JP2021125004A - Emergency vehicle estimation device and emergency vehicle estimation method - Google Patents

Emergency vehicle estimation device and emergency vehicle estimation method Download PDF

Info

Publication number
JP2021125004A
JP2021125004A JP2020018580A JP2020018580A JP2021125004A JP 2021125004 A JP2021125004 A JP 2021125004A JP 2020018580 A JP2020018580 A JP 2020018580A JP 2020018580 A JP2020018580 A JP 2020018580A JP 2021125004 A JP2021125004 A JP 2021125004A
Authority
JP
Japan
Prior art keywords
vehicle
emergency
emergency vehicle
behavior
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2020018580A
Other languages
Japanese (ja)
Other versions
JP7351761B2 (en
Inventor
正彦 朝倉
Masahiko Asakura
正彦 朝倉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP2020018580A priority Critical patent/JP7351761B2/en
Priority to CN202110157321.2A priority patent/CN113291282A/en
Publication of JP2021125004A publication Critical patent/JP2021125004A/en
Application granted granted Critical
Publication of JP7351761B2 publication Critical patent/JP7351761B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

To provide an emergency vehicle estimation device capable of estimating a position and a moving direction of an emergency vehicle without using communication.SOLUTION: A vehicle control device 32 includes: an emergency vehicle distance acquisition unit 38 that acquires a distance between a vehicle 10 and the emergency vehicle, from an external sound of the vehicle 10 collected by microphones 12a to 12d; a frontward vehicle behavior acquisition unit 40 that acquires behavior of another vehicle existing in front of the vehicle 10 from information acquired by a camera 14; and an emergency vehicle behavior estimation unit 42 that estimates at least one of a position of the emergency vehicle and a moving direction of the emergency vehicle, based on the behavior of another vehicle, when the distance between the vehicle 10 and the emergency vehicle is less than a predetermined distance.SELECTED DRAWING: Figure 2

Description

本発明は、緊急車両の位置、及び、緊急車両の移動方向のうち少なくとも１つを推定する緊急車両推定装置及び緊急車両推定方法に関する。 The present invention relates to an emergency vehicle estimation device and an emergency vehicle estimation method that estimate at least one of the position of an emergency vehicle and the moving direction of the emergency vehicle.

下記特許文献１には、車車間通信装置を介して緊急車両が自車両に接近していることを検出した場合には、緊急車両が接近してくる方向の他車両の動きに応じて、自車両の退避動作を案内する運転支援装置が開示されている。 According to Patent Document 1 below, when it is detected that an emergency vehicle is approaching its own vehicle via an inter-vehicle communication device, the emergency vehicle itself responds to the movement of another vehicle in the approaching direction. A driving support device that guides the evacuation operation of the vehicle is disclosed.

特開２０１０−２３７７９２号公報Japanese Unexamined Patent Publication No. 2010-237792

しかし、通信を用いずに緊急車両の位置や移動方向を推定する技術について十分に検討がなされていなかった。 However, the technology for estimating the position and moving direction of an emergency vehicle without using communication has not been sufficiently studied.

本発明の目的は、通信を用いずに緊急車両の位置や移動方向を推定できる緊急車両推定装置及び緊急車両推定方法を提供することを目的とする。 An object of the present invention is to provide an emergency vehicle estimation device and an emergency vehicle estimation method capable of estimating the position and moving direction of an emergency vehicle without using communication.

本発明の第１の態様の緊急車両推定装置は、マイクにより集音された自車両の外部の音から、前記自車両と緊急車両との距離を取得する距離取得部と、外界センサにより取得された情報から、前記自車両の前方に存在する他車両の挙動を取得する挙動取得部と、前記自車両と前記緊急車両との距離が所定距離未満である場合には、前記他車両の挙動に基づいて、前記緊急車両の位置、及び、前記緊急車両の移動方向のうち少なくとも１つを推定する推定部と、を有する。 The emergency vehicle estimation device according to the first aspect of the present invention is acquired by a distance acquisition unit that acquires the distance between the own vehicle and the emergency vehicle from the external sound of the own vehicle collected by the microphone, and an outside world sensor. When the distance between the behavior acquisition unit that acquires the behavior of another vehicle existing in front of the own vehicle and the emergency vehicle is less than a predetermined distance, the behavior of the other vehicle is determined. Based on this, it has an estimation unit that estimates the position of the emergency vehicle and at least one of the moving directions of the emergency vehicle.

本発明の第２の態様の緊急車両推定方法は、マイクにより集音された自車両の外部の音から、前記自車両と緊急車両との距離を取得する距離取得ステップと、外界センサにより取得された情報から、前記自車両の前方に存在する他車両の挙動を取得する挙動取得ステップと、前記自車両と前記緊急車両との距離が所定距離未満である場合には、前記他車両の挙動に基づいて、前記緊急車両の位置、及び、前記緊急車両の移動方向のうち少なくとも１つを推定する推定ステップと、を有する。 The emergency vehicle estimation method of the second aspect of the present invention is acquired by a distance acquisition step of acquiring the distance between the own vehicle and the emergency vehicle from the external sound of the own vehicle collected by the microphone, and by an outside world sensor. When the distance between the own vehicle and the emergency vehicle is less than a predetermined distance, the behavior of the other vehicle is changed to the behavior acquisition step of acquiring the behavior of the other vehicle existing in front of the own vehicle. Based on this, it has an estimation step for estimating the position of the emergency vehicle and at least one of the moving directions of the emergency vehicle.

本発明により、通信を用いずに緊急車両の位置や移動方向を推定できる緊急車両推定装置及び緊急車両推定方法を提供することができる。 INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide an emergency vehicle estimation device and an emergency vehicle estimation method that can estimate the position and moving direction of an emergency vehicle without using communication.

車両を示す模式図である。It is a schematic diagram which shows a vehicle. 車両のブロック図である。It is a block diagram of a vehicle. 車両制御装置において行われる緊急車両推定処理の流れを示すフローチャートである。It is a flowchart which shows the flow of the emergency vehicle estimation process performed in a vehicle control device.

〔第１実施形態〕
図１は、本実施形態の車両１０を示す模式図である。車両１０は、本発明の自車両に相当する。車両１０は、車両１０の外の音を集音するマイク１２ａ〜１２ｄを有している。マイク１２ａは、主に車両１０に対して左前方からの音を集音する。マイク１２ｂは、主に車両１０に対して右前方からの音を集音する。マイク１２ｃは、主に車両１０に対して左後方からの音を集音する。マイク１２ｄは、主に車両１０に対して右後方からの音を集音する。車両１０は、車両１０の前方に位置する他車両を撮影するカメラ１４を有している。カメラ１４は、本発明の外界センサに相当する。 [First Embodiment]
FIG. 1 is a schematic view showing the vehicle 10 of the present embodiment. The vehicle 10 corresponds to the own vehicle of the present invention. The vehicle 10 has microphones 12a to 12d that collect sounds outside the vehicle 10. The microphone 12a mainly collects sound from the left front with respect to the vehicle 10. The microphone 12b mainly collects sound from the front right with respect to the vehicle 10. The microphone 12c mainly collects sound from the left rear with respect to the vehicle 10. The microphone 12d mainly collects sound from the rear right with respect to the vehicle 10. The vehicle 10 has a camera 14 that photographs another vehicle located in front of the vehicle 10. The camera 14 corresponds to the external sensor of the present invention.

図２は、本実施形態の車両１０のブロック図である。車両１０は、前述のマイク１２ａ〜１２ｄ、カメラ１４の他に、通信モジュール１６、全球測位衛星システム（以下、ＧＮＳＳ）モジュール１８、地図データベース２０、駆動制御装置２２、制動制御装置２４、操舵制御装置２６、ディスプレイ２８、スピーカ３０及び車両制御装置３２を有している。 FIG. 2 is a block diagram of the vehicle 10 of the present embodiment. In addition to the above-mentioned microphones 12a to 12d and camera 14, the vehicle 10 includes a communication module 16, a global positioning satellite system (hereinafter, GNSS) module 18, a map database 20, a drive control device 22, a braking control device 24, and a steering control device. It has 26, a display 28, a speaker 30, and a vehicle control device 32.

通信モジュール１６は、無線通信を行うモジュールであって、車車間通信に用いられる。ＧＮＳＳモジュール１８は、車両１０の位置を特定する情報を取得する。地図データベース２０は、地図情報を記憶している。 The communication module 16 is a module that performs wireless communication and is used for vehicle-to-vehicle communication. The GNSS module 18 acquires information for identifying the position of the vehicle 10. The map database 20 stores map information.

駆動制御装置２２は、車両１０の図示しないエンジン、駆動モータ等の駆動装置により発生させる駆動力を制御する。制動制御装置２４は、車両１０の図示しない液圧ブレーキ、回生ブレーキ等の制動装置による制動力を制御する。操舵制御装置２６は、車両１０の図示しない操舵輪の操舵量を制御する。 The drive control device 22 controls the driving force generated by a drive device such as an engine or a drive motor (not shown) of the vehicle 10. The braking control device 24 controls the braking force of the vehicle 10 by a braking device such as a hydraulic brake or a regenerative brake (not shown). The steering control device 26 controls the steering amount of the steering wheels (not shown) of the vehicle 10.

ディスプレイ２８は、車両１０の乗員に映像等により情報を提供する。スピーカ３０は、車両１０の乗員に音声等により情報を提供する。ディスプレイ２８及びスピーカ３０は、本発明の報知部に相当する。 The display 28 provides information to the occupants of the vehicle 10 by video or the like. The speaker 30 provides information to the occupants of the vehicle 10 by voice or the like. The display 28 and the speaker 30 correspond to the notification unit of the present invention.

車両制御装置３２は、演算処理装置３４及びストレージ３６を有している。車両制御装置３２は、本発明の緊急車両推定装置に相当する。演算処理装置３４は、図示しないＣＰＵ等のプロセッサ、ＲＡＭ等の記録媒体を有している。ストレージ３６は、非一時的な有形のコンピュータ可読記録媒体である。 The vehicle control device 32 has an arithmetic processing unit 34 and a storage 36. The vehicle control device 32 corresponds to the emergency vehicle estimation device of the present invention. The arithmetic processing device 34 has a processor such as a CPU (not shown) and a recording medium such as a RAM. The storage 36 is a non-temporary tangible computer-readable recording medium.

演算処理装置３４は、緊急車両距離取得部３８、前方車両挙動取得部４０、緊急車両行動推定部４２及び報知制御部４４を有している。 The arithmetic processing unit 34 includes an emergency vehicle distance acquisition unit 38, a forward vehicle behavior acquisition unit 40, an emergency vehicle behavior estimation unit 42, and a notification control unit 44.

緊急車両距離取得部３８は、マイク１２ａ〜１２ｄにより集音された車両１０の外の音から、緊急車両のサイレンを抽出する。緊急車両距離取得部３８は、抽出されたサイレンの音量から、車両１０と緊急車両との距離を取得する。ここで、緊急車両とは、例えば、警察車両、消防車、救急車等の車両であって、サイレンを鳴らし、赤色灯を点灯させている車両をいう。緊急車両は、警察車両、消防車、救急車等の公共の車両に限らず、例えば、電力会社、ガス会社等の所有の車両であってもよい。 The emergency vehicle distance acquisition unit 38 extracts the siren of the emergency vehicle from the sound outside the vehicle 10 collected by the microphones 12a to 12d. The emergency vehicle distance acquisition unit 38 acquires the distance between the vehicle 10 and the emergency vehicle from the volume of the extracted siren. Here, the emergency vehicle means, for example, a vehicle such as a police vehicle, a fire engine, an ambulance, etc., in which a siren is sounded and a red light is turned on. The emergency vehicle is not limited to public vehicles such as police vehicles, fire engines, and ambulances, and may be, for example, vehicles owned by electric power companies, gas companies, and the like.

前方車両挙動取得部４０は、カメラ１４が撮影した他車両の画像から他車両の挙動を取得する。他車両とは、例えば、車両１０が走行する自車線を走行している先行車両、自車線に対する対向車線を走行している対向車両等を示す。なお、本実施形態の車両１０は、外界センサとしてカメラ１４を有し、前方車両挙動取得部４０はカメラ１４が撮影した他車両の画像から他車両の挙動を取得する。カメラ１４に代えて、又は、カメラ１４に追加して、車両１０は外界センサとしてレーダ、ＬｉＤＡＲ、超音波センサ、赤外線センサ等を有していてもよい。そして、前方車両挙動取得部４０は、レーダ、ＬｉＤＡＲ、超音波センサ、赤外線センサ等が検出した情報から他車両の挙動を取得するようにしてもよい。 The front vehicle behavior acquisition unit 40 acquires the behavior of the other vehicle from the image of the other vehicle taken by the camera 14. The other vehicle means, for example, a preceding vehicle traveling in the own lane in which the vehicle 10 is traveling, an oncoming vehicle traveling in an oncoming lane with respect to the own lane, and the like. The vehicle 10 of the present embodiment has a camera 14 as an outside world sensor, and the front vehicle behavior acquisition unit 40 acquires the behavior of the other vehicle from the image of the other vehicle taken by the camera 14. Instead of or in addition to the camera 14, the vehicle 10 may have a radar, LiDAR, ultrasonic sensor, infrared sensor, or the like as an external sensor. Then, the front vehicle behavior acquisition unit 40 may acquire the behavior of another vehicle from the information detected by the radar, LiDAR, ultrasonic sensor, infrared sensor, or the like.

緊急車両行動推定部４２は、車両１０と緊急車両との距離が第１所定距離未満であるときに、他車両の挙動に基づいて緊急車両の位置、又は、緊急車両の移動方向を推定する。 When the distance between the vehicle 10 and the emergency vehicle is less than the first predetermined distance, the emergency vehicle behavior estimation unit 42 estimates the position of the emergency vehicle or the moving direction of the emergency vehicle based on the behavior of the other vehicle.

報知制御部４４は、推定された緊急車両の位置、又は、緊急車両の移動方向を車両１０の乗員に報知するように、ディスプレイ２８及びスピーカ３０を制御する。 The notification control unit 44 controls the display 28 and the speaker 30 so as to notify the occupants of the vehicle 10 of the estimated position of the emergency vehicle or the moving direction of the emergency vehicle.

緊急車両距離取得部３８、前方車両挙動取得部４０、緊急車両行動推定部４２及び報知制御部４４は、ストレージ３６に記憶されているプログラムをプロセッサにおいて実行されることにより実現される。 The emergency vehicle distance acquisition unit 38, the forward vehicle behavior acquisition unit 40, the emergency vehicle behavior estimation unit 42, and the notification control unit 44 are realized by executing the program stored in the storage 36 in the processor.

［緊急車両推定処理］
図３は、車両制御装置３２において行われる緊急車両推定処理の流れを示すフローチャートである。緊急車両推定処理は、車両１０の図示しない起動スイッチがオンであるときに、所定の周期で実行される。なお、起動スイッチは、車両１０を起動するためのスイッチである。車両１０がエンジン自動車である場合には、起動スイッチはイグニッションスイッチに相当する。車両１０がハイブリッド自動車又は電気自動車である場合には、起動スイッチはパワースイッチに相当する。本実施形態の車両１０は、エンジン自動車、ハイブリッド自動車、電気自動車等であり特に限定されない。 [Emergency vehicle estimation processing]
FIG. 3 is a flowchart showing the flow of the emergency vehicle estimation process performed by the vehicle control device 32. The emergency vehicle estimation process is executed at a predetermined cycle when the start switch (not shown) of the vehicle 10 is on. The start switch is a switch for starting the vehicle 10. When the vehicle 10 is an engine vehicle, the start switch corresponds to an ignition switch. When the vehicle 10 is a hybrid vehicle or an electric vehicle, the start switch corresponds to a power switch. The vehicle 10 of the present embodiment is an engine vehicle, a hybrid vehicle, an electric vehicle, or the like, and is not particularly limited.

ステップＳ１において、緊急車両距離取得部３８は、マイク１２ａ〜１２ｄにより集音された車両１０の外部の音に緊急車両のサイレンが含まれているか否かを判定する。緊急車両のサイレンが含まれている場合にはステップＳ２へ移行し、緊急車両のサイレンが含まれていない場合には緊急車両推定処理を終了する。 In step S1, the emergency vehicle distance acquisition unit 38 determines whether or not the sound outside the vehicle 10 collected by the microphones 12a to 12d includes the siren of the emergency vehicle. If the siren of the emergency vehicle is included, the process proceeds to step S2, and if the siren of the emergency vehicle is not included, the emergency vehicle estimation process is terminated.

ステップＳ２において、緊急車両距離取得部３８は、マイク１２ａ〜１２ｄにより集音されたサイレンの音量から車両１０と緊急車両との距離を取得して、ステップＳ３へ移行する。 In step S2, the emergency vehicle distance acquisition unit 38 acquires the distance between the vehicle 10 and the emergency vehicle from the volume of the siren collected by the microphones 12a to 12d, and proceeds to step S3.

ステップＳ３において、緊急車両距離取得部３８は、車両１０と緊急車両との距離が所定距離未満であるか否かを判定する。車両１０と緊急車両との距離が所定距離未満である場合にはステップＳ４へ移行し、車両１０と緊急車両との距離が所定距離以上である場合には緊急車両推定処理を終了する。車両１０と緊急車両との距離が所定距離以上である場合とは、マイク１２ａ〜１２ｄにより緊急車両のサイレンを集音できなかった場合も含む。 In step S3, the emergency vehicle distance acquisition unit 38 determines whether or not the distance between the vehicle 10 and the emergency vehicle is less than a predetermined distance. If the distance between the vehicle 10 and the emergency vehicle is less than the predetermined distance, the process proceeds to step S4, and if the distance between the vehicle 10 and the emergency vehicle is greater than or equal to the predetermined distance, the emergency vehicle estimation process is terminated. The case where the distance between the vehicle 10 and the emergency vehicle is equal to or greater than a predetermined distance includes the case where the sirens of the emergency vehicle cannot be collected by the microphones 12a to 12d.

ステップＳ４において、前方車両挙動取得部４０は前方車両の挙動を取得して、ステップＳ５へ移行する。 In step S4, the front vehicle behavior acquisition unit 40 acquires the behavior of the vehicle in front and proceeds to step S5.

ステップＳ５において、前方車両挙動取得部４０は前方車両の挙動を判定する。先行車両が停止している場合にはステップＳ６へ移行し、対向車両が対向車線の幅方向に移動している場合にはステップＳ９へ移行する。先行車両が停止していない状態、対向車両が幅方向に移動していない状態、又は、前方車両を検出できない状態である場合等、その他の場合にはステップＳ１１へ移行する。 In step S5, the front vehicle behavior acquisition unit 40 determines the behavior of the front vehicle. If the preceding vehicle is stopped, the process proceeds to step S6, and if the oncoming vehicle is moving in the width direction of the oncoming lane, the process proceeds to step S9. In other cases, such as when the preceding vehicle is not stopped, the oncoming vehicle is not moving in the width direction, or the vehicle in front cannot be detected, the process proceeds to step S11.

ステップＳ６において、緊急車両行動推定部４２は、車両１０の前方の交差点の信号が青であるか否かを判定する。交差点の信号が青である場合にはステップＳ７へ移行し、交差点の信号が青でない場合にはステップＳ１１へ移行する。交差点の信号が青であることに代え、交差点の信号が進行することができることを示す灯火であるか否かを判定するようにしてもよい。 In step S6, the emergency vehicle behavior estimation unit 42 determines whether or not the signal at the intersection in front of the vehicle 10 is blue. If the signal at the intersection is blue, the process proceeds to step S7, and if the signal at the intersection is not blue, the process proceeds to step S11. Instead of the signal at the intersection being blue, it may be determined whether or not the signal at the intersection is a light indicating that the signal can travel.

ステップＳ７において、緊急車両行動推定部４２は、緊急車両が車両１０の前方の交差点に進入しようとしていると判定し、ステップＳ８へ移行する。緊急車両が車両１０の前方の交差点に進入しようとしているとは、緊急車両の位置が、車両１０の前方の交差点内である、又は、車両１０の前方の交差点附近であることを示す。緊急車両が車両１０の前方の交差点に進入しようとしているとは、緊急車両の移動方向が、車両１０の前方の交差点において交わるいずれかの道路上において、車両１０の前方の交差点に接近する方向であることを示す。 In step S7, the emergency vehicle behavior estimation unit 42 determines that the emergency vehicle is about to enter the intersection in front of the vehicle 10, and proceeds to step S8. The fact that the emergency vehicle is about to enter the intersection in front of the vehicle 10 means that the position of the emergency vehicle is within the intersection in front of the vehicle 10 or near the intersection in front of the vehicle 10. An emergency vehicle is about to enter an intersection in front of vehicle 10 in a direction in which the emergency vehicle is moving in a direction approaching the intersection in front of vehicle 10 on any road that intersects at the intersection in front of vehicle 10. Indicates that there is.

ステップＳ８において、報知制御部４４は、車両１０の乗員に緊急車両が車両１０の前方の交差点に進入しようとしている旨を報知するように、ディスプレイ２８及びスピーカ３０を制御して、緊急車両推定処理を終了する。 In step S8, the notification control unit 44 controls the display 28 and the speaker 30 so as to notify the occupants of the vehicle 10 that the emergency vehicle is about to enter the intersection in front of the vehicle 10, and performs an emergency vehicle estimation process. To finish.

ステップＳ９において、緊急車両行動推定部４２は、緊急車両が車両１０の前方から車両１０に向かう方向に移動していると判定し、ステップＳ１０へ移行する。 In step S9, the emergency vehicle behavior estimation unit 42 determines that the emergency vehicle is moving in the direction from the front of the vehicle 10 toward the vehicle 10, and proceeds to step S10.

ステップＳ１０において、報知制御部４４は、車両１０の乗員に緊急車両が車両１０の前方から車両１０に向かう方向に移動している旨を報知するように、ディスプレイ２８及びスピーカ３０を制御して、緊急車両推定処理を終了する。 In step S10, the notification control unit 44 controls the display 28 and the speaker 30 so as to notify the occupants of the vehicle 10 that the emergency vehicle is moving from the front of the vehicle 10 toward the vehicle 10. End the emergency vehicle estimation process.

ステップＳ１１において、報知制御部４４は、車両１０の乗員に緊急車両が車両１０に接近している旨を報知するように、ディスプレイ２８及びスピーカ３０を制御して、緊急車両推定処理を終了する。 In step S11, the notification control unit 44 controls the display 28 and the speaker 30 so as to notify the occupants of the vehicle 10 that the emergency vehicle is approaching the vehicle 10, and ends the emergency vehicle estimation process.

［作用効果］
従来から緊急車両が発信する緊急車両の位置や移動方向の情報を、車両１０が車車間通信等を介して得る技術が提案されている。しかし、車車間通信等を行えない環境にあっては、車両１０は緊急車両の位置や移動方向の情報を得ることができなかった。 [Action effect]
Conventionally, a technique has been proposed in which the vehicle 10 obtains information on the position and moving direction of the emergency vehicle transmitted by the emergency vehicle via vehicle-to-vehicle communication or the like. However, in an environment where vehicle-to-vehicle communication cannot be performed, the vehicle 10 cannot obtain information on the position and moving direction of the emergency vehicle.

そこで、本実施形態の車両１０の車両制御装置３２は、マイク１２ａ〜１２ｄにより集音された車両１０の外部の音から、車両１０と緊急車両との距離を取得する緊急車両距離取得部３８を有する。さらに、車両制御装置３２は、カメラ１４により取得された画像から、前方車両の挙動を取得する前方車両挙動取得部４０を有する。そして、緊急車両行動推定部４２において、車両１０と緊急車両との距離が所定距離未満である場合には、前方車両の挙動に基づいて、緊急車両の位置、及び、緊急車両の移動方向のうち少なくとも１つを推定する。これにより、車車間通信等を行えない環境にあっても、車両制御装置３２は、緊急車両の位置、及び、緊急車両の移動方向のうち少なくとも１つを推定することができる。 Therefore, the vehicle control device 32 of the vehicle 10 of the present embodiment provides an emergency vehicle distance acquisition unit 38 that acquires the distance between the vehicle 10 and the emergency vehicle from the external sound of the vehicle 10 collected by the microphones 12a to 12d. Have. Further, the vehicle control device 32 has a front vehicle behavior acquisition unit 40 that acquires the behavior of the vehicle in front from the image acquired by the camera 14. Then, in the emergency vehicle behavior estimation unit 42, when the distance between the vehicle 10 and the emergency vehicle is less than a predetermined distance, the position of the emergency vehicle and the moving direction of the emergency vehicle are selected based on the behavior of the vehicle in front. Estimate at least one. As a result, the vehicle control device 32 can estimate at least one of the position of the emergency vehicle and the moving direction of the emergency vehicle even in an environment where vehicle-to-vehicle communication cannot be performed.

また、本実施形態の緊急車両行動推定部４２は、先行車両が停止している場合には、緊急車両が車両１０の前方の交差点に進入しようとしていると推定する。これにより、車両制御装置３２は、緊急車両の位置、及び、緊急車両の移動方向について、より詳細に推定することができる。 Further, the emergency vehicle behavior estimation unit 42 of the present embodiment estimates that the emergency vehicle is about to enter the intersection in front of the vehicle 10 when the preceding vehicle is stopped. As a result, the vehicle control device 32 can estimate the position of the emergency vehicle and the moving direction of the emergency vehicle in more detail.

また、本実施形態の緊急車両行動推定部４２は、交差点の信号が進行することができることを示す灯火であって、先行車両が停止している場合には、緊急車両が自車両前方の交差点に進入しようとしていると推定する。これにより、車両制御装置３２は、緊急車両の位置、及び、緊急車両の移動方向について、より高精度に推定することができる。 Further, the emergency vehicle behavior estimation unit 42 of the present embodiment is a light indicating that the signal at the intersection can proceed, and when the preceding vehicle is stopped, the emergency vehicle moves to the intersection in front of the own vehicle. I presume that you are about to enter. As a result, the vehicle control device 32 can estimate the position of the emergency vehicle and the moving direction of the emergency vehicle with higher accuracy.

また、本実施形態の緊急車両行動推定部４２は、対向車両が対向車線の幅方向へ移動した場合には、緊急車両の位置は自車両の前方であって、緊急車両の移動方向は車両１０の前方から車両１０に向かってくる方向であると推定する。これにより、車両制御装置３２は、緊急車両の位置、及び、緊急車両の移動方向について、より詳細に推定することができる。 Further, in the emergency vehicle behavior estimation unit 42 of the present embodiment, when the oncoming vehicle moves in the width direction of the oncoming lane, the position of the emergency vehicle is in front of the own vehicle, and the moving direction of the emergency vehicle is the vehicle 10. It is presumed that the direction is toward the vehicle 10 from the front of the vehicle. As a result, the vehicle control device 32 can estimate the position of the emergency vehicle and the moving direction of the emergency vehicle in more detail.

また、本実施形態の車両１０の車両制御装置３２は、車両１０の乗員に報知を行うディスプレイ２８及びスピーカ３０を制御する報知制御部４４を有する。そして、報知制御部４４は、緊急車両行動推定部４２により推定された緊急車両の位置、及び、緊急車両の移動方向のうち少なくとも１つを報知するようにディスプレイ２８及びスピーカ３０を制御する。これにより、車両１０の乗員に緊急車両の位置、及び、緊急車両の移動方向のうち少なくとも１つを認識させることができる。 Further, the vehicle control device 32 of the vehicle 10 of the present embodiment has a notification control unit 44 that controls a display 28 and a speaker 30 that notify the occupants of the vehicle 10. Then, the notification control unit 44 controls the display 28 and the speaker 30 so as to notify at least one of the position of the emergency vehicle estimated by the emergency vehicle behavior estimation unit 42 and the moving direction of the emergency vehicle. This makes it possible for the occupants of the vehicle 10 to recognize the position of the emergency vehicle and at least one of the moving directions of the emergency vehicle.

〔実施形態から得られる技術的思想〕
上記実施形態から把握しうる技術的思想について、以下に記載する。 [Technical Thought Obtained from the Embodiment]
The technical ideas that can be grasped from the above embodiments are described below.

緊急車両推定装置（３２）は、マイク（１２ａ〜１２ｄ）により集音された自車両（１０）の外部の音から、前記自車両と緊急車両との距離を取得する距離取得部（３８）と、外界センサ（１４）により取得された情報から、前記自車両の前方に存在する他車両の挙動を取得する挙動取得部（４０）と、前記自車両と前記緊急車両との距離が所定距離未満である場合には、前記他車両の挙動に基づいて、前記緊急車両の位置、及び、前記緊急車両の移動方向のうち少なくとも１つを推定する推定部（４２）と、を有する。 The emergency vehicle estimation device (32) has a distance acquisition unit (38) that acquires the distance between the own vehicle and the emergency vehicle from the sound outside the own vehicle (10) collected by the microphones (12a to 12d). , The distance between the behavior acquisition unit (40) that acquires the behavior of another vehicle existing in front of the own vehicle from the information acquired by the outside world sensor (14) and the own vehicle and the emergency vehicle is less than a predetermined distance. If this is the case, it has an estimation unit (42) that estimates the position of the emergency vehicle and at least one of the moving directions of the emergency vehicle based on the behavior of the other vehicle.

上記の緊急車両推定装置であって、前記自車両の前方に存在する前記他車両が前記自車両が走行する自車線を走行している先行車両であって、前記先行車両が停止している場合には、前記推定部は、前記緊急車両が自車両前方の交差点に進入しようとしていると推定してもよい。 In the above-mentioned emergency vehicle estimation device, when the other vehicle existing in front of the own vehicle is a preceding vehicle traveling in the own lane in which the own vehicle is traveling and the preceding vehicle is stopped. The estimation unit may presume that the emergency vehicle is about to enter the intersection in front of the own vehicle.

上記の緊急車両推定装置であって、自車両前方の前記交差点の信号が進行することができることを示す灯火であって、前記先行車両が停止している場合には、前記推定部は、前記緊急車両が自車両前方の交差点に進入しようとしていると推定してもよい。 In the emergency vehicle estimation device, the light indicating that the signal at the intersection in front of the own vehicle can travel, and when the preceding vehicle is stopped, the estimation unit uses the emergency vehicle estimation device. It may be presumed that the vehicle is about to enter an intersection in front of the vehicle.

上記の緊急車両推定装置であって、前記自車両の前方に存在する前記他車両が前記自車両が走行する自車線の対向車線を走行している対向車両であって、前記対向車両が前記対向車線の幅方向へ移動した場合には、前記推定部は、前記緊急車両の位置は前記自車両の前方であって、前記緊急車両の移動方向は前記自車両の前方から前記自車両に向かってくる方向であると推定してもよい。 In the emergency vehicle estimation device, the other vehicle existing in front of the own vehicle is an oncoming vehicle traveling in the oncoming lane of the own lane in which the own vehicle is traveling, and the oncoming vehicle is the oncoming vehicle. When moving in the width direction of the lane, the estimation unit determines that the position of the emergency vehicle is in front of the own vehicle and the moving direction of the emergency vehicle is from the front of the own vehicle toward the own vehicle. It may be presumed that the direction is coming.

上記の緊急車両推定装置であって、前記自車両の乗員に報知を行う報知部を制御する報知制御部（４４）を有し、前記報知制御部は、前記推定部により推定された前記緊急車両の位置、及び、前記緊急車両の移動方向のうち少なくとも１つを報知するように前記報知部（２８、３９）を制御してもよい。 The emergency vehicle estimation device includes a notification control unit (44) that controls a notification unit that notifies the occupants of the own vehicle, and the notification control unit is the emergency vehicle estimated by the estimation unit. The notification unit (28, 39) may be controlled so as to notify at least one of the position of the emergency vehicle and the moving direction of the emergency vehicle.

緊急車両推定方法は、マイクにより集音された自車両の外部の音から、前記自車両と緊急車両との距離を取得する距離取得ステップと、外界センサにより取得された情報から、前記自車両の前方に存在する他車両の挙動を取得する挙動取得ステップと、前記自車両と前記緊急車両との距離が所定距離未満である場合には、前記他車両の挙動に基づいて、前記緊急車両の位置、及び、前記緊急車両の移動方向のうち少なくとも１つを推定する推定ステップと、を有する。 The emergency vehicle estimation method is based on a distance acquisition step of acquiring the distance between the own vehicle and the emergency vehicle from the external sound of the own vehicle collected by the microphone, and the information acquired by the outside world sensor of the own vehicle. When the distance between the behavior acquisition step for acquiring the behavior of another vehicle existing in front and the emergency vehicle is less than a predetermined distance, the position of the emergency vehicle is based on the behavior of the other vehicle. And an estimation step for estimating at least one of the moving directions of the emergency vehicle.

１０…車両（自車両） １２ａ〜１２ｄ…マイク
１４…カメラ（外界センサ） ２８…ディスプレイ（報知部）
３０…スピーカ（報知部） ３２…車両制御装置（緊急車両推定装置）
４０…前方車両挙動取得部（挙動取得部） ４２…緊急車両行動推定部（推定部）
４４…報知制御部 10 ... Vehicle (own vehicle) 12a-12d ... Microphone 14 ... Camera (outside world sensor) 28 ... Display (notification unit)
30 ... Speaker (notification unit) 32 ... Vehicle control device (emergency vehicle estimation device)
40 ... Forward vehicle behavior acquisition unit (behavior acquisition unit) 42 ... Emergency vehicle behavior estimation unit (estimation unit)
44 ... Notification control unit

Claims (6)

マイクにより集音された自車両の外部の音から、前記自車両と緊急車両との距離を取得する距離取得部と、
外界センサにより取得された情報から、前記自車両の前方に存在する他車両の挙動を取得する挙動取得部と、
前記自車両と前記緊急車両との距離が所定距離未満である場合には、前記他車両の挙動に基づいて、前記緊急車両の位置、及び、前記緊急車両の移動方向のうち少なくとも１つを推定する推定部と、
を有する、緊急車両推定装置。 A distance acquisition unit that acquires the distance between the own vehicle and the emergency vehicle from the external sound of the own vehicle collected by the microphone.
A behavior acquisition unit that acquires the behavior of another vehicle existing in front of the own vehicle from the information acquired by the external sensor, and
When the distance between the own vehicle and the emergency vehicle is less than a predetermined distance, at least one of the position of the emergency vehicle and the moving direction of the emergency vehicle is estimated based on the behavior of the other vehicle. And the estimation part to do
An emergency vehicle estimation device. 請求項１に記載の緊急車両推定装置であって、
前記自車両の前方に存在する前記他車両が前記自車両が走行する自車線を走行している先行車両であって、前記先行車両が停止している場合には、前記推定部は、前記緊急車両が自車両前方の交差点に進入しようとしていると推定する、緊急車両推定装置。 The emergency vehicle estimation device according to claim 1.
When the other vehicle existing in front of the own vehicle is a preceding vehicle traveling in the own lane in which the own vehicle is traveling and the preceding vehicle is stopped, the estimation unit performs the emergency. An emergency vehicle estimation device that estimates that a vehicle is about to enter an intersection in front of its own vehicle. 請求項２に記載の緊急車両推定装置であって、
前記自車両前方の交差点の信号が進行することができることを示す灯火であって、前記先行車両が停止している場合には、前記推定部は、前記緊急車両が前記自車両前方の交差点に進入しようとしていると推定する、緊急車両推定装置。 The emergency vehicle estimation device according to claim 2.
It is a light indicating that the signal of the intersection in front of the own vehicle can proceed, and when the preceding vehicle is stopped, the estimation unit indicates that the emergency vehicle enters the intersection in front of the own vehicle. An emergency vehicle estimator that presumes that you are about to. 請求項１〜３のいずれか１項に記載の緊急車両推定装置であって、
前記自車両の前方に存在する前記他車両が前記自車両が走行する自車線の対向車線を走行している対向車両であって、前記対向車両が前記対向車線の幅方向へ移動した場合には、前記推定部は、前記緊急車両の位置は前記自車両の前方であって、前記緊急車両の移動方向は前記自車両の前方から前記自車両に向かってくる方向であると推定する、緊急車両推定装置。 The emergency vehicle estimation device according to any one of claims 1 to 3.
When the other vehicle existing in front of the own vehicle is an oncoming vehicle traveling in the oncoming lane of the own lane in which the own vehicle is traveling, and the oncoming vehicle moves in the width direction of the oncoming lane. The estimation unit estimates that the position of the emergency vehicle is in front of the own vehicle, and the moving direction of the emergency vehicle is the direction from the front of the own vehicle toward the own vehicle. Estimator. 請求項１〜４のいずれか１項に記載の緊急車両推定装置であって、
前記自車両の乗員に報知を行う報知部を制御する報知制御部を有し、
前記報知制御部は、前記推定部により推定された前記緊急車両の位置、及び、前記緊急車両の移動方向のうち少なくとも１つを報知するように前記報知部を制御する、緊急車両推定装置。 The emergency vehicle estimation device according to any one of claims 1 to 4.
It has a notification control unit that controls a notification unit that notifies the occupants of the own vehicle.
The notification control unit is an emergency vehicle estimation device that controls the notification unit so as to notify at least one of the position of the emergency vehicle estimated by the estimation unit and the moving direction of the emergency vehicle. マイクにより集音された自車両の外部の音から、前記自車両と緊急車両との距離を取得する距離取得ステップと、
外界センサにより取得された情報から、前記自車両の前方に存在する他車両の挙動を取得する挙動取得ステップと、
前記自車両と前記緊急車両との距離が所定距離未満である場合には、前記他車両の挙動に基づいて、前記緊急車両の位置、及び、前記緊急車両の移動方向のうち少なくとも１つを推定する推定ステップと、
を有する、緊急車両推定方法。 A distance acquisition step of acquiring the distance between the own vehicle and the emergency vehicle from the sound outside the own vehicle collected by the microphone, and
A behavior acquisition step of acquiring the behavior of another vehicle existing in front of the own vehicle from the information acquired by the outside world sensor, and
When the distance between the own vehicle and the emergency vehicle is less than a predetermined distance, at least one of the position of the emergency vehicle and the moving direction of the emergency vehicle is estimated based on the behavior of the other vehicle. Estimating steps to do and
An emergency vehicle estimation method.
JP2020018580A 2020-02-06 2020-02-06 Emergency vehicle estimation device and emergency vehicle estimation method Active JP7351761B2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020018580A JP7351761B2 (en) 2020-02-06 2020-02-06 Emergency vehicle estimation device and emergency vehicle estimation method
CN202110157321.2A CN113291282A (en) 2020-02-06 2021-02-04 Emergency vehicle estimation device and emergency vehicle estimation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020018580A JP7351761B2 (en) 2020-02-06 2020-02-06 Emergency vehicle estimation device and emergency vehicle estimation method

Publications (2)

Publication Number Publication Date
JP2021125004A true JP2021125004A (en) 2021-08-30
JP7351761B2 JP7351761B2 (en) 2023-09-27

Family

ID=77318915

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020018580A Active JP7351761B2 (en) 2020-02-06 2020-02-06 Emergency vehicle estimation device and emergency vehicle estimation method

Country Status (2)

Country Link
JP (1) JP7351761B2 (en)
CN (1) CN113291282A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005301751A (en) * 2004-04-13 2005-10-27 Matsushita Electric Ind Co Ltd Emergency vehicle travelling location detection apparatus
JP2010067165A (en) * 2008-09-12 2010-03-25 Denso Corp Emergency vehicle approach detection system for vehicle
JP2014206804A (en) * 2013-04-11 2014-10-30 本田技研工業株式会社 Emergency vehicle location specification device
JP2015230287A (en) * 2014-06-06 2015-12-21 株式会社オートネットワーク技術研究所 Notification system and notification device
JP2017182278A (en) * 2016-03-29 2017-10-05 株式会社デンソー Device and method for instructing evacuation
JP2019043431A (en) * 2017-09-05 2019-03-22 本田技研工業株式会社 Travel control device, and travel control method and program
JP6557845B1 (en) * 2019-03-14 2019-08-14 山内　和博 Self-driving car
JP2019156144A (en) * 2018-03-13 2019-09-19 本田技研工業株式会社 Vehicle controller, vehicle control method and program

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002117485A (en) * 2000-10-11 2002-04-19 Denso Corp Emergency vehicle report system
JP2008084004A (en) * 2006-09-27 2008-04-10 Mazda Motor Corp Vehicle driving support system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005301751A (en) * 2004-04-13 2005-10-27 Matsushita Electric Ind Co Ltd Emergency vehicle travelling location detection apparatus
JP2010067165A (en) * 2008-09-12 2010-03-25 Denso Corp Emergency vehicle approach detection system for vehicle
JP2014206804A (en) * 2013-04-11 2014-10-30 本田技研工業株式会社 Emergency vehicle location specification device
JP2015230287A (en) * 2014-06-06 2015-12-21 株式会社オートネットワーク技術研究所 Notification system and notification device
JP2017182278A (en) * 2016-03-29 2017-10-05 株式会社デンソー Device and method for instructing evacuation
JP2019043431A (en) * 2017-09-05 2019-03-22 本田技研工業株式会社 Travel control device, and travel control method and program
JP2019156144A (en) * 2018-03-13 2019-09-19 本田技研工業株式会社 Vehicle controller, vehicle control method and program
JP6557845B1 (en) * 2019-03-14 2019-08-14 山内　和博 Self-driving car

Also Published As

Publication number Publication date
CN113291282A (en) 2021-08-24
JP7351761B2 (en) 2023-09-27

Similar Documents

Publication Publication Date Title
CN111361552B (en) Automatic driving system
JP5066478B2 (en) Vehicle driving support device
CN109564734B (en) Driving assistance device, driving assistance method, mobile body, and program
US10421394B2 (en) Driving assistance device, and storage medium
JP2019156144A (en) Vehicle controller, vehicle control method and program
JP2007001402A (en) Vehicular driving operation auxiliary device and vehicle with vehicular driving operation auxiliary device
JP2019156272A (en) Vehicle control device, vehicle control method, and program
JP2018030531A (en) Control system and control method for automatic operation vehicle
JPWO2018037900A1 (en) DRIVING SUPPORT DEVICE AND METHOD, MOBILE OBJECT, AND PROGRAM
JP7074125B2 (en) Information processing equipment and information processing method
JP2010003086A (en) Drive recorder
JP7055827B2 (en) Emergency vehicle evacuation control device and emergency vehicle evacuation control method
US20220319013A1 (en) Image processing device, image processing method, and program
WO2019039280A1 (en) Information processing apparatus, information processing method, program, and vehicle
WO2020085101A1 (en) Image processing device, image processing method, and program
JP2021018636A (en) Vehicle remote instruction system
US20210245741A1 (en) Emergency vehicle avoidance control apparatus and emergency vehicle avoidance control method
JP2017151704A (en) Automatic driving device
JP7351761B2 (en) Emergency vehicle estimation device and emergency vehicle estimation method
JP7408430B2 (en) Emergency vehicle evacuation control device and emergency vehicle evacuation control method
CN115649190A (en) Control method, device, medium, vehicle and chip for vehicle auxiliary braking
JP2022122796A (en) Yaw rate estimation device
US20240233549A1 (en) Driver assistance system, vehicle, and recording medium recording computer program
JP7408429B2 (en) Emergency vehicle evacuation control device and emergency vehicle evacuation control method
KR20190079334A (en) Apparatus and method for preventing rear-end collision accident

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20221128

TRDD Decision of grant or rejection written
A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20230824

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20230829

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20230914

R150 Certificate of patent or registration of utility model

Ref document number: 7351761

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150