WO2020044976A1 - Driving support device - Google Patents
Driving support device Download PDFInfo
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- WO2020044976A1 WO2020044976A1 PCT/JP2019/030725 JP2019030725W WO2020044976A1 WO 2020044976 A1 WO2020044976 A1 WO 2020044976A1 JP 2019030725 W JP2019030725 W JP 2019030725W WO 2020044976 A1 WO2020044976 A1 WO 2020044976A1
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- vehicle
- situation
- support device
- driving support
- traveling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Definitions
- the present disclosure relates to a driving support device.
- Passing transmitted from the own vehicle to the oncoming vehicle in the situation of the above-mentioned intersection indicates not only the transfer indicating that the intention of giving priority to the right turn of the oncoming vehicle to the occupant of the oncoming vehicle but also the passing.
- Some warnings indicate that the presence of a motorcycle approaching the intersection from behind the vehicle is to be transmitted to the occupant of the oncoming vehicle.
- the content of the information to be transmitted differs depending on the originator, area, and situation of the passing, so the occupant of the vehicle receiving the passing misunderstood that the passing indicating the warning was the passing indicating the transfer. In such a case, a collision accident such as a so-called thank-you accident may occur. For this reason, a technology that can prevent misunderstanding when information is exchanged between vehicles is desired.
- a driving support device is provided.
- the driving assistance device is a driving assistance device for a vehicle, and an information acquisition unit that acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap with each other.
- a predetermined traveling transfer condition including a condition that the first situation is predicted in the prediction information is satisfied, a transfer indicating that the oncoming vehicle should travel with priority over the own vehicle.
- the transfer signal indicating that the vehicle should travel with priority over the own vehicle is transmitted to the oncoming vehicle, it is possible to prevent misunderstanding in the exchange of information between the vehicles. it can.
- FIG. 1 is a block diagram illustrating a schematic configuration of the driving support device according to the first embodiment.
- FIG. 2 is a flowchart showing a signal transmission process
- FIG. 3 is an explanatory diagram showing traffic conditions around the intersection.
- FIG. 4 is an explanatory diagram showing the traffic situation around the intersection
- FIG. 5 is an explanatory diagram showing the traffic situation around the intersection
- FIG. 6 is an explanatory diagram showing traffic conditions around the intersection.
- FIG. 7 is a flowchart showing a signal transmission process
- FIG. 8 is an explanatory diagram showing a traffic situation around an intersection.
- the driving support device 10 of the first embodiment shown in FIG. 1 is mounted on a vehicle and supports automatic driving of the vehicle.
- the vehicle on which the driving support device 10 is mounted may be referred to as “own vehicle”.
- the driving support device 10 is configured by an ECU (Electronic Control Unit) equipped with a microcomputer and a memory.
- the host vehicle is a vehicle equipped with an engine.
- the host vehicle is a vehicle that can execute switching between automatic driving and manual driving. The driver (driver) can switch between the automatic operation and the manual operation by using a predetermined switch provided on an instrument panel or the like.
- “Automatic driving” means driving in which all of the engine control, the brake control, and the steering control are automatically performed without the driver performing a driving operation.
- “Manual driving” refers to an operation for engine control (stepping on an accelerator pedal), an operation for brake control (stepping on a brake pedal), and an operation for steering control (rotation of a steering wheel). Means the operation to be performed.
- the driving support device 10 includes a vehicle speed sensor 21, an acceleration sensor 22, a GNSS (Global Navigation Satellite System) sensor 23, a yaw rate sensor 24, a steering angle sensor 25, an imaging camera 26, a millimeter wave radar 27a, and a LiDAR (Light Detection And Ranging or Laser).
- Imaging Detection And Ranging) 27b and the communication unit 28 are respectively electrically connected to each other to acquire measurement values and communication contents obtained by the respective sensors, and based on the measurement values and communication contents, the operation control device 200 and the transmission unit. 300 is instructed to control.
- the vehicle speed sensor 21 detects the speed of the own vehicle.
- the acceleration sensor 22 detects the acceleration of the vehicle.
- the GNSS sensor 23 is constituted by, for example, a GPS (Global Positioning System) sensor, and detects the current position of the vehicle based on radio waves received from artificial satellites constituting the GPS.
- the yaw rate sensor 24 detects a yaw rate (rotational angular velocity) of the vehicle.
- the steering angle sensor 25 detects a steering wheel steering angle of the own vehicle.
- the imaging camera 26 is pointed in front of the own vehicle and acquires a captured image.
- the imaging camera 26 includes a camera directed to the rear and left and right of the host vehicle in addition to the front of the host vehicle.
- a monocular camera may be used as the imaging camera 26.
- a stereo camera or a multi camera composed of two or more cameras may be used.
- the millimeter wave radar 27a detects the presence or absence of an object in front of the own vehicle, the distance between the object and the own vehicle, the position of the object, and the relative speed of the object with respect to the own vehicle, using radio waves in the millimeter wave band.
- the “object” detected by the millimeter wave radar 27a is, more precisely, a set of a plurality of detection points (targets).
- the LiDAR 27b detects the presence or absence of an object around the front of the vehicle using a laser.
- the millimeter-wave radar 27a and the LiDAR 27b include those directed to the rear and left and right of the host vehicle in addition to the front of the host vehicle.
- the communication unit 28 performs inter-vehicle communication with another vehicle. By executing the inter-vehicle communication, the own vehicle can exchange the situation information on the situation of the own vehicle and the surrounding situation with another vehicle or the like.
- the communication unit 28 includes at least one of wireless communication with an intelligent transportation system (Intelligent Transport System), vehicle-to-vehicle communication with another vehicle, and road-to-vehicle communication with a roadside wireless device installed in road facilities. It may execute communication.
- Intelligent Transportation System Intelligent Transportation System
- vehicle-to-vehicle communication with another vehicle and road-to-vehicle communication with a roadside wireless device installed in road facilities. It may execute communication.
- the operation control device 200 is a functional unit that controls the operation of the host vehicle.
- the operation control device 200 includes an engine ECU 201, a brake ECU 202, and a steering ECU 203.
- the engine ECU 201 controls the operation of the engine 211. Specifically, by controlling various actuators (not shown), the opening / closing operation of the throttle valve, the ignition operation of the igniter, the opening / closing operation of the intake valve, and the like are controlled.
- the brake ECU 202 controls the brake mechanism 212.
- the brake mechanism 212 includes a group of devices (actuators) related to brake control such as a sensor, a motor, a valve, and a pump.
- the brake ECU 202 determines the timing of applying a brake and the amount of braking (the amount of braking), and controls each device constituting the brake mechanism 212 such that the determined amount of braking is obtained at the determined timing.
- the steering ECU 203 controls the steering mechanism 213.
- the steering mechanism 213 includes a group of devices (actuators) related to steering such as a power steering motor.
- the steering ECU 203 determines the amount of steering (steering angle) based on the measurement values obtained from the yaw rate sensor 24 and the steering angle sensor 25, and controls each device constituting the steering mechanism 213 so that the determined amount of steering is obtained.
- the driving support device 10 includes an information acquisition unit 11 and a control unit 12.
- the control unit 12 is realized by executing a control program stored in advance in a storage unit (not shown) of the driving assistance device 10 by a microcomputer (not shown) of the driving assistance device 10.
- the information acquisition unit 11 acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap. In the present embodiment, the information acquisition unit 11 also acquires prediction information for predicting a stop situation in which the host vehicle stops for a preset time or longer. In the present embodiment, the preset time is 5 seconds. In another embodiment, the preset time may be shorter than 5 seconds or longer than 5 seconds. Details of the first situation and the stopping situation will be described with reference to FIG.
- the prediction information includes the speed of the own vehicle detected by the vehicle speed sensor 21, the acceleration of the own vehicle detected by the acceleration sensor 22, the current position of the own vehicle detected by the GNSS sensor 23, the yaw rate of the own vehicle detected by the yaw rate sensor 24, The steering wheel steering angle of the own vehicle detected by the steering angle sensor 25, the forward information of the own vehicle detected by the imaging camera 26, the millimeter wave radar 27a and the LiDAR 27b, the state of the own vehicle and other vehicles acquired by the communication unit 28 And situation information about the surrounding situation.
- the prediction information may include an operation of a direction indicator such as a right turn, a left turn, and a lane change detected by a direction indicator sensor (not shown).
- the control unit 12 instructs the operation control device 200 to perform control. Further, when a predetermined traveling transfer condition including a condition that the first situation is predicted in the acquired prediction information is satisfied, the control unit 12 preferentially drives the oncoming vehicle over the own vehicle.
- the transfer unit 300 transmits a transfer signal indicating what to do. Details of the transfer condition will be described with reference to FIG.
- the transmission unit 300 transmits a transfer signal when the traveling transfer condition is satisfied.
- the transmitting unit 300 is a headlight of the own vehicle.
- the driving support device 10 executes the signal transmission processing described in FIG.
- the signal transmission processing is repeatedly executed when the own vehicle exists between a position where the vehicle enters the intersection and a position which is separated from the position where the vehicle enters the intersection by a predetermined distance.
- the signal transmission processing is executed when the own vehicle is in the state of automatic driving, but in other embodiments, when the own vehicle is in the state of manual driving, or in the state of automatic driving, It may be executed in any of the states of manual operation.
- the preset distance is 100 m, but this distance may be set arbitrarily.
- FIG. 3 shows the traffic situation around the intersection.
- One road crossing the intersection is composed of lanes FL1 and FL2 and oncoming lanes BL1 and BL2. Since the vehicles FV1 and FV2 are stopped due to traffic congestion at the intersection of the lane FL1, the own vehicle SV1 trying to travel in the straight traveling direction enters the intersection of the lane FL1. It is stopped at.
- the vehicle FV3 is stopped behind the host vehicle SV1 in the lane FL1. In the vicinity of the center of the intersection, an oncoming vehicle BV1 that is about to make a right turn from the oncoming lane BL1 is stopped.
- the own vehicle SV1 is stopped at a position where it enters the intersection, so that the signal transmission processing is executed.
- the traveling transfer conditions include the following conditions. 1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted. 2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.
- a first situation in which the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. In other words, it is predicted that the direction in which the host vehicle SV1 goes straight and the direction in which the oncoming vehicle BV1 turns right overlap.
- the fact that the first situation is predicted is included in the condition that the traveling transfer condition in the first embodiment is satisfied.
- the fulfillment of the traveling transfer condition in the first embodiment includes prediction of a stopping situation in which the host vehicle SV1 stops for a preset time or longer.
- a stopping situation in which the host vehicle SV1 stops for a preset time or longer.
- vehicles FV1 and FV2 are stopped due to traffic congestion at a point where the own vehicle SV1 has passed an intersection in the lane FL1 where the vehicle SV1 is stopped.
- the control unit 12 determines that the traveling transfer condition is satisfied.
- the process proceeds to step S130, and the control unit 12 causes the transmission unit 300 to transmit a transfer signal indicating that the oncoming vehicle BV1 should travel with priority over the own vehicle SV1.
- the headlight that is the transmitting unit 300 blinks the headlight in a predetermined pattern as a transfer signal.
- the predetermined pattern is a blinking pattern of the headlight whose transmission content is predetermined.
- a blinking pattern for notifying the oncoming vehicle that the vehicle should travel with priority over the own vehicle a blinking pattern of blinking the headlight at a predetermined cycle (for example, 1 s cycle) or a predetermined number of times (for example, (5 times)
- a blinking pattern for blinking continuously is predetermined.
- Such a predetermined pattern is preferably standardized.
- the transmission of the transfer signal by the transmission unit 300 is automatically performed when the traveling transfer condition is satisfied. After that, the signal transmission processing ends.
- the transmission of the transfer signal by the transmission unit 300 is performed in a standby state when the traveling transfer condition is satisfied, and the transfer is manually performed by the occupant of the host vehicle SV1 performing input such as operating a switch. May be.
- the signal transmission process may be terminated after the transfer signal is transmitted manually or after a lapse of a set time from the standby state.
- FIG. 4 shows a traffic situation around the intersection different from FIG.
- the self-vehicle SV1 existing at a position of entering the intersection in the lane FL1 is traveling in the straight traveling direction.
- a traffic signal SG is installed at a point on the lane FL1 that has passed the intersection.
- the light color of the traffic light SG is yellow.
- an oncoming vehicle BV1 that is about to make a right turn from the oncoming lane BL1 is stopped.
- the own vehicle SV1 exists at the position where it enters the intersection, so that the signal transmission processing is executed.
- the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. Further, since the light color of the traffic light SG is yellow, the stop state of the host vehicle SV1 is predicted from the prediction information acquired by the information acquisition unit 11. Therefore, also in the traffic situation shown in FIG. 4, since the information acquisition unit 11 predicts the first situation and the stop situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.
- FIG. 5 shows a traffic situation around an intersection different from those in FIGS. 3 and 4.
- the self-vehicle SV1 existing at the position of entering the intersection in the lane FL1 is about to turn left.
- a traffic signal SG is installed at a point on the lane FL1 that has passed the intersection.
- the light color of the traffic light SG is blue.
- an oncoming vehicle BV1 that is about to turn right from the oncoming lane BL1 is stopped.
- Vehicles FV4, FV5, and FV6 are stopped in traffic lanes TL1 and TL2 in the direction of left turn from lane FL1 due to traffic congestion.
- the signal transmission processing is executed.
- the transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1
- misunderstanding occurs in the exchange of information between vehicles. Can be prevented. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when the occupant of the oncoming vehicle misunderstands the intention of passing.
- the driving support device according to the second embodiment differs from the driving support device 10 according to the first embodiment in that the prediction information acquired by the information acquisition unit 11 is different and the conditions included in the establishment of the traveling transfer condition in the signal transmission process are different. Except for differences, the configuration is the same as that of the driving support device 10 of the first embodiment.
- the same reference numerals as in the first embodiment denote the same components, and refer to the preceding description.
- the information acquisition unit 11 in the driving assistance device determines whether the oncoming vehicle has an overlapping position where the traveling direction of the host vehicle and the traveling direction of the oncoming vehicle overlap, in addition to the prediction information for predicting the first situation.
- the prediction information for predicting a preceding situation in which the time required to pass the overlapping position is shorter than the time required for the own vehicle to pass the overlapping position is acquired.
- the traffic condition shown in FIG. 6 is different from the traffic condition shown in FIG. 4 in that a predetermined distance is set from the point where the light of the traffic light SG is blue and the position of the own vehicle SV1 entering the intersection. Is the same as the traffic situation shown in FIG. 4 except that it is located 100 m away.
- the traveling transfer conditions include the following conditions. 1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted. 2) Regarding the overlapping position LP where the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap, the time until the oncoming vehicle BV1 passes the overlapping position LP is the time until the own vehicle SV1 passes the overlapping position LP. Predictions that are shorter than time are expected.
- a first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11.
- the light color of the traffic light SG is blue
- the overlapping position where the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted that the time before the oncoming vehicle BV1 passes through the overlapping position LP is shorter than the time until the own vehicle SV1 passes through the overlapping position LP.
- the time required for the oncoming vehicle BV1 to pass through the overlapping position LP is determined from the turning time calculated using the lane widths of the lanes FL1 and FL2, the turning radius of the oncoming vehicle BV1, and the assumed vehicle speed.
- the time required for the own vehicle SV1 to pass through the overlapping position LP is determined using the distance from the current position of the own vehicle SV1 to the overlapping position LP and the assumed vehicle speed of the own vehicle SV1. Therefore, in the traffic situation shown in FIG. 6, since the information acquisition unit 11 predicts the first situation and the preceding situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.
- the transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1, so that the Misunderstandings can be prevented in the exchange of information. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when the occupant of the oncoming vehicle misunderstands the intention of passing.
- the driving support device of the third embodiment is different from the driving support device 10 of the first embodiment in that the prediction information acquired by the information acquisition unit 11 is different and the processing content of the signal transmission process is different. It is the same as the device configuration of the driving support device 10 of the embodiment.
- the same reference numerals as in the first embodiment denote the same components, and refer to the preceding description.
- the information acquisition unit 11 predicts a second situation in which another vehicle travels forward from the blind spot direction of the own vehicle, in addition to the prediction information for predicting the first situation and the stopping situation. To obtain prediction information.
- the information acquisition unit 11 acquires prediction information for predicting a situation where another vehicle is moving forward from the rear side of the own vehicle toward the front.
- prediction information for predicting a situation in which another vehicle advances forward from a direction different from the rear side of the blind spot direction of the own vehicle may be acquired.
- the direction different from the rear side direction of the blind spot direction of the host vehicle includes the direction hidden by pillars constituting the vehicle body of the host vehicle as viewed from the position of the driver's seat of the host vehicle.
- the traveling transfer conditions include the following conditions. 1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted. 2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted. 3) The second situation in which the other vehicle MB moves forward from the rear side of the own vehicle SV1 toward the front is not predicted. Details of the second situation will be described with reference to FIG.
- the control unit 12 drives the oncoming vehicle when the predetermined traveling warning condition including the condition that the first situation and the second situation are predicted in the acquired prediction information is satisfied.
- a warning signal indicating that warning should be issued is transmitted from the transmitting unit 300. Details of the traveling warning condition will be described with reference to FIG.
- the driving support device of the third embodiment executes the signal transmission processing described in FIG.
- the execution timing of the signal transmission processing of the third embodiment is the same as in the first embodiment and the second embodiment.
- the prediction information is obtained by the information obtaining unit 11.
- the prediction information includes information for predicting the first situation, the stopped situation, and the second situation.
- the control unit 12 determines whether the traveling transfer condition is satisfied. As described above, in the third embodiment, establishment of the traveling transfer condition includes prediction of the first situation and the stopping situation, and non-prediction of the second situation.
- the second situation will be described with reference to FIG.
- the traffic situation shown in FIG. 8 is different from the traffic situation shown in FIG. 3 except that there is another vehicle MB traveling forward from the rear side of the own vehicle SV1. Same as indicated traffic conditions.
- Another vehicle MB is a motorcycle.
- the traffic situation shown in FIG. 8 based on the prediction information acquired by the information acquisition unit 11, the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap, and the own vehicle is not less than a preset time A stop situation of stopping is predicted. Further, in the traffic situation shown in FIG. 8, a second situation in which another vehicle MB moves forward from the rear side of the host vehicle SV1 toward the front is predicted from the prediction information acquired by the information acquisition unit 11.
- step S130 when the traveling transfer condition is satisfied in the signal transmission processing, that is, when the first situation and the stop situation are predicted and the second situation is not predicted, the process proceeds to step S130, and then the signal transmission processing is performed. Is terminated.
- step S125 the control unit 12 determines whether the traveling warning condition is satisfied.
- the traveling warning conditions include the following conditions. 1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted. 2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted. 3) A second situation in which another vehicle MB moves forward from the rear side of the host vehicle SV1 toward the front is predicted.
- the signal transmission processing ends.
- the process proceeds to step S140, and the control unit 12 causes the transmission unit 300 to transmit a warning signal indicating that the oncoming vehicle BV1 should be warned of traveling.
- the headlight that is the transmitting unit 300 blinks the headlight in a predetermined pattern as a warning signal.
- the blinking pattern of the headlight in the warning signal is different from the blinking pattern of the headlight in the transfer signal.
- a blinking pattern for notifying the oncoming vehicle BV1 that the vehicle should be warned a blinking pattern of blinking the headlight at a predetermined cycle (for example, 0.5 s cycle) or a predetermined number of times (for example, three times) ) Means that a blinking pattern for blinking continuously is predetermined.
- a predetermined cycle for example, 0.5 s cycle
- a predetermined number of times for example, three times
- the transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1, so that the Misunderstandings can be prevented in the exchange of information. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when the occupant of the oncoming vehicle misunderstands the intention of passing. Further, in the third embodiment, if the traveling warning condition is satisfied without fulfilling the traveling transfer condition, a warning signal indicating that the traveling should be warned is transmitted toward the oncoming vehicle BV1. It is possible to further prevent the occurrence of misunderstandings in the exchange of information between them.
- the transmitting unit 300 is a headlight of the own vehicle, but the present disclosure is not limited to this.
- the transmitting unit 300 may transmit using any one of road surface description, radio wave output, and sound wave output.
- the road surface description is to draw a figure or character information that conveys the movement of the host vehicle on the road surface using a drawing light provided in the host vehicle.
- the radio wave output uses a millimeter wave or the like.
- the means for transmitting the transfer signal and the warning signal using, for example, the blinking pattern of the headlight has been described, but the present disclosure is not limited to this.
- the transfer signal and the warning signal may be transmitted to the oncoming vehicle via the center.
- the present disclosure is not limited to the above-described embodiments and modified examples, and can be implemented with various configurations without departing from the spirit thereof.
- the embodiments corresponding to the technical features in each embodiment described in the summary of the invention the technical features in the modified examples are for solving some or all of the above-described problems, or In order to achieve some or all of the effects, replacement and combination can be performed as appropriate. If the technical features are not described as essential in this specification, they can be deleted as appropriate.
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Abstract
This driving support device (10) for a vehicle is provided with: an information acquisition unit (11) which acquires prediction information for predicting a first situation in which a traveling direction of an own vehicle overlaps a traveling direction of an oncoming vehicle; and a control unit (12) which, when a predetermined traveling transfer condition, which includes, as a condition, prediction of the first situation, is met in the acquired prediction information, transmits, to the own vehicle, a transfer signal for indicating that the oncoming vehicle should travel with priority over the own vehicle.
Description
本出願は、2018年8月31日に出願された特許出願番号2018-163031号に基づくものであって、その優先権の利益を主張するものであり、その特許出願のすべての内容が、参照により本明細書に組み入れられる。
This application is based on Patent Application No. 2018-163031 filed on Aug. 31, 2018, which claims the benefit of its priority, and all contents of that patent application are incorporated by reference. Hereby incorporated by reference.
本開示は、運転支援装置に関する。
The present disclosure relates to a driving support device.
自車両が交差点に進入する際に交差点を直進して通過した前方において車両が渋滞しているとともに対向車線から右折しようとしている対向車両が存在する場合、自車両から対向車両に対してパッシングすることにより、自車両の乗員が、対向車両の右折を優先する意思があることを対向車両の乗員に伝達しようとすることがある。このように、交差点やT字路などの2本の道路が交差する場所では、車両間において情報のやり取りが行われることがある(例えば、特許文献1および特許文献2)。
Passing from the own vehicle to the oncoming vehicle when there is traffic congestion and there is an oncoming vehicle trying to make a right turn from the oncoming lane in front of the vehicle when the own vehicle enters the intersection and goes straight ahead through the intersection. As a result, the occupant of the host vehicle may try to inform the occupant of the oncoming vehicle that there is an intention to give a right turn to the oncoming vehicle. As described above, in a place where two roads such as an intersection or a T-shaped intersection intersect, information may be exchanged between vehicles (for example, Patent Literature 1 and Patent Literature 2).
上述した交差点の状況において自車両から対向車両に対して発信されるパッシングには、対向車両の右折を優先する意思があることを対向車両の乗員に伝達しようとする移譲を示すものの他に、自車両の後方から交差点に接近する二輪車の存在を対向車両の乗員に伝達しようとする警告を示すものがある。パッシングは、パッシングの発信者、地域および状況によって伝達しようとする情報の内容が異なることから、警告を示すパッシングを、移譲を示すパッシングであると、パッシングを受信した側の車両の乗員が誤解した場合には、いわゆるサンキュー事故などの衝突事故が発生する場合がある。このため、車両間において情報のやり取りが行われる際に、誤解が生じることを防止できる技術が望まれている。
Passing transmitted from the own vehicle to the oncoming vehicle in the situation of the above-mentioned intersection indicates not only the transfer indicating that the intention of giving priority to the right turn of the oncoming vehicle to the occupant of the oncoming vehicle but also the passing. Some warnings indicate that the presence of a motorcycle approaching the intersection from behind the vehicle is to be transmitted to the occupant of the oncoming vehicle. Passing, the content of the information to be transmitted differs depending on the originator, area, and situation of the passing, so the occupant of the vehicle receiving the passing misunderstood that the passing indicating the warning was the passing indicating the transfer. In such a case, a collision accident such as a so-called thank-you accident may occur. For this reason, a technology that can prevent misunderstanding when information is exchanged between vehicles is desired.
本開示の一形態によれば、運転支援装置が提供される。この運転支援装置は、車両の運転支援装置であって、自車両の進行方向と対向車両の進行方向とが重なる第1状況を予測するための予測情報を取得する情報取得部と、取得された前記予測情報において前記第1状況が予測されることを条件として含む予め定められた走行移譲条件が成立する場合、前記対向車両に対して前記自車両よりも優先的に走行すべきことを示す移譲信号を前記自車両に発信させる制御部と、を備える。
According to an embodiment of the present disclosure, a driving support device is provided. The driving assistance device is a driving assistance device for a vehicle, and an information acquisition unit that acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap with each other. When a predetermined traveling transfer condition including a condition that the first situation is predicted in the prediction information is satisfied, a transfer indicating that the oncoming vehicle should travel with priority over the own vehicle. A control unit for transmitting a signal to the host vehicle.
この形態の運転支援装置によれば、自車両よりも優先的に走行すべきことを示す移譲信号が対向車両に向けて発信されることから、車両間の情報のやり取りにおいて誤解が生じることを防止できる。
According to the driving support device of this aspect, since the transfer signal indicating that the vehicle should travel with priority over the own vehicle is transmitted to the oncoming vehicle, it is possible to prevent misunderstanding in the exchange of information between the vehicles. it can.
A.第1実施形態:
図1に示す第1実施形態の運転支援装置10は、車両に搭載され、車両の自動運転を支援する。本実施形態では、運転支援装置10が搭載された車両を「自車両」と呼ぶこともある。本実施形態において、運転支援装置10は、マイコンやメモリを搭載したECU(Electronic Control Unit)により構成されている。本実施形態において、自車両は、エンジンを搭載した車両である。また、自車両は、自動運転と手動運転との切り替えを実行可能な車両である。ドライバ(運転者)は、インストルメントパネル等に用意された所定のスイッチによりかかる自動運転と手動運転とを切り替えることができる。「自動運転」とは、ドライバが運転操作を行うことなく、エンジン制御とブレーキ制御と操舵制御のすべてを自動で実行する運転を意味する。「手動運転」とは、エンジン制御のための操作(アクセルペダルの踏込)と、ブレーキ制御のための操作(ブレーキベダルの踏込)と、操舵制御のための操作(ステアリングホイールの回転)を、ドライバが実行する運転を意味する。 A. First embodiment:
Thedriving support device 10 of the first embodiment shown in FIG. 1 is mounted on a vehicle and supports automatic driving of the vehicle. In the present embodiment, the vehicle on which the driving support device 10 is mounted may be referred to as “own vehicle”. In the present embodiment, the driving support device 10 is configured by an ECU (Electronic Control Unit) equipped with a microcomputer and a memory. In the present embodiment, the host vehicle is a vehicle equipped with an engine. In addition, the host vehicle is a vehicle that can execute switching between automatic driving and manual driving. The driver (driver) can switch between the automatic operation and the manual operation by using a predetermined switch provided on an instrument panel or the like. “Automatic driving” means driving in which all of the engine control, the brake control, and the steering control are automatically performed without the driver performing a driving operation. "Manual driving" refers to an operation for engine control (stepping on an accelerator pedal), an operation for brake control (stepping on a brake pedal), and an operation for steering control (rotation of a steering wheel). Means the operation to be performed.
図1に示す第1実施形態の運転支援装置10は、車両に搭載され、車両の自動運転を支援する。本実施形態では、運転支援装置10が搭載された車両を「自車両」と呼ぶこともある。本実施形態において、運転支援装置10は、マイコンやメモリを搭載したECU(Electronic Control Unit)により構成されている。本実施形態において、自車両は、エンジンを搭載した車両である。また、自車両は、自動運転と手動運転との切り替えを実行可能な車両である。ドライバ(運転者)は、インストルメントパネル等に用意された所定のスイッチによりかかる自動運転と手動運転とを切り替えることができる。「自動運転」とは、ドライバが運転操作を行うことなく、エンジン制御とブレーキ制御と操舵制御のすべてを自動で実行する運転を意味する。「手動運転」とは、エンジン制御のための操作(アクセルペダルの踏込)と、ブレーキ制御のための操作(ブレーキベダルの踏込)と、操舵制御のための操作(ステアリングホイールの回転)を、ドライバが実行する運転を意味する。 A. First embodiment:
The
運転支援装置10は、車速センサ21、加速度センサ22、GNSS(Global Navigation Satellite System)センサ23、ヨーレートセンサ24、操舵角センサ25、撮像カメラ26、ミリ波レーダ27a、LiDAR(Light Detection And Ranging又はLaser Imaging Detection And Ranging)27bおよび通信部28とそれぞれ電気的に接続され、これらの各センサで得られた測定値および通信内容を取得し、かかる測定値および通信内容に基づき動作制御装置200および発信部300に制御を指示する。
The driving support device 10 includes a vehicle speed sensor 21, an acceleration sensor 22, a GNSS (Global Navigation Satellite System) sensor 23, a yaw rate sensor 24, a steering angle sensor 25, an imaging camera 26, a millimeter wave radar 27a, and a LiDAR (Light Detection And Ranging or Laser). Imaging Detection And Ranging) 27b and the communication unit 28 are respectively electrically connected to each other to acquire measurement values and communication contents obtained by the respective sensors, and based on the measurement values and communication contents, the operation control device 200 and the transmission unit. 300 is instructed to control.
車速センサ21は、自車両の速度を検出する。加速度センサ22は、自車両の加速度を検出する。GNSSセンサ23は、例えば、GPS(Global Positioning System)センサにより構成され、GPSを構成する人工衛星から受信する電波に基づき、自車両の現在位置を検出する。ヨーレートセンサ24は、自車両のヨーレート(回転角速度)を検出する。操舵角センサ25は、自車両のステアリングホイール舵角を検出する。
The vehicle speed sensor 21 detects the speed of the own vehicle. The acceleration sensor 22 detects the acceleration of the vehicle. The GNSS sensor 23 is constituted by, for example, a GPS (Global Positioning System) sensor, and detects the current position of the vehicle based on radio waves received from artificial satellites constituting the GPS. The yaw rate sensor 24 detects a yaw rate (rotational angular velocity) of the vehicle. The steering angle sensor 25 detects a steering wheel steering angle of the own vehicle.
撮像カメラ26は、自車両の前方に向けられ、撮像画像を取得する。撮像カメラ26には、自車両の前方に加えて自車両の後方および左右に向けられたものが含まれる。撮像カメラ26として、単眼カメラが用いられてもよい。また、2以上のカメラによって構成されるステレオカメラやマルチカメラが用いられてもよい。
The imaging camera 26 is pointed in front of the own vehicle and acquires a captured image. The imaging camera 26 includes a camera directed to the rear and left and right of the host vehicle in addition to the front of the host vehicle. A monocular camera may be used as the imaging camera 26. Further, a stereo camera or a multi camera composed of two or more cameras may be used.
ミリ波レーダ27aは、ミリ波帯の電波を用いて、自車両の前方周囲における物体の存否、かかる物体との自車両との距離、物体の位置および物体の自車両に対する相対速度を検出する。なお、ミリ波レーダ27aが検出する「物体」とは、より正確には、複数の検出点(物標)の集合である。LiDAR27bは、レーザを用いて自車両の前方周囲における物体の存否等を検出する。ミリ波レーダ27aおよびLiDAR27bには、自車両の前方に加えて自車両の後方および左右に向けられたものが含まれる。
The millimeter wave radar 27a detects the presence or absence of an object in front of the own vehicle, the distance between the object and the own vehicle, the position of the object, and the relative speed of the object with respect to the own vehicle, using radio waves in the millimeter wave band. The “object” detected by the millimeter wave radar 27a is, more precisely, a set of a plurality of detection points (targets). The LiDAR 27b detects the presence or absence of an object around the front of the vehicle using a laser. The millimeter-wave radar 27a and the LiDAR 27b include those directed to the rear and left and right of the host vehicle in addition to the front of the host vehicle.
通信部28は、他の車両との車車間通信を実行する。自車両は、車車間通信を実行することにより、自車両の状況や周囲の状況に関する状況情報を、他の車両等と交換できる。通信部28は、高度道路交通システム(Intelligent Transport System)との無線通信と、他の車両との車車間通信と、道路設備に設置された路側無線機との路車間通信とのうち少なくとも1つの通信を実行するものであってもよい。
The communication unit 28 performs inter-vehicle communication with another vehicle. By executing the inter-vehicle communication, the own vehicle can exchange the situation information on the situation of the own vehicle and the surrounding situation with another vehicle or the like. The communication unit 28 includes at least one of wireless communication with an intelligent transportation system (Intelligent Transport System), vehicle-to-vehicle communication with another vehicle, and road-to-vehicle communication with a roadside wireless device installed in road facilities. It may execute communication.
動作制御装置200は、自車両の動作を制御する機能部である。本実施形態では、動作制御装置200は、エンジンECU201と、ブレーキECU202と、操舵ECU203とを備える。エンジンECU201は、エンジン211の動作を制御する。具体的には、図示しない各種アクチュエータを制御することにより、スロットルバルブの開閉動作や、イグナイタの点火動作や、吸気弁の開閉動作等を制御する。ブレーキECU202は、ブレーキ機構212を制御する。ブレーキ機構212は、センサ、モータ、バルブおよびポンプ等のブレーキ制御に関わる装置群(アクチュエータ)からなる。ブレーキECU202は、ブレーキを掛けるタイミングおよびブレーキ量(制動量)を決定し、決定されたタイミングで決定されたブレーキ量が得られるように、ブレーキ機構212を構成する各装置を制御する。操舵ECU203は、操舵機構213を制御する。操舵機構213は、パワーステアリングモータ等操舵に関わる装置群(アクチュエータ)からなる。操舵ECU203は、ヨーレートセンサ24および操舵角センサ25から得られる測定値に基づき操舵量(操舵角)を決定し、決定された操舵量となるように操舵機構213を構成する各装置を制御する。
The operation control device 200 is a functional unit that controls the operation of the host vehicle. In the present embodiment, the operation control device 200 includes an engine ECU 201, a brake ECU 202, and a steering ECU 203. The engine ECU 201 controls the operation of the engine 211. Specifically, by controlling various actuators (not shown), the opening / closing operation of the throttle valve, the ignition operation of the igniter, the opening / closing operation of the intake valve, and the like are controlled. The brake ECU 202 controls the brake mechanism 212. The brake mechanism 212 includes a group of devices (actuators) related to brake control such as a sensor, a motor, a valve, and a pump. The brake ECU 202 determines the timing of applying a brake and the amount of braking (the amount of braking), and controls each device constituting the brake mechanism 212 such that the determined amount of braking is obtained at the determined timing. The steering ECU 203 controls the steering mechanism 213. The steering mechanism 213 includes a group of devices (actuators) related to steering such as a power steering motor. The steering ECU 203 determines the amount of steering (steering angle) based on the measurement values obtained from the yaw rate sensor 24 and the steering angle sensor 25, and controls each device constituting the steering mechanism 213 so that the determined amount of steering is obtained.
運転支援装置10は、情報取得部11と、制御部12とを備える。制御部12は、運転支援装置10の図示しない記憶部に予め記憶されている制御プログラムを運転支援装置10の図示しないマイコンが実行することにより実現される。
The driving support device 10 includes an information acquisition unit 11 and a control unit 12. The control unit 12 is realized by executing a control program stored in advance in a storage unit (not shown) of the driving assistance device 10 by a microcomputer (not shown) of the driving assistance device 10.
情報取得部11は、自車両の進行方向と対向車両の進行方向とが重なる第1状況を予測するための予測情報を取得する。本実施形態では、情報取得部11は、自車両が予め設定された時間以上停車する停車状況を予測するための予測情報も取得する。本実施形態では、予め設定された時間とは、5秒である。他の実施形態では、予め設定された時間とは、5秒より短い時間であってもよいし、5秒より長い時間であってもよい。第1状況及び停車状況の詳細は、図3において説明する。
The information acquisition unit 11 acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap. In the present embodiment, the information acquisition unit 11 also acquires prediction information for predicting a stop situation in which the host vehicle stops for a preset time or longer. In the present embodiment, the preset time is 5 seconds. In another embodiment, the preset time may be shorter than 5 seconds or longer than 5 seconds. Details of the first situation and the stopping situation will be described with reference to FIG.
予測情報には、車速センサ21が検出した自車両の速度、加速度センサ22が検出した自車両の加速度、GNSSセンサ23が検出した自車両の現在位置、ヨーレートセンサ24が検出した自車両のヨーレート、操舵角センサ25が検出した自車両のステアリングホイール舵角、撮像カメラ26、ミリ波レーダ27aおよびLiDAR27bによって検出される自車両の前方情報、通信部28により取得される自車両や他の車両の状況および周囲の状況に関する状況情報などが含まれる。予測情報には、図示しない方向指示器センサが検出する右折、左折、レーンチェンジ等の方向指示器の操作が含まれていてもよい。
The prediction information includes the speed of the own vehicle detected by the vehicle speed sensor 21, the acceleration of the own vehicle detected by the acceleration sensor 22, the current position of the own vehicle detected by the GNSS sensor 23, the yaw rate of the own vehicle detected by the yaw rate sensor 24, The steering wheel steering angle of the own vehicle detected by the steering angle sensor 25, the forward information of the own vehicle detected by the imaging camera 26, the millimeter wave radar 27a and the LiDAR 27b, the state of the own vehicle and other vehicles acquired by the communication unit 28 And situation information about the surrounding situation. The prediction information may include an operation of a direction indicator such as a right turn, a left turn, and a lane change detected by a direction indicator sensor (not shown).
制御部12は、動作制御装置200に対して制御を指示する。また、制御部12は、取得された予測情報において第1状況が予測されることを条件として含む予め定められた走行移譲条件が成立する場合、対向車両に対して自車両よりも優先的に走行すべきことを示す移譲信号を発信部300に発信させる。走行移譲条件の詳細は、図3において説明する。
The control unit 12 instructs the operation control device 200 to perform control. Further, when a predetermined traveling transfer condition including a condition that the first situation is predicted in the acquired prediction information is satisfied, the control unit 12 preferentially drives the oncoming vehicle over the own vehicle. The transfer unit 300 transmits a transfer signal indicating what to do. Details of the transfer condition will be described with reference to FIG.
発信部300は、走行移譲条件が成立する場合に移譲信号を発信する。本実施形態では、発信部300は、自車両の前照灯である。
The transmission unit 300 transmits a transfer signal when the traveling transfer condition is satisfied. In the present embodiment, the transmitting unit 300 is a headlight of the own vehicle.
運転支援装置10は、図2において説明する信号発信処理を実行する。信号発信処理は、交差点に進入する位置と、交差点に進入する位置から予め設定された距離だけ離れた位置と、の間に自車両が存在する場合に繰り返し実行される。本実施形態では、信号発信処理は、自車両が自動運転の状態であるときに実行されるが、他の実施形態では、自車両が手動運転の状態であるとき、もしくは、自動運転の状態および手動運転の状態のいずれにおいても実行されてもよい。本実施形態では、予め設定された距離は100mであるが、この距離は任意に設定されてもよい。信号発信処理が開始されると、ステップS110では、情報取得部11によって予測情報が取得される。ステップS120では、制御部12によって走行移譲条件が成立したか否か判定される。走行移譲条件が成立しない場合、信号発信処理は終了される。走行移譲条件が成立する場合、ステップS130に進む。
The driving support device 10 executes the signal transmission processing described in FIG. The signal transmission processing is repeatedly executed when the own vehicle exists between a position where the vehicle enters the intersection and a position which is separated from the position where the vehicle enters the intersection by a predetermined distance. In the present embodiment, the signal transmission processing is executed when the own vehicle is in the state of automatic driving, but in other embodiments, when the own vehicle is in the state of manual driving, or in the state of automatic driving, It may be executed in any of the states of manual operation. In the present embodiment, the preset distance is 100 m, but this distance may be set arbitrarily. When the signal transmission process is started, in step S110, the prediction information is obtained by the information obtaining unit 11. In step S120, the control unit 12 determines whether the traveling transfer condition is satisfied. When the traveling transfer condition is not satisfied, the signal transmission processing ends. When the traveling transfer condition is satisfied, the process proceeds to step S130.
図3を用いて、第1実施形態における走行移譲条件について説明する。図3には、交差点周辺の交通状況が示されている。交差点に交わる一方の道路は、車線FL1およびFL2と、対向車線BL1およびBL2と、から構成されている。車線FL1のうち交差点を通過した先において、車両FV1およびFV2が渋滞のために停車していることから、直進方向に向けて走行しようとしている自車両SV1は、車線FL1のうち交差点に進入する位置に停車している。車線FL1のうち自車両SV1の後方には、車両FV3が停車している。また、交差点の中央付近には、対向車線BL1から右折しようとしている対向車両BV1が停車している。図3に示された交通状況において、自車両SV1は交差点に進入する位置に停車していることから、信号発信処理が実行される。
走 行 The transfer condition in the first embodiment will be described with reference to FIG. FIG. 3 shows the traffic situation around the intersection. One road crossing the intersection is composed of lanes FL1 and FL2 and oncoming lanes BL1 and BL2. Since the vehicles FV1 and FV2 are stopped due to traffic congestion at the intersection of the lane FL1, the own vehicle SV1 trying to travel in the straight traveling direction enters the intersection of the lane FL1. It is stopped at. The vehicle FV3 is stopped behind the host vehicle SV1 in the lane FL1. In the vicinity of the center of the intersection, an oncoming vehicle BV1 that is about to make a right turn from the oncoming lane BL1 is stopped. In the traffic situation shown in FIG. 3, the own vehicle SV1 is stopped at a position where it enters the intersection, so that the signal transmission processing is executed.
第1実施形態において、走行移譲条件は、以下の条件を含む。
1)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測されること。
2)自車両SV1が予め設定された時間以上停車する停車状況が予測されること。 In the first embodiment, the traveling transfer conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.
1)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測されること。
2)自車両SV1が予め設定された時間以上停車する停車状況が予測されること。 In the first embodiment, the traveling transfer conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.
図3に示された交通状況において、情報取得部11が取得した予測情報から、自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測される。言い換えれば、自車両SV1が直進する方向と、対向車両BV1が右折する方向と、が重なることが予測される。第1状況が予測されることは、第1実施形態における走行移譲条件が成立する条件に含まれる。
、 In the traffic situation shown in FIG. 3, a first situation in which the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. In other words, it is predicted that the direction in which the host vehicle SV1 goes straight and the direction in which the oncoming vehicle BV1 turns right overlap. The fact that the first situation is predicted is included in the condition that the traveling transfer condition in the first embodiment is satisfied.
また、第1実施形態における走行移譲条件の成立には、自車両SV1が予め設定された時間以上停車する停車状況が予測されることを含む。図3に示された交通状況において、自車両SV1が停車している車線FL1のうち交差点を通過した先で車両FV1およびFV2が渋滞のために停車している。このため、情報取得部11が取得した予測情報から、車両FV1およびFV2が前進するまで自車両SV1が停車する停車状況が予測される。したがって、図3に示された交通状況において、情報取得部11によって予測情報から第1状況および停車状況が予測されることから、制御部12は、走行移譲条件が成立したと判定する。
成立 The fulfillment of the traveling transfer condition in the first embodiment includes prediction of a stopping situation in which the host vehicle SV1 stops for a preset time or longer. In the traffic situation shown in FIG. 3, vehicles FV1 and FV2 are stopped due to traffic congestion at a point where the own vehicle SV1 has passed an intersection in the lane FL1 where the vehicle SV1 is stopped. For this reason, from the prediction information acquired by the information acquisition unit 11, a stop situation in which the host vehicle SV1 stops until the vehicles FV1 and FV2 move forward is predicted. Therefore, in the traffic situation shown in FIG. 3, since the information acquisition unit 11 predicts the first situation and the stop situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.
走行移譲条件が成立する場合、ステップS130に進み、制御部12によって、対向車両BV1に対して自車両SV1よりも優先的に走行すべきことを示す移譲信号を発信部300に発信させる。このとき、発信部300である前照灯は、移譲信号として、予め定められたパターンで前照灯を点滅させる。ここでいう予め定められたパターンとは、伝達内容が予め定められた前照灯の点滅パターンのことである。例えば、対向車両に対して自車両よりも優先的に走行すべきことを伝達する点滅パターンとして、前照灯を所定の周期(例えば1s周期)で点滅させる点滅パターンや、所定の回数(例えば、5回)連続で点滅させる点滅パターンが予め定められているということである。このような予め定められたパターンは、標準化されることが好ましい。
If the traveling transfer condition is satisfied, the process proceeds to step S130, and the control unit 12 causes the transmission unit 300 to transmit a transfer signal indicating that the oncoming vehicle BV1 should travel with priority over the own vehicle SV1. At this time, the headlight that is the transmitting unit 300 blinks the headlight in a predetermined pattern as a transfer signal. Here, the predetermined pattern is a blinking pattern of the headlight whose transmission content is predetermined. For example, as a blinking pattern for notifying the oncoming vehicle that the vehicle should travel with priority over the own vehicle, a blinking pattern of blinking the headlight at a predetermined cycle (for example, 1 s cycle) or a predetermined number of times (for example, (5 times) A blinking pattern for blinking continuously is predetermined. Such a predetermined pattern is preferably standardized.
発信部300による移譲信号の発信は、走行移譲条件が成立することに伴い、自動的に行われる。その後、信号発信処理は終了される。他の実施形態では、発信部300による移譲信号の発信は、走行移譲条件が成立することでスタンバイ状態となり、自車両SV1の乗員がスイッチを操作する等の入力をすることによって、手動的に行われてもよい。このような場合には、手動で移譲信号が発信された後、もしくは、スタンバイ状態になってから設定時間の経過後に信号発信処理は終了されるとしてもよい。
The transmission of the transfer signal by the transmission unit 300 is automatically performed when the traveling transfer condition is satisfied. After that, the signal transmission processing ends. In another embodiment, the transmission of the transfer signal by the transmission unit 300 is performed in a standby state when the traveling transfer condition is satisfied, and the transfer is manually performed by the occupant of the host vehicle SV1 performing input such as operating a switch. May be. In such a case, the signal transmission process may be terminated after the transfer signal is transmitted manually or after a lapse of a set time from the standby state.
図4には、図3とは異なる交差点周辺の交通状況が示されている。車線FL1のうち交差点に進入する位置に存在する自車両SV1は、直進方向に向けて走行している。車線FL1のうち交差点を通過した先には、信号機SGが設置されている。図4に示された交通状況において、信号機SGの灯色は黄色である。また、交差点の中央付近には、対向車線BL1から右折しようとしている対向車両BV1が停車している。図4に示された交通状況においても、自車両SV1は交差点に進入する位置に存在していることから、信号発信処理が実行される。
FIG. 4 shows a traffic situation around the intersection different from FIG. The self-vehicle SV1 existing at a position of entering the intersection in the lane FL1 is traveling in the straight traveling direction. A traffic signal SG is installed at a point on the lane FL1 that has passed the intersection. In the traffic situation shown in FIG. 4, the light color of the traffic light SG is yellow. In the vicinity of the center of the intersection, an oncoming vehicle BV1 that is about to make a right turn from the oncoming lane BL1 is stopped. In the traffic situation shown in FIG. 4 as well, the own vehicle SV1 exists at the position where it enters the intersection, so that the signal transmission processing is executed.
図4に示された交通状況において、情報取得部11が取得した予測情報から、自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測される。また、信号機SGの灯色が黄色であるため、情報取得部11が取得した予測情報から、自車両SV1が停車する停車状況が予測される。したがって、図4に示された交通状況においても、情報取得部11によって予測情報から第1状況および停車状況が予測されることから、制御部12は、走行移譲条件が成立したと判定する。
In the traffic situation shown in FIG. 4, the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. Further, since the light color of the traffic light SG is yellow, the stop state of the host vehicle SV1 is predicted from the prediction information acquired by the information acquisition unit 11. Therefore, also in the traffic situation shown in FIG. 4, since the information acquisition unit 11 predicts the first situation and the stop situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.
図5には、図3および図4とは異なる交差点周辺の交通状況が示されている。車線FL1のうち交差点に進入する位置に存在する自車両SV1は、左折しようとしている。車線FL1のうち交差点を通過した先には、信号機SGが設置されている。図5に示された交通状況において、信号機SGの灯色は青色である。交差点の中央付近には、対向車線BL1から右折しようとしている対向車両BV1が停車している。また、車線FL1から左折した方向にある車線TL1およびTL2には、車両FV4、FV5およびFV6が渋滞のために停車している。図5に示された交通状況においても、自車両SV1は交差点に進入する位置に存在していることから、信号発信処理が実行される。
FIG. 5 shows a traffic situation around an intersection different from those in FIGS. 3 and 4. The self-vehicle SV1 existing at the position of entering the intersection in the lane FL1 is about to turn left. A traffic signal SG is installed at a point on the lane FL1 that has passed the intersection. In the traffic situation shown in FIG. 5, the light color of the traffic light SG is blue. Near the center of the intersection, an oncoming vehicle BV1 that is about to turn right from the oncoming lane BL1 is stopped. Vehicles FV4, FV5, and FV6 are stopped in traffic lanes TL1 and TL2 in the direction of left turn from lane FL1 due to traffic congestion. Also in the traffic situation shown in FIG. 5, since the own vehicle SV1 exists at the position where it enters the intersection, the signal transmission processing is executed.
図5に示された交通状況において、情報取得部11が取得した予測情報から、自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測される。信号機SGの灯色は青色であるが、自車両SV1が左折した場合には、車線TL1およびTL2において車両FV4、FV5およびFV6が直進するまで対向車両BV1が入るスペースがないことから、対向車両BV1が交差点内に停車することになる。このため、情報取得部11が取得した予測情報から、自車両SV1が交差点に進入する前に停車する停車状況が予測される。したがって、図4に示された交通状況においても、情報取得部11によって予測情報から第1状況および停車状況が予測されることから、制御部12は、走行移譲条件が成立したと判定する。
、 In the traffic situation shown in FIG. 5, a first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. Although the light color of the traffic light SG is blue, when the own vehicle SV1 turns left, there is no space for the oncoming vehicle BV1 to enter until the vehicles FV4, FV5, and FV6 go straight in the lanes TL1 and TL2. Stops at the intersection. For this reason, from the prediction information acquired by the information acquisition unit 11, a stop situation in which the host vehicle SV1 stops before entering the intersection is predicted. Therefore, also in the traffic situation shown in FIG. 4, since the information acquisition unit 11 predicts the first situation and the stop situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.
以上説明した第1実施形態によれば、自車両SV1よりも優先的に走行すべきことを示す移譲信号が対向車両BV1に向けて発信されることから、車両間の情報のやり取りにおいて誤解が生じることを防止できる。このため、対向車両の乗員がパッシングの意図を誤解した場合に発生するサンキュー事故などの衝突事故を防止できる。
According to the first embodiment described above, since the transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1, misunderstanding occurs in the exchange of information between vehicles. Can be prevented. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when the occupant of the oncoming vehicle misunderstands the intention of passing.
B.第2実施形態:
第2実施形態の運転支援装置は、第1実施形態の運転支援装置10と比べて、情報取得部11が取得する予測情報が異なる点および信号発信処理における走行移譲条件の成立に含まれる条件が異なる点を除き、第1実施形態の運転支援装置10の装置構成と同じである。第1実施形態と同じ符号は、同一の構成を示すものであって、先行する説明を参照する。 B. Second embodiment:
The driving support device according to the second embodiment differs from the drivingsupport device 10 according to the first embodiment in that the prediction information acquired by the information acquisition unit 11 is different and the conditions included in the establishment of the traveling transfer condition in the signal transmission process are different. Except for differences, the configuration is the same as that of the driving support device 10 of the first embodiment. The same reference numerals as in the first embodiment denote the same components, and refer to the preceding description.
第2実施形態の運転支援装置は、第1実施形態の運転支援装置10と比べて、情報取得部11が取得する予測情報が異なる点および信号発信処理における走行移譲条件の成立に含まれる条件が異なる点を除き、第1実施形態の運転支援装置10の装置構成と同じである。第1実施形態と同じ符号は、同一の構成を示すものであって、先行する説明を参照する。 B. Second embodiment:
The driving support device according to the second embodiment differs from the driving
第2実施形態の運転支援装置における情報取得部11は、第1状況を予測するための予測情報の他に、自車両の進行方向と対向車両の進行方向とが重なる重なり位置について、対向車両が重なり位置を通過するまでの時間が、自車両が重なり位置を通過するまでの時間よりも短い先行状況を予測するための予測情報を取得する。
The information acquisition unit 11 in the driving assistance device according to the second embodiment determines whether the oncoming vehicle has an overlapping position where the traveling direction of the host vehicle and the traveling direction of the oncoming vehicle overlap, in addition to the prediction information for predicting the first situation. The prediction information for predicting a preceding situation in which the time required to pass the overlapping position is shorter than the time required for the own vehicle to pass the overlapping position is acquired.
図6に示された交通状況は、図4に示された交通状況と比べて、信号機SGの灯色が青色である点および自車両SV1の位置が交差点に進入する位置から予め設定された距離である100mだけ離れた位置に存在する点を除き、図4に示された交通状況と同じである。
The traffic condition shown in FIG. 6 is different from the traffic condition shown in FIG. 4 in that a predetermined distance is set from the point where the light of the traffic light SG is blue and the position of the own vehicle SV1 entering the intersection. Is the same as the traffic situation shown in FIG. 4 except that it is located 100 m away.
第2実施形態において、走行移譲条件は、以下の条件を含む。
1)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測されること。
2)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる重なり位置LPについて、対向車両BV1が重なり位置LPを通過するまでの時間が、自車両SV1が重なり位置LPを通過するまでの時間よりも短い先行状況が予測されること。 In the second embodiment, the traveling transfer conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) Regarding the overlapping position LP where the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap, the time until the oncoming vehicle BV1 passes the overlapping position LP is the time until the own vehicle SV1 passes the overlapping position LP. Predictions that are shorter than time are expected.
1)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測されること。
2)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる重なり位置LPについて、対向車両BV1が重なり位置LPを通過するまでの時間が、自車両SV1が重なり位置LPを通過するまでの時間よりも短い先行状況が予測されること。 In the second embodiment, the traveling transfer conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) Regarding the overlapping position LP where the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap, the time until the oncoming vehicle BV1 passes the overlapping position LP is the time until the own vehicle SV1 passes the overlapping position LP. Predictions that are shorter than time are expected.
図6に示された交通状況において、情報取得部11が取得した予測情報から、自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測される。信号機SGの灯色が青色であるが、図6に示された交通状況において、情報取得部11が取得した予測情報から、自車両SV1の進行方向と対向車両BV1の進行方向とが重なる重なり位置LPについて、対向車両BV1が重なり位置LPを通過するまでの時間が、自車両SV1が重なり位置LPを通過するまでの時間よりも短い先行状況が予測される。対向車両BV1が重なり位置LPを通過するまでの時間は、車線FL1およびFL2の車線幅と対向車両BV1の回転半径および想定車速とを用いて算出される旋回時間から求められる。自車両SV1が重なり位置LPを通過するまでの時間は、自車両SV1の現在位置から重なり位置LPまでの距離と自車両SV1の想定車速とを用いて求められる。したがって、図6に示された交通状況において、情報取得部11によって予測情報から第1状況および先行状況が予測されることから、制御部12は、走行移譲条件が成立したと判定する。
In the traffic situation shown in FIG. 6, a first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. Although the light color of the traffic light SG is blue, in the traffic situation shown in FIG. 6, based on the prediction information acquired by the information acquisition unit 11, the overlapping position where the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap. With respect to LP, it is predicted that the time before the oncoming vehicle BV1 passes through the overlapping position LP is shorter than the time until the own vehicle SV1 passes through the overlapping position LP. The time required for the oncoming vehicle BV1 to pass through the overlapping position LP is determined from the turning time calculated using the lane widths of the lanes FL1 and FL2, the turning radius of the oncoming vehicle BV1, and the assumed vehicle speed. The time required for the own vehicle SV1 to pass through the overlapping position LP is determined using the distance from the current position of the own vehicle SV1 to the overlapping position LP and the assumed vehicle speed of the own vehicle SV1. Therefore, in the traffic situation shown in FIG. 6, since the information acquisition unit 11 predicts the first situation and the preceding situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.
以上説明した第2実施形態によれば、第1実施形態と同様に、自車両SV1よりも優先的に走行すべきことを示す移譲信号が対向車両BV1に向けて発信されることから、車両間の情報のやり取りにおいて誤解が生じることを防止できる。このため、対向車両の乗員がパッシングの意図を誤解した場合に発生するサンキュー事故などの衝突事故を防止できる。
According to the second embodiment described above, as in the first embodiment, the transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1, so that the Misunderstandings can be prevented in the exchange of information. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when the occupant of the oncoming vehicle misunderstands the intention of passing.
C.第3実施形態:
第3実施形態の運転支援装置は、第1実施形態の運転支援装置10と比べて、情報取得部11が取得する予測情報が異なる点および信号発信処理の処理内容が異なる点を除き、第1実施形態の運転支援装置10の装置構成と同じである。第1実施形態と同じ符号は、同一の構成を示すものであって、先行する説明を参照する。 C. Third embodiment:
The driving support device of the third embodiment is different from the drivingsupport device 10 of the first embodiment in that the prediction information acquired by the information acquisition unit 11 is different and the processing content of the signal transmission process is different. It is the same as the device configuration of the driving support device 10 of the embodiment. The same reference numerals as in the first embodiment denote the same components, and refer to the preceding description.
第3実施形態の運転支援装置は、第1実施形態の運転支援装置10と比べて、情報取得部11が取得する予測情報が異なる点および信号発信処理の処理内容が異なる点を除き、第1実施形態の運転支援装置10の装置構成と同じである。第1実施形態と同じ符号は、同一の構成を示すものであって、先行する説明を参照する。 C. Third embodiment:
The driving support device of the third embodiment is different from the driving
第3実施形態の情報取得部11は、第1状況および停車状況を予測するための予測情報の他に、自車両の死角方向から前方に向けて他の車両が進行する第2状況を予測するための予測情報を取得する。本実施形態では、情報取得部11は、自車両の後側方から前方に向けて他の車両が進行する状況を予測するための予測情報を取得する。他の実施形態では、自車両の死角方向のうち後側方とは異なる方向から前方に向けて他の車両が進行する状況を予測するための予測情報を取得してもよい。ここでいう自車両の死角方向のうち後側方向とは異なる方向には、自車両の運転席の位置から見て自車両の車体を構成しているピラーによって隠されている方向を含む。
The information acquisition unit 11 according to the third embodiment predicts a second situation in which another vehicle travels forward from the blind spot direction of the own vehicle, in addition to the prediction information for predicting the first situation and the stopping situation. To obtain prediction information. In the present embodiment, the information acquisition unit 11 acquires prediction information for predicting a situation where another vehicle is moving forward from the rear side of the own vehicle toward the front. In another embodiment, prediction information for predicting a situation in which another vehicle advances forward from a direction different from the rear side of the blind spot direction of the own vehicle may be acquired. The direction different from the rear side direction of the blind spot direction of the host vehicle includes the direction hidden by pillars constituting the vehicle body of the host vehicle as viewed from the position of the driver's seat of the host vehicle.
第3実施形態において、走行移譲条件は、以下の条件を含む。
1)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測されること。
2)自車両SV1が予め設定された時間以上停車する停車状況が予測されること。
3)自車両SV1の後側方から前方に向けて他の車両MBが進行する第2状況が予測されないこと。
第2状況の詳細は、図8において説明する。 In the third embodiment, the traveling transfer conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.
3) The second situation in which the other vehicle MB moves forward from the rear side of the own vehicle SV1 toward the front is not predicted.
Details of the second situation will be described with reference to FIG.
1)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測されること。
2)自車両SV1が予め設定された時間以上停車する停車状況が予測されること。
3)自車両SV1の後側方から前方に向けて他の車両MBが進行する第2状況が予測されないこと。
第2状況の詳細は、図8において説明する。 In the third embodiment, the traveling transfer conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.
3) The second situation in which the other vehicle MB moves forward from the rear side of the own vehicle SV1 toward the front is not predicted.
Details of the second situation will be described with reference to FIG.
第3実施形態の制御部12は、取得された予測情報において第1状況および第2状況が予測されることを条件として含む予め定められた走行警告条件が成立する場合、対向車両に対して走行を警告すべきことを示す警告信号を発信部300に発信させる。走行警告条件の詳細は、図8において説明する。
The control unit 12 according to the third embodiment drives the oncoming vehicle when the predetermined traveling warning condition including the condition that the first situation and the second situation are predicted in the acquired prediction information is satisfied. A warning signal indicating that warning should be issued is transmitted from the transmitting unit 300. Details of the traveling warning condition will be described with reference to FIG.
第3実施形態の運転支援装置は、図7において説明する信号発信処理を実行する。第3実施形態の信号発信処理の実行タイミングは、第1実施形態および第2実施形態と同様である。信号発信処理が開始されると、ステップS110では、情報取得部11によって予測情報が取得される。この予測情報には、第1状況、停車状況および第2状況を予測するための情報が含まれる。ステップS120では、制御部12によって走行移譲条件が成立したか否か判定される。上述したように、第3実施形態において走行移譲条件の成立には、第1状況および停車状況が予測されることと、第2状況が予測されないことと、を含む。
運 転 The driving support device of the third embodiment executes the signal transmission processing described in FIG. The execution timing of the signal transmission processing of the third embodiment is the same as in the first embodiment and the second embodiment. When the signal transmission process is started, in step S110, the prediction information is obtained by the information obtaining unit 11. The prediction information includes information for predicting the first situation, the stopped situation, and the second situation. In step S120, the control unit 12 determines whether the traveling transfer condition is satisfied. As described above, in the third embodiment, establishment of the traveling transfer condition includes prediction of the first situation and the stopping situation, and non-prediction of the second situation.
図8を用いて、第2状況について説明する。図8に示された交通状況は、図3に示された交通状況と比べて、自車両SV1の後側方から前方に向けて進行する他の車両MBが存在する点を除き、図3に示された交通状況と同じである。他の車両MBは、二輪車である。図8に示された交通状況において、情報取得部11が取得した予測情報から、自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況および自車両が予め設定された時間以上停車する停車状況が予測される。また、図8に示された交通状況において、情報取得部11が取得した予測情報から、自車両SV1の後側方から前方に向けて他の車両MBが進行する第2状況が予測される。
The second situation will be described with reference to FIG. The traffic situation shown in FIG. 8 is different from the traffic situation shown in FIG. 3 except that there is another vehicle MB traveling forward from the rear side of the own vehicle SV1. Same as indicated traffic conditions. Another vehicle MB is a motorcycle. In the traffic situation shown in FIG. 8, based on the prediction information acquired by the information acquisition unit 11, the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap, and the own vehicle is not less than a preset time A stop situation of stopping is predicted. Further, in the traffic situation shown in FIG. 8, a second situation in which another vehicle MB moves forward from the rear side of the host vehicle SV1 toward the front is predicted from the prediction information acquired by the information acquisition unit 11.
図7の説明に戻り、信号発信処理において走行移譲条件が成立する場合、すなわち、第1状況および停車状況が予測されるとともに第2状況が予測されない場合、ステップS130に進んだのち、信号発信処理は終了される。
Returning to the description of FIG. 7, when the traveling transfer condition is satisfied in the signal transmission processing, that is, when the first situation and the stop situation are predicted and the second situation is not predicted, the process proceeds to step S130, and then the signal transmission processing is performed. Is terminated.
信号発信処理において走行移譲条件が成立しない場合、ステップS125では、制御部12によって走行警告条件が成立したか否か判定される。
If the traveling transfer condition is not satisfied in the signal transmission process, in step S125, the control unit 12 determines whether the traveling warning condition is satisfied.
走行警告条件は、以下の条件を含む。
1)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測されること。
2)自車両SV1が予め設定された時間以上停車する停車状況が予測されること。
3)自車両SV1の後側方から前方に向けて他の車両MBが進行する第2状況が予測されること。 The traveling warning conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.
3) A second situation in which another vehicle MB moves forward from the rear side of the host vehicle SV1 toward the front is predicted.
1)自車両SV1の進行方向と対向車両BV1の進行方向とが重なる第1状況が予測されること。
2)自車両SV1が予め設定された時間以上停車する停車状況が予測されること。
3)自車両SV1の後側方から前方に向けて他の車両MBが進行する第2状況が予測されること。 The traveling warning conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.
3) A second situation in which another vehicle MB moves forward from the rear side of the host vehicle SV1 toward the front is predicted.
走行警告条件が成立しない場合、信号発信処理は終了される。走行警告条件が成立する場合、ステップS140に進み、制御部12によって、対向車両BV1に対して走行を警告すべきことを示す警告信号を発信部300に発信させる。このとき、発信部300である前照灯は、警告信号として、予め定められたパターンで前照灯を点滅させる。警告信号における前照灯の点滅パターンは、移譲信号における前照灯の点滅パターンとは異なる。例えば、対向車両BV1に対して走行を警告すべきことを伝達する点滅パターンとして、前照灯を所定の周期(例えば0.5s周期)で点滅させる点滅パターンや、所定の回数(例えば、3回)連続で点滅させる点滅パターンが予め定められているということである。車両間の情報のやり取りにおいて、異なる意図を持つ信号が点滅回数の違いによってのみ区別されている場合には、対向車両BV1の判断が遅れる虞がある。このため、異なる意図を持つ信号の区別に用いられるパラメータとしては、点滅周期、もしくは、点滅周期と点滅回数との組み合わせが望ましい。その後、信号発信処理は終了される。
場合 If the traveling warning condition is not satisfied, the signal transmission processing ends. When the traveling warning condition is satisfied, the process proceeds to step S140, and the control unit 12 causes the transmission unit 300 to transmit a warning signal indicating that the oncoming vehicle BV1 should be warned of traveling. At this time, the headlight that is the transmitting unit 300 blinks the headlight in a predetermined pattern as a warning signal. The blinking pattern of the headlight in the warning signal is different from the blinking pattern of the headlight in the transfer signal. For example, as a blinking pattern for notifying the oncoming vehicle BV1 that the vehicle should be warned, a blinking pattern of blinking the headlight at a predetermined cycle (for example, 0.5 s cycle) or a predetermined number of times (for example, three times) ) Means that a blinking pattern for blinking continuously is predetermined. In the exchange of information between vehicles, when signals having different intentions are distinguished only by the difference in the number of blinks, the determination of the oncoming vehicle BV1 may be delayed. For this reason, as a parameter used for discriminating signals having different intentions, a blink cycle or a combination of a blink cycle and the number of blinks is desirable. After that, the signal transmission processing ends.
以上説明した第3実施形態によれば、第1実施形態と同様に、自車両SV1よりも優先的に走行すべきことを示す移譲信号が対向車両BV1に向けて発信されることから、車両間の情報のやり取りにおいて誤解が生じることを防止できる。このため、対向車両の乗員がパッシングの意図を誤解した場合に発生するサンキュー事故などの衝突事故を防止できる。また、第3実施形態では、走行移譲条件が成立せずに走行警告条件が成立する場合には、走行を警告すべきことを示す警告信号が対向車両BV1に向けて発信されることから、車両間の情報のやり取りにおいて誤解が生じることをより一層防止できる。
According to the third embodiment described above, similarly to the first embodiment, the transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1, so that the Misunderstandings can be prevented in the exchange of information. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when the occupant of the oncoming vehicle misunderstands the intention of passing. Further, in the third embodiment, if the traveling warning condition is satisfied without fulfilling the traveling transfer condition, a warning signal indicating that the traveling should be warned is transmitted toward the oncoming vehicle BV1. It is possible to further prevent the occurrence of misunderstandings in the exchange of information between them.
D.他の実施形態:
上述した各実施形態では、発信部300は、自車両の前照灯であったが、本開示はこれに限られない。例えば、発信部300は、路面描写、電波出力および音波出力のうちいずれかを用いて発信するものであってもよい。路面描写とは、自車両に備えられた描画用のライトによって、路面に自車両の動きを伝える図形や文字情報を光で描くことである。電波出力には、ミリ波などを用いる。 D. Other embodiments:
In each of the embodiments described above, the transmittingunit 300 is a headlight of the own vehicle, but the present disclosure is not limited to this. For example, the transmitting unit 300 may transmit using any one of road surface description, radio wave output, and sound wave output. The road surface description is to draw a figure or character information that conveys the movement of the host vehicle on the road surface using a drawing light provided in the host vehicle. The radio wave output uses a millimeter wave or the like.
上述した各実施形態では、発信部300は、自車両の前照灯であったが、本開示はこれに限られない。例えば、発信部300は、路面描写、電波出力および音波出力のうちいずれかを用いて発信するものであってもよい。路面描写とは、自車両に備えられた描画用のライトによって、路面に自車両の動きを伝える図形や文字情報を光で描くことである。電波出力には、ミリ波などを用いる。 D. Other embodiments:
In each of the embodiments described above, the transmitting
上述した各実施形態では、移譲信号および警告信号を、例えば、前照灯の点滅パターンを用いて伝達する手段について説明したが、本開示はこれに限られない。例えば、自車両とセンタとが通信できる場合には、センタを経由して移譲信号および警告信号を対向車両に伝達してもよい。
In each of the embodiments described above, the means for transmitting the transfer signal and the warning signal using, for example, the blinking pattern of the headlight has been described, but the present disclosure is not limited to this. For example, when the own vehicle and the center can communicate, the transfer signal and the warning signal may be transmitted to the oncoming vehicle via the center.
本開示は、上述の実施形態や変形例に限られるものではなく、その趣旨を逸脱しない範囲において種々の構成で実現することができる。例えば、発明の概要の欄に記載した各形態中の技術的特徴に対応する実施形態、変形例中の技術的特徴は、上述の課題の一部又は全部を解決するために、あるいは、上述の効果の一部又は全部を達成するために、適宜、差し替えや、組み合わせを行うことが可能である。また、その技術的特徴が本明細書中に必須なものとして説明されていなければ、適宜、削除することが可能である。
The present disclosure is not limited to the above-described embodiments and modified examples, and can be implemented with various configurations without departing from the spirit thereof. For example, the embodiments corresponding to the technical features in each embodiment described in the summary of the invention, the technical features in the modified examples are for solving some or all of the above-described problems, or In order to achieve some or all of the effects, replacement and combination can be performed as appropriate. If the technical features are not described as essential in this specification, they can be deleted as appropriate.
Claims (7)
- 車両の運転支援装置(10)であって、
自車両の進行方向と対向車両の進行方向とが重なる第1状況を予測するための予測情報を取得する情報取得部(11)と、
取得された前記予測情報において前記第1状況が予測されることを条件として含む予め定められた走行移譲条件が成立する場合、前記対向車両に対して前記自車両よりも優先的に走行すべきことを示す移譲信号を前記自車両に発信させる制御部(12)と、を備える、車両の運転支援装置。 A driving assistance device (10) for a vehicle,
An information acquisition unit (11) that acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap with each other;
When a predetermined traveling transfer condition including a condition that the first situation is predicted in the obtained prediction information is satisfied, the vehicle should travel preferentially to the oncoming vehicle over the own vehicle. And a control unit (12) for transmitting a transfer signal indicating the following to the own vehicle. - 請求項1に記載の運転支援装置であって、
前記予測情報には、さらに、前記自車両の死角方向から前方に向けて他の車両が進行する第2状況を予測するための情報が含まれ、
前記走行移譲条件には、さらに、前記第2状況が予測されないことを条件として含む、運転支援装置。 The driving support device according to claim 1,
The prediction information further includes information for predicting a second situation in which another vehicle is moving forward from the blind spot direction of the host vehicle,
The driving support device further includes a condition that the second situation is not predicted in the traveling transfer condition. - 請求項2に記載の運転支援装置であって、
前記第2状況は、前記自車両の後側方から前方に向けて前記他の車両が進行する状況である、運転支援装置。 The driving assistance device according to claim 2,
The second situation is a driving support device in which the other vehicle travels forward from a rear side of the own vehicle toward the front. - 請求項2または請求項3に記載の運転支援装置であって、
前記制御部は、さらに、前記第1状況および前記第2状況が予測されることを条件として含む予め定められた走行警告条件が成立する場合、前記対向車両に対して走行を警告すべきことを示す警告信号を前記自車両に発信させる、運転支援装置。 The driving assistance device according to claim 2 or 3, wherein:
The control unit may further include, when a predetermined traveling warning condition including a condition that the first situation and the second situation are predicted is satisfied, warn the oncoming vehicle of traveling. A driving support device for transmitting a warning signal to the host vehicle. - 請求項4に記載の運転支援装置であって、
前記移譲信号および前記警告信号は、路面描写、電波出力および音波出力のうちいずれかを用いて発信される、運転支援装置。 The driving support device according to claim 4,
The driving support device, wherein the transfer signal and the warning signal are transmitted using one of a road surface description, a radio wave output, and a sound wave output. - 請求項1から請求項4までのいずれか一項に記載の運転支援装置であって、
前記移譲信号は、所定の点滅パターンで発信させる前照灯の点滅である、運転支援装置。 The driving support device according to any one of claims 1 to 4, wherein:
The driving support device, wherein the transfer signal is blinking of a headlight transmitted in a predetermined blinking pattern. - 請求項4に記載の運転支援装置であって、
前記警告信号は、前記移譲信号とは異なる信号であるとともに、所定の点滅パターンで発信させる前照灯の点滅である、運転支援装置。 The driving support device according to claim 4,
The driving support device, wherein the warning signal is a signal different from the transfer signal and is a blink of a headlight transmitted in a predetermined blink pattern.
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