switch to it is described from
Dynamic driving model.
Drive assistance device provided by the invention, it is characterised in that described to drive difficult section test section according to described
, road component point on the path of navigation be present and be the first predetermined distance scope internal memory away from the road component point in figure information
In the case of more than one other road component point, section where the road component point is detected as the difficult road of driving
Section.
Drive assistance device provided by the invention, it is characterised in that described to drive difficult section test section according to described
Figure information, road component point on the path of navigation be present and on the direct of travel along the path of navigation in the presence of one
In the case that the distance away from the road component point is other road component points below the second predetermined distance more than individual, by the road
Section where the branch point of road is detected as the difficult section of driving.
Drive assistance device provided by the invention, it is characterised in that the road component point includes rotary island gateway, grade separation
Bridge gateway, through street gateway, left/right rotation detour mouth.
Drive assistance device provided by the invention, it is characterised in that also there is the drive assistance device mistake traveling to carry out
Acquisition unit is gone through, mistake traveling resume acquisition unit, which obtains, deviates the path of navigation traveling in the guiding downward driving of path of navigation
Mistake traveling resume, it is described to drive difficult section test section and pass through the error row that the mistake traveling resume acquisition unit obtains
Sail the section involved by resume and be detected as the difficult section of driving.
Drive assistance device provided by the invention, it is characterised in that the drive assistance device also has without Warning Mark
Section confirmation portion, this without Warning Mark section confirmation portion according to the cartographic information, confirm on the path of navigation without instruction
The section of mark, it is described drive difficult section test section by by the no Warning Mark section confirmation portion confirmed without indicateing arm
The section of will is detected as the difficult section of driving.
Driving assistance method provided by the invention, for the vehicle with manual drive pattern and automatic driving mode, its
It is characterised by having：Cartographic information obtaining step, obtain the cartographic information of the information for the path of navigation for including arriving at；
Difficult section detecting step is driven, detects the driving difficulty section on the path of navigation；And rate-determining steps, by described
Drive difficult section detecting step detect it is described drive difficult section in the case of, the rate-determining steps are controlled, by institute
The driving model for stating vehicle switches to the automatic driving mode.
Drive assist system provided by the invention, for the vehicle with manual drive pattern and automatic driving mode, its
It is characterised by having：Cartographic information acquiring unit, obtain the cartographic information of the information for the path of navigation for including arriving at；
Difficult section detection unit is driven, detects the driving difficulty section on the path of navigation；And control unit, by described
Drive difficult section detection unit detect it is described drive difficult section in the case of, the control unit is controlled, by institute
The driving model for stating vehicle switches to the automatic driving mode.
The effect of invention
Drive assistance device, driving assistance method and drive assist system provided by the invention, even if being deposited on path of navigation
Difficult section is being driven, can also ensure that user feels at ease, be safety, correct and pass through and drive difficult section.
Brief description of the drawings
Fig. 1 is the schematic diagram of the composition of the drive assistance device of the first embodiment of the present invention.
Fig. 2A~Fig. 2 D are the generalized schematics of the concrete example in the difficult section of driving of the present invention.
Fig. 3 is the flow chart for the driving assistance method that the drive assistance device of the first embodiment of the present invention performs.
The schematic diagram of the composition of the drive assistance device of Fig. 4 second embodiment of the present invention.
Fig. 5 is the flow chart for the driving assistance method that the drive assistance device of second embodiment of the present invention performs.
Fig. 6 is the schematic diagram of the composition of the drive assistance device of third embodiment of the present invention.
Fig. 7 is the flow chart for the driving assistance method that the drive assistance device of third embodiment of the present invention performs.
Fig. 8 is the schematic diagram of the composition of the drive assistance device of the 4th embodiment of the present invention.
Fig. 9 is the flow chart for the driving assistance method that the drive assistance device of the 4th embodiment of the present invention performs.
Figure 10 is the schematic diagram of the composition of the drive assistance device of the variation of the present invention.
Figure 11 is the flow chart for the driving assistance method that the drive assistance device of the variation of the present invention performs.
Description of reference numerals：
100th, 100A~100D：Drive assistance device；101：Cartographic information acquisition unit；102：Drive difficult section detection
Portion；103：Driving model judging part；104：Speed judging part；105：Distance Judgment portion；106：Mistake travels resume acquisition unit；
107 without Warning Mark section confirmation portion；110：Control unit.
Embodiment
Hereinafter, drive assistance device, driving assistance method and the drive assist system of the present invention are said referring to the drawings
It is bright.Wherein, in a specific embodiment, the part of device can be changed according to actual conditions, deleted or additional, the step of method
It can be changed, deleted according to actual conditions, additional or change order.
(first embodiment)
The composition of ※ drive assistance devices 100
First, reference picture 1, the composition of the drive assistance device 100 of the first embodiment of the present invention is illustrated.Separately
Outside, drive assistance device includes various parts, and the part relevant with the technological thought of the present invention is illustrate only in Fig. 1, and omits
Miscellaneous part.
As shown in figure 1, the drive assistance device 100 of present embodiment, can be used in manual drive pattern and automatic
The vehicle of driving model.In the present invention, manual drive pattern in the same manner as common automobile, be according to driver to acceleration step on
The operation of plate, clutch pedal, brake pedal, steering wheel, parking brake etc. and the pattern travelled.Automatic driving mode refers to, even if
Driver is operated to accelerator pedal, clutch pedal, brake pedal, steering wheel, parking brake etc., and vehicle itself is not also by driving
The driving mode of the operational motion for the person of sailing and ground avoiding barrier of restraining oneself, change route etc..
In addition, in general, in existing vehicle, there is automatic driving mode as such as cruise, but constant speed is patrolled
Automatic driving mode as boat is from manual drive in being travelled by certain operation of the progress such as driver of vehicle in vehicle
Pattern switching is automatic driving mode, then, when driver enters to accelerator pedal, clutch pedal, brake pedal, steering wheel etc.
Manual operation mode is then automatically returned to during row operation.But in the present invention, it is controlled by control unit 110 to switch
After automatic driving mode, even if driver above-mentioned like that will not also return to the operation for returning to manual operation mode
To manual operation mode, but the automatic driving mode is maintained to be travelled.
As shown in figure 1, the drive assistance device 100 has：Cartographic information acquisition unit 101, drive difficult section test section
102 and control unit 110.
Cartographic information acquisition unit 101, the cartographic information of the information for obtaining the path of navigation for including arriving at.Should
Cartographic information acquisition unit 101 can be made up of the part that ROM, RAM, semiconductor memory or register etc. have store function,
Such a cartographic information acquisition unit 101 can be previously stored with the various information relevant with path of navigation, the information relevant with section,
The information relevant with road component point, information relevant with facility etc., cartographic information can be provided by map supply business, can be wrapped
Include the road information and various peripheral informations (such as road component point information etc.) in the region being related to.In addition, cartographic information
Acquisition unit 101 can also by the module composition with communication function, such a cartographic information acquisition unit 101 can by with other dresses
Communication is put, and the cartographic information of the information for the path of navigation for including arriving at is obtained from other devices.
Drive difficult section test section 102 to be made up of data processors such as CPU or microprocessors, road is guided for detecting
Driving difficulty section on footpath, and testing result can be supplied to control unit 110 described later.
Drive difficult section and generally refer to the complicated highway section such as rotary island, viaduct.Below, reference picture 2A~Fig. 2 D, lift
Go out concrete example to illustrate to drive difficult section.
Fig. 2A is the schematic diagram of rotary island.In fig. 2, solid stain represents current vehicle position, the expression pair of solid arrow line
Vehicle as defined in road can pass through direction, and dotted arrow line represents the wheeled route of vehicle, and dotted line represents fare cut-off rule.Such as
In rotary island shown in Fig. 2A, be communicated with a circuit 6 can two-way discrepancy gateway i.e. entrance and gateway 1~
Gateway 5, when vehicle (solid stain) enters rotary island from entrance, by principle of keeping to the right, it can be advised from away from it for first
Rotary island is left in existing 1~gateway of gateway 5 in the range of set a distance.In addition, the dotted arrow line set shown in Fig. 2A represents
During path of navigation, i.e. vehicle is turned right after entering rotary island from entrance, is travelled afterwards along circuit, should be right at gateway 2
Turn and leave rotary island.When actually by path of navigation traveling, be easy to mistake gateway and mistakenly from such as gateway 1
Leave rotary island.
Fig. 2 B are the schematic diagram of viaduct.In fig. 2b, solid stain represents current vehicle position, hollow arrow expression pair
Vehicle as defined in road can pass through direction, and solid arrow line represents the wheeled route of vehicle on viaduct.As shown in Figure 2 B, stand
Handing on bridge has multiple Shang Qiaokou and Xia Qiaokou, i.e. is deposited in the range of the first predetermined distance away from bridge mouth on some or lower bridge mouth
Bridge mouth or lower bridge mouth, so, easily get or sail mistake wrong in more than one others when driving.It is in addition, in general, vertical
Hand over and Shang Qiaokou and lower bridge mouth are distinguished on bridge carry out vehicle pass-through, mistaking on bridge mouth bridge or mistaking bridge under lower bridge mouth will cause to travel
Predefined paths are significantly deviateed in path can not either go up bridge or can not descend bridge, and more serious working as mixes up upper bridge mouth or lower bridge mouth
When, it is possible that serious traffic accident.
Fig. 2 C are the schematic diagram for the intersection for having multiple right-hand rotation mouths.In fig. 2 c, solid stain represents vehicle present bit
Put, solid arrow represents the direction that can be passed through to vehicle as defined in road, and dotted arrow line represents the wheeled route of vehicle, solid
Arrow shows these three the right-hand rotation mouths of right-hand rotation 1~right-hand rotation of mouth mouth 3 in a manner of obvious.As shown in Figure 2 C, connect at the intersection
It is continuous to have multiple right-hand rotation mouths, i.e. 1~right-hand rotation of right-hand rotation mouth mouth 3.Assuming that when the path of navigation that vehicle represents along dotted arrow line travels,
It should be turned right from right-hand rotation mouth 3, but 2 other right-hand rotation mouths in the range of away from the predetermined distance of right-hand rotation mouth 3 first be present is the right side
Transit 1 and right-hand rotation mouth 2, when actually driving, it is very easy to mistake right-hand rotation mouth.
Fig. 2 D are continuous turning and have the section of two crossroads.In figure 2d, solid stain represents vehicle present bit
Put, dotted arrow line represents the wheeled route of vehicle.As shown in Figure 2 D, it is assumed that the path of navigation of vehicle is ten after turning left
Word crossing 2 is turned right, but due to away from having crossroad 1 in the range of the predetermined distance of crossroad 2 first, therefore during actual travel,
Easily there is situation about mistakenly being turned right from crossroad 1.In addition, it is assumed that the path of navigation of vehicle is in four crossway after turning left
Mouthful 1 turns right, but because crossroad 1 is very near away from left-hand rotation crossing on route and away from the predetermined distance scope of crossroad 1 first
Inside there is crossroad 2, therefore during actual travel, easily occur having not enough time to turning right from crossroad 1 or mistakenly from four crossway
The situations that mouth 2 is turned right.
Fig. 2A~Fig. 2 D are the concrete examples for driving difficult section, but not limited to this, road component on path of navigation be present
Point (such as Fig. 2A entrance) and away from the road component point be the first predetermined distance in the range of more than one other road minute be present
, can be by section where road component point (such as in Fig. 2A in the case of fulcrum (such as Fig. 2A 1~gateway of gateway 5)
Rotary island) be detected as driving difficult section.
In addition, road component point on path of navigation be present and on the direct of travel along path of navigation in the presence of one
, can also be by road in the case that distance above away from the road component point is other road component points below the second predetermined distance
Section where the branch point of road is detected as driving difficult section.
In addition, the first above-mentioned predetermined distance, the second predetermined distance can specifically be set as needed, such as can be
5m, 10m, 20m, 50m etc..
In addition, above-mentioned road component point includes rotary island gateway, viaduct gateway, through street gateway, left and right turning
Crossing etc.
Control unit 110 is made up of data processors such as CPU or microprocessors, can regard the master of drive assistance device 100 as
Body portion, it is connected with above-mentioned cartographic information acquisition unit 101, the difficult section test section 102 of driving, it is overall to drive assistance device 100
Action be controlled.For example, in the case where detecting and driving difficult section by driving difficult section test section 102, should
Control unit 110 is controlled, and the driving model of vehicle is switched into automatic driving mode.
In addition, above-mentioned cartographic information acquisition unit 101, the difficult section test section 102 of driving are different from control unit 110
Part or module, but part or all in them can be integrated into a part or module.
The driving assistance method that ※ drive assistance devices 100 perform
Below, aided in reference to the driving that flow chart performs to the drive assistance device 100 of the first embodiment of the present invention
Method illustrates.
Fig. 3 is the flow chart for the driving assistance method that the drive assistance device 100 of the first embodiment of the present invention performs.
As shown in figure 3, in step S3002, drive assistance device 100 obtains the map letter for including path of navigation information
Breath, enters step S3004 afterwards.
In step S3004, drive assistance device 100 is by driving difficult section test section 102, according in step
Acquired cartographic information in S3002, detect on path of navigation with the presence or absence of difficult section is driven, be stranded when being not detected by drive
During hard way section, end processing, when detecting the difficult section of driving, step S3006 is entered.
In step S3006, the control unit 110 of drive assistance device 100 is controlled, and the driving model of vehicle is switched
For automatic driving mode.Terminate to handle afterwards.
According to the drive assistance device 100 and its driving assistance method of present embodiment, exist on path of navigation and drive
In the case of difficult section, the driving model of vehicle is switched into automatic driving mode, thereby, it is possible under automatic driving mode
By driving difficult section, avoid under manual drive pattern taking a wrong way of may occurring or due to user judges route and not
It is wholwe-hearted drive caused by traffic accident so that user can feel at ease, safety, correct and be smoothly through and drive difficult section.
(second embodiment)
Below, the drive assistance device 100A and its driving assistance method of second embodiment are illustrated.
※ drive assistance devices 100A composition
Fig. 4 is the schematic diagram of the drive assistance device 100A of second embodiment of the present invention composition.In Fig. 4, it is right
Schematic diagram with the structure of the drive assistance device 100 of first embodiment is that identical component marks identical symbol in Fig. 1
And omit the description.
The drive assistance device 100A of second embodiment and the drive assistance device 100 of first embodiment difference
It is, the drive assistance device 100A of second embodiment also has driving model judging part 103.
The driving model judging part 103 judges whether the current driving model of vehicle is manual drive pattern.
The driving assistance method that ※ drive assistance devices 100A is performed
Fig. 5 is the flow for the driving assistance method that the drive assistance device 100A of second embodiment of the present invention is performed
Figure.In present embodiment and later embodiment or variation, pair held with the drive assistance device 100 of first embodiment
The flow chart of capable driving assistance method is step mark identical symbol identical in Fig. 3 and omitted the description.
As shown in figure 5, the drive assistance device 100A of second embodiment, in step S3002, drive assistance device
100A obtains the cartographic information for including path of navigation information, enters step S3004 afterwards.
In step S3004, drive assistance device 100A is by driving difficult section test section 102, according in step
Acquired cartographic information in S3002, detect on path of navigation with the presence or absence of difficult section is driven, be stranded when being not detected by drive
During hard way section, end processing, when detecting the difficult section of driving, step S5000 is entered.
In step S5000, drive assistance device 100A judges the current driving of vehicle by driving model judging part 103
Whether pattern is manual drive pattern, when judged result is no, end processing, when judged result is to be, enters step
S3006。
In step S3006, drive assistance device 100A control unit 110 is controlled, and the driving model of vehicle is cut
It is changed to automatic driving mode.Terminate to handle afterwards.
According to the drive assistance device 100A and its driving assistance method of present embodiment, exist on path of navigation and drive
In the case of difficult section, determine whether the current driving model of vehicle is manual drive pattern, is being judged as YES hand
In the case of dynamic driving model, the driving model of vehicle is switched into automatic driving mode.Thereby, it is possible in automatic driving mode
Down by driving difficult section, avoid taking a wrong way of may occurring under manual drive pattern or because user judges route and
It is wholwe-hearted drive caused by traffic accident so that user can feel at ease, safety, correct and be smoothly through and drive difficult section.
In addition, only switch to automatic driving mode under manual drive pattern, it thus avoid that carried out under automatic driving mode need not
The switching wanted, improve the comfort of drive assistance device 100A and its driving assistance method.This is for there is two or more
Drive difficult section it is continuous or close and in the presence of, be especially preferred.
(the 3rd embodiment)
Below, the drive assistance device 100B and its driving assistance method of the 3rd embodiment are illustrated.
※ drive assistance devices 100B composition
Fig. 6 is the schematic diagram of the drive assistance device 100B of third embodiment of the present invention composition.In figure 6, it is right
Schematic diagram with the drive assistance device 100A of second embodiment structure is that identical component marks identical symbol in Fig. 4
And omit the description.
The drive assistance device 100B of 3rd embodiment and the drive assistance device 100A of second embodiment difference
Point is that the drive assistance device 100B of the 3rd embodiment also has speed judging part 104.
The speed judging part 104 is used to judge whether the travel speed of vehicle to be more than fixing speed.
Wherein, the fixing speed can be set as needed, for example, it can be set to for 5km/h, 10km/h, 20km/h,
30km/h etc..
The driving assistance method that ※ drive assistance devices 100B is performed
Fig. 7 is the flow for the driving assistance method that the drive assistance device 100B of third embodiment of the present invention is performed
Figure.In present embodiment and later embodiment or variation, the drive assistance device pair with first, second embodiment
100th, the identical step of the flow chart for the driving assistance method that 100A is performed marks identical symbol and omitted the description.
The drive assistance device 100B of 3rd embodiment, perform step in the same manner as drive assistance device 100A first
S3002~S5000 action, and work as and be judged as that the current driving model of vehicle is manual drive pattern in step S5000
In the case of, enter step S7000.
In step S7000, drive assistance device 100B by speed judging part 104 judge vehicle travel speed whether
More than fixing speed, the travel speed of vehicle is judged as not by speed judging part 104 when driving difficult section will be entered
During to be more than fixing speed, end processing, vehicle is judged as by speed judging part 104 when driving difficult section will be entered
When travel speed is more than fixing speed, step S3006 is entered.
In step S3006, drive assistance device 100B control unit 110 is controlled, and the driving model of vehicle is cut
It is changed to automatic driving mode.Terminate to handle afterwards.
According to the drive assistance device 100B and its driving assistance method of present embodiment, exist on path of navigation and drive
In the case of difficult section, in addition to judging whether the current driving model of vehicle be manual drive pattern, also further sentence
Whether the disconnected travel speed that will enter vehicle when driving difficult section is more than fixing speed, and difficulty is driven when that will enter
When the travel speed of vehicle during section is not to be more than fixing speed, without switching to the control of automatic driving mode, and work as
When will enter the travel speed of vehicle when driving difficult section more than fixing speed to exceed regulation speed, switch over
For the control of automatic driving mode.Thus, in addition to the effect with above-mentioned first, second embodiment, present embodiment
Drive assistance device 100B and its driving assistance method because also contemplating the actual travel speed of vehicle, be only in vehicle
In the case that the travel speed entered when driving difficult section is exceeded into fixing speed, the control for automatic driving mode is switched over
System, so as to avoid when Vehicle Speed is slower driver can correctly be travelled according to guide picture and auditory tone cues
In the case of carry out unnecessary switching, improve the comfort of drive assistance device 100B and its driving assistance method.
(the 4th embodiment)
Below, the drive assistance device 100C and its driving assistance method of the 4th embodiment are illustrated.
※ drive assistance devices 100C composition
Fig. 8 is the schematic diagram of the drive assistance device 100C of the 4th embodiment of present invention composition.In fig. 8, it is right
Schematic diagram with the drive assistance device 100A of second embodiment structure is that identical component marks identical symbol in Fig. 4
And omit the description.
The drive assistance device 100C of 4th embodiment and the drive assistance device 100A of second embodiment difference
Point is that the drive assistance device 100C of the 4th embodiment also has Distance Judgment portion 105.
Whether the Distance Judgment portion 105 is used to judge distance of the vehicle away from the difficult section of driving in distance to a declared goal.
Wherein, the distance to a declared goal can be set as needed, for example, it can be set to being 5m, 10m, 20m, 50m etc..
The driving assistance method that ※ drive assistance devices 100C is performed
Fig. 9 is the flow for the driving assistance method that the drive assistance device 100C of the 4th embodiment of the present invention is performed
Figure.In present embodiment and later embodiment or variation, the drive assistance device pair with first, second embodiment
100th, the identical step of the flow chart for the driving assistance method that 100A is performed marks identical symbol and omitted the description.
The drive assistance device 100C of 4th embodiment, perform step in the same manner as drive assistance device 100A first
S3002~S5000 action, and work as and be judged as that the current driving model of vehicle is manual drive pattern in step S5000
In the case of, enter step S9000.
In step S9000, drive assistance device 100C is judged as vehicle away from the difficult road of driving by Distance Judgment portion 105
When the distance of section is not within distance to a declared goal, end processing, when be judged as vehicle away from the distance for driving difficult section for specify away from
When within, step S3006 is entered.
In step S3006, drive assistance device 100C control unit 110 is controlled, and the driving model of vehicle is cut
It is changed to automatic driving mode.Terminate to handle afterwards.
According to the drive assistance device 100C and its driving assistance method of present embodiment, exist on path of navigation and drive
In the case of difficult section, in addition to judging whether the current driving model of vehicle be manual drive pattern, also further sentence
Whether distance of the disconnected vehicle away from the difficult section of driving is within distance to a declared goal, is referred to when vehicle exceedes away from the distance for driving difficult section
During set a distance, without switching to the control of automatic driving mode, and when vehicle away from drive the distance in difficult section specify away from
From it is interior when, switch over the control for automatic driving mode.Thus, except the effect with above-mentioned first, second embodiment
In addition, the drive assistance device 100C and its driving assistance method of present embodiment, it is also contemplated that vehicle is away from driving difficult section
Distance, only vehicle away from the distance for driving difficult section when within distance to a declared goal, switch over as automatic driving mode
Control, so as to avoid the sense of discomfort for switching to automatic driving mode to be brought to driver too early, improve driving auxiliary
Device 100C and its driving assistance method comfort.
As described above, the embodiment of the drive assistance device of the present invention is illustrated, but the present invention does not limit
In this, in the range of the technological thought of the present invention, various changes can be carried out and implemented.
(variation)
In the drive assistance device and driving assistance method of the above-mentioned first~the 4th embodiment, difficult section inspection is driven
Survey portion is all by judging to whether there is road component point on path of navigation and whether there is other near road component point
Road component point, to judge that driving of the invention aids in the presence or absence of difficult section, but not limited to this is driven on path of navigation
Device, can also have mistake traveling resume acquisition unit, and mistake traveling resume acquisition unit is obtained under the guiding of path of navigation
Deviate the mistake traveling resume of path of navigation traveling during traveling, driving difficult section test section will be obtained by mistake traveling resume
The section involved by mistake traveling resume that portion obtains is detected as driving difficult section.In addition, the drive assistance device of the present invention
Can also have without Warning Mark section confirmation portion, without Warning Mark section confirmation portion, information, confirmation guide road according to the map for this
The section without Warning Mark on footpath, difficult section test section is driven by the aphalangia by being confirmed without Warning Mark section confirmation portion
The section of indicating will is detected as driving difficult section.
In addition, in the drive assistance device and driving assistance method of the above-mentioned first~the 4th embodiment, control unit enters
Row control is just to terminate to handle after the driving model of vehicle is switched into automatic driving mode, but not limited to this, it is contemplated that user
Usage comfort, can also will switch while automatic driving mode is switched to or afterwards with sound or display picture etc.
For automatic driving mode message notifying to user, with avoid carrying out in the case of user is unwitting driving model switching to
The fascination and sense of discomfort that family is brought.The situation for driving difficult section is had run out alternatively, it is also possible to further detect, and
Roll away from and user is prompted when driving difficult section and switches back into manual drive pattern, it is comfortable to improve the use of drive assistance device
Degree, and ensure the driving safety of user.
In addition, in the drive assistance device and driving assistance method of the above-mentioned first~the 4th embodiment, drive difficult
The number in section can also be multiple, when the difficult section of multiple driving on a path of navigation be present, can pass through above-mentioned the
The drive assistance device and driving assistance method perseveration of one~the 4th embodiment, which to provide user, drives auxiliary；Also may be used
So that in the case where detecting the difficult section of driving as more than two, record drives the position in difficult section, to reach each
The control for automatic driving mode is switched over before driving difficult section；Can also be spaced at intervals of set time (such as 2 points
Clock) the test section action of driving difficulty section is triggered the corresponding control action for switching to automatic driving mode.
In addition, the drive assistance device and driving assistance method of the above-mentioned first~the 4th embodiment and variation can enter
Row it is various combination and implements, for example, can be combined into as shown in Figure 10, possess cartographic information acquisition unit 101, drive difficulty
Section test section 102, driving model judging part 103, speed judging part 104, Distance Judgment portion 105, mistake traveling resume obtain
Portion 106, the drive assistance device 100D without Warning Mark section confirmation portion 107 and control unit 110.Drive assistance device 100D
The flow chart of the driving assistance method of execution is as shown in figure 11, and each step formed such as Figure 11 is real the above-mentioned first~the 4th
Apply in mode and illustrated, the repetitive description thereof will be omitted here.
In addition, each step for including of the driving assistance method that is related to of the respective embodiments described above of the present invention also can be with
The mode in each portion (unit) included by the drive assist system of drive assistance device is realized, and obtains same technique effect.
In addition, above-mentioned each embodiment is illustrated, but the present invention is not limited to above-mentioned embodiment and deformation
Example.For example, those skilled in the art have suitably carried out the addition of structural element for above-mentioned each embodiment and variation, deleted
Remove, the mode of design alteration, the mode by the feature of each embodiment or variation after appropriately combined, as long as meeting the present invention's
Technological thought, all it is contained in the scope of the present invention.
Claims (12)
- A kind of 1. drive assistance device, for the vehicle with manual drive pattern and automatic driving mode, it is characterised in that tool Have：Cartographic information acquisition unit, obtain the cartographic information of the information for the path of navigation for including arriving at；Difficult section test section is driven, detects the driving difficulty section on the path of navigation；AndControl unit, in the case where detecting the difficult section of driving by the difficult section test section of driving, the control Portion is controlled, and the driving model of the vehicle is switched into the automatic driving mode.
- 2. drive assistance device as claimed in claim 1, it is characterised in thatThe drive assistance device also has driving model judging part, and the driving model judging part judges that the vehicle is current and driven Sail whether pattern is the manual drive pattern,The difficult section of the driving is being detected by the difficult section test section of driving and sentenced by the driving model In the case that disconnected portion is judged as that the current driving model of the vehicle is the manual drive pattern, the control unit is controlled, Using by the driving model of the vehicle from the manual drive pattern switching as the automatic driving mode.
- 3. drive assistance device as claimed in claim 1 or 2, it is characterised in thatThe drive assistance device also has a speed judging part, the speed judging part judge the vehicle travel speed whether be It is more than fixing speed,It is judged as the travel speed of the vehicle by the speed judging part when the difficult section of the driving will be being entered In the case of more than fixing speed, the driving model that the control unit enters to be about to the vehicle switches to the automatic Pilot mould The control of formula.
- 4. drive assistance device as claimed in claim 1 or 2, it is characterised in thatThe drive assistance device also has Distance Judgment portion, and the Distance Judgment portion judges that the vehicle drives difficult road away from described The distance of section whether be within distance to a declared goal,In the case where detecting the difficult section of driving by the difficult section test section of driving, in the vehicle away from institute State and drive the distance in difficult section when being distance to a declared goal, the control unit is controlled, and the driving model of the vehicle is cut It is changed to the automatic driving mode.
- 5. drive assistance device as claimed in claim 1 or 2, it is characterised in thatIt is described to drive difficult section test section according to the cartographic information, exist on the path of navigation road component point and It is in the case of more than one other road component point being present in the range of the first predetermined distance, by the road away from the road component point Section where the branch point of road is detected as the difficult section of driving.
- 6. drive assistance device as claimed in claim 5, it is characterised in thatThe road component point includes rotary island gateway, viaduct gateway, through street gateway, left/right rotation detour mouth.
- 7. drive assistance device as claimed in claim 1 or 2, it is characterised in thatIt is described to drive difficult section test section according to the cartographic information, exist on the path of navigation road component point and In the presence of more than one distance away from the road component point it is the second predetermined distance on the direct of travel along the path of navigation In the case of other following road component points, section where the road component point is detected as the difficult section of driving.
- 8. drive assistance device as claimed in claim 7, it is characterised in thatThe road component point includes rotary island gateway, viaduct gateway, through street gateway, left/right rotation detour mouth.
- 9. drive assistance device as claimed in claim 1 or 2, it is characterised in thatThe drive assistance device also has mistake traveling resume acquisition unit, and mistake traveling resume acquisition unit is obtained on guiding road Deviate the mistake traveling resume of the path of navigation traveling during guiding downward driving in footpath,The difficult section test section of driving will be travelled the mistake that resume acquisition unit obtains by the mistake and be travelled involved by resume And section be detected as described driving difficult section.
- 10. drive assistance device as claimed in claim 1 or 2, it is characterised in thatThe drive assistance device also has without Warning Mark section confirmation portion, and this is without Warning Mark section confirmation portion according to Cartographic information, confirm the section without Warning Mark on the path of navigation,The road without Warning Mark that drives difficult section test section and will be confirmed by the no Warning Mark section confirmation portion Section is detected as driving difficult section.
- A kind of 11. driving assistance method, for the vehicle with manual drive pattern and automatic driving mode, it is characterised in that Have：Cartographic information obtaining step, obtain the cartographic information of the information for the path of navigation for including arriving at；Difficult section detecting step is driven, detects the driving difficulty section on the path of navigation；AndRate-determining steps, should in the case where detecting the difficult section of driving by the difficult section detecting step of driving Rate-determining steps are controlled, and the driving model of the vehicle is switched into the automatic driving mode.
- A kind of 12. drive assist system, for the vehicle with manual drive pattern and automatic driving mode, it is characterised in that Have：Cartographic information acquiring unit, obtain the cartographic information of the information for the path of navigation for including arriving at；Difficult section detection unit is driven, detects the driving difficulty section on the path of navigation；AndControl unit, should in the case where detecting the difficult section of driving by the difficult section detection unit of driving Control unit is controlled, and the driving model of the vehicle is switched into the automatic driving mode.
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| CN201610471127.0A CN107554530B (en) | 2016-06-24 | 2016-06-24 | Driving support device, driving support method, and driving support system |
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| CN201610471127.0A CN107554530B (en) | 2016-06-24 | 2016-06-24 | Driving support device, driving support method, and driving support system |
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| CN110471404A (en) * | 2018-05-09 | 2019-11-19 | 阿尔派株式会社 | Servomechanism and automatic Pilot method |
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| CN111591301A (en) * | 2020-04-30 | 2020-08-28 | 广东中科臻恒信息技术有限公司 | Intelligent prompting driving mode conversion method, equipment and storage medium for automatic driving automobile |
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