WO2022201363A1 - In-vehicle device, vehicle, information processing method, and program - Google Patents

In-vehicle device, vehicle, information processing method, and program Download PDF

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Publication number
WO2022201363A1
WO2022201363A1 PCT/JP2021/012263 JP2021012263W WO2022201363A1 WO 2022201363 A1 WO2022201363 A1 WO 2022201363A1 JP 2021012263 W JP2021012263 W JP 2021012263W WO 2022201363 A1 WO2022201363 A1 WO 2022201363A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
road
width
information
unit
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PCT/JP2021/012263
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French (fr)
Japanese (ja)
Inventor
悟 上條
喬 土肥
和紀 赤見
宏美 鈴木
諭 落合
大貴 小平
Original Assignee
本田技研工業株式会社
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Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to PCT/JP2021/012263 priority Critical patent/WO2022201363A1/en
Priority to JP2023508262A priority patent/JPWO2022201363A1/ja
Publication of WO2022201363A1 publication Critical patent/WO2022201363A1/en

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    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to an in-vehicle device, a vehicle, an information processing method, and a program.
  • the width of the road may be narrower than the width of the vehicle, and the vehicle may not be able to pass through the road. Therefore, it is desirable to know whether or not the vehicle can pass through the road before the vehicle enters the road.
  • an in-vehicle device as one aspect of the present invention is an in-vehicle device mounted on a vehicle, comprising detection means for detecting a travelable width of a road around the vehicle; determining means for determining whether or not the vehicle can pass through the road based on the vehicle information related to the road and the width of the road that can be traveled detected by the detecting means.
  • 1 is a block diagram showing a configuration example of an in-vehicle device according to an embodiment;
  • An in-vehicle device 100 according to one embodiment of the present invention is a device that detects the width of a road around which a vehicle 1 (self-vehicle) can travel, and determines whether or not the vehicle 1 can pass through the road.
  • a straddle-type vehicle motorcycle
  • the in-vehicle device according to the present invention can also be installed in wheeled vehicles (ordinary cars, light cars, trucks, etc.).
  • the ⁇ drivable width of a road'' is the width of a portion of a road on which a vehicle can actually run (pass). It can include the width of the roadway part (for example, the part inside the roadway outside line) excluding the prohibited part where the vehicle is prohibited, and the width of the part other than the part where the obstacle is located.
  • the “drivable width of the road” may be simply referred to as “the width of the road”.
  • FIG. 1 is a diagram showing an example of a vehicle 1 (straddle-type vehicle) in which an in-vehicle device 100 of this embodiment is mounted.
  • the arrow FR indicates the longitudinal direction of the vehicle 1
  • FT indicates the front
  • RR indicates the rear.
  • a vehicle 1 shown in FIG. 1 is a motorcycle having front wheels FW and rear wheels RW. , a steering wheel HD that is gripped by the driver to steer the vehicle 1, and a screen SC that is placed in front of the driver to prevent the wind from traveling.
  • the vehicle 1 is also provided with a camera CMR that captures the surroundings (for example, the front) of the vehicle 1 and a notification unit NTC that notifies the driver of information.
  • the notification part NTC may include, for example, an audio output device (eg a speaker) and/or a display device (eg a display). Camera CMR and/or notification unit NTC may be understood as components of in-vehicle device 100 .
  • FIG. 2 is a block diagram showing a configuration example of the in-vehicle device 100 of this embodiment.
  • the in-vehicle device 100 is a device that determines whether or not the vehicle 1 can pass through the road around the vehicle 1 (self-vehicle).
  • a photographing unit 110, a notification unit 120, a communication unit 130, and a processing unit 140 can be provided.
  • the photographing unit 110 is arranged to photograph the front of the vehicle 1, and the road in front of the vehicle 1 is captured based on the image of the front of the vehicle 1 obtained using the photographing unit 110. An example of determining whether or not the vehicle 1 can pass will be described.
  • the photographing unit 110 corresponds to, for example, the camera CMR of FIG.
  • the photographing unit 110 may be understood as an external sensor that acquires external world information (forward information) regarding targets including objects and signs that exist around (in front of) the vehicle 1 .
  • the photographing unit 110 can photograph a road in front of the vehicle 1 and generate an image including the road.
  • the imaging unit 110 may be referred to as the camera 110 .
  • the notification unit 120 corresponds to, for example, the notification unit NTC (audio output device and/or display device) in FIG.
  • the notification unit 120 notifies an occupant (for example, a driver) of the vehicle 1 of the judgment result of the judgment unit 143 (to be described later) by voice using an audio output device (speaker) and/or by display on a display device (display). to notify.
  • the communication unit 130 transmits information about the state of the road ahead (drivable width) detected by the detection unit 142 (to be described later) to a server outside the vehicle, and detects surrounding vehicles existing around the vehicle 1 (for example, following vehicles). (vehicle-to-vehicle communication).
  • the server outside the vehicle that has received information about the state of the road ahead may transmit the information to surrounding vehicles, or may use the information as map information.
  • the surrounding vehicles that have received the information about the state of the road ahead may display the information on a display provided in the surrounding vehicle to notify the driver of the surrounding vehicle.
  • the processing unit 140 can be configured by a computer including a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like.
  • the processing section 140 may be configured as part of an ECU (Electronic Control Unit) that controls each section of the vehicle V.
  • the storage device stores a program for determining whether or not the vehicle 1 can pass the road ahead of the vehicle 1 (hereinafter sometimes referred to as a determination program).
  • the processing unit 140 can determine whether or not the vehicle 1 can pass the road ahead of the vehicle 1 .
  • the processing unit 140 of this embodiment may include an acquisition unit 141 , a detection unit 142 , a determination unit 143 , and an output unit 144 .
  • the acquisition unit 141 acquires various types of information and data. In the case of this embodiment, the acquisition unit 141 acquires the image obtained by the camera 110 .
  • the acquisition unit 141 may also acquire information about the vehicle 1 (hereinafter sometimes referred to as vehicle information).
  • vehicle information When vehicle information is stored in a storage device of vehicle 1 (processing unit 140), acquisition unit 141 can acquire vehicle information from the storage device.
  • the vehicle information when the vehicle information is stored in a server outside the vehicle (database on the network), the acquisition unit 141 can acquire the vehicle information from the server via the communication unit 130 .
  • the vehicle information may include information regarding the vehicle width and/or vehicle class of the vehicle 1 .
  • the vehicle information includes, for example, displacement of a two-wheeled vehicle, vehicle class information such as a scooter, a motorcycle, an ordinary vehicle, a light vehicle, a truck, and a tricycle, vehicle width information of the vehicle 1, and/or vehicle 1 It can include information such as the total length, shape, and drive system (four-wheel drive, two-wheel drive) of the vehicle.
  • the detection unit 142 detects the state of the road in front of the vehicle 1 (hereinafter sometimes referred to as the front road) based on the image obtained from the camera 110 by the acquisition unit 141 .
  • the detection unit 142 extracts the road ahead and detects the state of the road ahead by performing known image processing on the image obtained from the camera 110 by the acquisition unit 141 .
  • the state of the road ahead can include, for example, the width of the road ahead and/or the road surface condition of the road ahead.
  • the detection unit 142 extracts feature points of the road ahead (eg, lane markings (white lines), steps on the shoulder, side walls, etc.) included in the image obtained by the acquisition unit 141 using known image processing.
  • the detection unit 142 calculates the reflectance and/or specularity of the road surface of the road ahead included in the image obtained by the acquisition unit 141 using known image processing, thereby detecting whether the road ahead is wet. It is possible to detect the road surface condition of the road ahead, such as whether it is wet (wet) or frozen.
  • the determination unit 143 determines whether the vehicle 1 can pass through the road ahead. determine whether or not For example, as shown in FIG . 3, the determination unit 143 compares the width W1 of the vehicle 1 included in the vehicle information with the width W2 of the forward road R detected by the detection unit 142, and determines the width of the vehicle 1. If the width W2 of the front road R is wider than the width W1, it is determined that the vehicle 1 can pass through the front road R. On the other hand, if the width W2 of the front road R is narrower than the width W1 of the vehicle 1 , it is determined that the vehicle 1 cannot pass through the front road R.
  • the determination unit 143 can compare the vehicle information with the road surface condition of the front road R detected by the detection unit 142, and determine whether the vehicle 1 can travel on the front road R or not. As an example, when the road surface condition is wet or icy and the vehicle 1 is a straddle-type vehicle (motorcycle), the determination unit 143 determines that the vehicle 1 cannot travel on the forward road R. .
  • FIG . 3 is a diagram for explaining the width W1 of the vehicle 1 and the width W2 of the forward road R, and the arrow TD in the diagram indicates the traveling direction of the vehicle 1. As shown in FIG.
  • the output unit 144 outputs the determination result to the notification unit 120 when the determination unit 143 determines whether or not the vehicle 1 can pass through the road ahead. For example, the output unit 144 outputs (transmits) information indicating the determination result of the determination unit 143 to a display device (display) serving as the notification unit 120, so that the determination result is displayed to the passenger of the vehicle 1 (for example, the driver). ) can be notified (notified). Further, when the detection unit 142 detects the state of the road ahead, the output unit 144 outputs information about the state of the road ahead to the communication unit 130 . As a result, the output unit 144 can transmit information about the state of the road ahead to the server in the vehicle body and transmit the information to surrounding vehicles (for example, following vehicles) via the communication unit 130 .
  • the output unit 144 can transmit information about the state of the road ahead to the server in the vehicle body and transmit the information to surrounding vehicles (for example, following vehicles) via the communication unit 130 .
  • FIG. 4 is a flowchart showing determination processing executed by the processing unit 140. As shown in FIG. The flowchart shown in FIG. 4 can be repeatedly executed, and can be newly started from step S11 even after step S19 is finished (or can be newly started from step S12).
  • the processing unit 140 acquires vehicle information.
  • the vehicle information may include information regarding the vehicle width and/or vehicle class of the vehicle 1 . If the vehicle information is stored in the storage device of the vehicle 1, the processing unit 140 acquires the vehicle information from the storage device. vehicle information from the server.
  • step S12 the processing unit 140 (acquisition unit 141) causes the camera 110 to photograph the surroundings (front) of the vehicle 1, thereby acquiring the image obtained by the camera 110.
  • step S13 the processing unit 140 (detection unit 142) detects the width of the road ahead based on the image acquired in step S12. For example, as described above, the processing unit 140 performs known image processing on the image acquired in step S12 to extract the road ahead included in the image and detect the width of the road ahead. can be done.
  • the processing unit 140 (output unit 144) may notify the occupant of the vehicle 1 of the information by outputting the information on the width of the forward road to the notification unit 120.
  • the processing unit 140 outputs information about the width of the road ahead to the communication unit 130, thereby transmitting the information to at least one of a server outside the vehicle and surrounding vehicles (for example, following vehicles). good too.
  • the processing unit 140 transmits the information only to the following vehicles of the following vehicles of the vehicle 1 (own vehicle) whose vehicle width or vehicle class is equal to or smaller than the vehicle 1.
  • the processing unit 140 acquires following vehicle information regarding the vehicle width or vehicle rating of the following vehicle via the communication unit 130 (for example, vehicle-to-vehicle communication), and based on the following vehicle information, determines the vehicle width or vehicle size. is less than or equal to vehicle 1 can be identified.
  • the processing unit 140 can transmit information about the width of the road ahead only to the specified following vehicle, which can be advantageous in reducing the amount of communication.
  • step S14 the processing unit 140 (determining unit 143) compares the width of the vehicle 1 included in the vehicle information acquired in step S11 with the width of the road ahead detected in step S13, and determines the width of the vehicle 1. It is determined whether or not the width of the road ahead is wider. If the width of the road ahead is wider than the width of the vehicle 1, the process proceeds to step S15. On the other hand, if the width of the road ahead is narrower than the width of the vehicle 1, the process advances to step S18, and the processing unit 140 (determining unit 143) determines that the vehicle 1 cannot pass through the road ahead.
  • step S15 the processing unit 140 (detection unit 142) detects the road surface condition of the road ahead based on the image acquired in step S12. For example, as described above, the processing unit 140 performs known image processing on the image acquired in step S12 to calculate the reflectance and/or specularity of the road ahead, thereby determining the road surface condition of the road ahead. can be detected.
  • the processing unit 140 (output unit 144) may notify the occupant of the vehicle 1 of the information about the road surface condition of the road ahead by outputting the information to the notification unit 120.
  • the processing unit 140 (output unit 144) outputs information about the road surface condition of the road ahead to the communication unit 130, thereby transmitting the information to at least one of a server outside the vehicle and surrounding vehicles (for example, following vehicles). may
  • the processing unit 140 determines whether the vehicle 1 can travel on the road ahead. For example, as described above, the processing unit 140 determines whether the vehicle 1 can travel on the road ahead based on the vehicle information acquired in step S11 and the road surface condition of the road ahead detected in step S15. do. When it is determined that the vehicle 1 can travel on the road ahead, the process proceeds to step S17, and the processing unit 140 (determining unit 143) determines that the vehicle 1 can pass the road ahead. On the other hand, if it is determined that the vehicle 1 cannot travel on the road ahead, the process advances to step S18, and the processing unit 140 (determining unit 143) determines that the vehicle 1 cannot pass the road ahead.
  • step S19 the processing unit 140 (output unit 144) notifies the occupant of the vehicle 1 of the determination result in step S17 or S18.
  • the processing unit 140 outputs (transmits) information indicating the determination result in step S17 or S18 to an audio output device (speaker) and/or a display device (display) as the notification unit 120. Accordingly, it is possible to notify the passenger (for example, the driver) of the vehicle 1 of the determination result.
  • the in-vehicle device 100 of the present embodiment captures the road (front road) around the vehicle 1 based on the image obtained by the image capturing unit 110 (camera) that captures the surroundings of the vehicle 1. Determine whether or not 1 can pass. Through such processing, the occupant (driver) of the vehicle 1 can grasp whether or not the vehicle 1 can pass through the front road before the vehicle 1 enters the front road.
  • the processing unit 140 detects that the road ahead of the vehicle 1 is narrowing in the traveling direction by repeating the flow chart of FIG. , to at least one of a server outside the vehicle and a surrounding vehicle (for example, a following vehicle) via the communication unit 130 .
  • a server outside the vehicle and a surrounding vehicle for example, a following vehicle
  • the vehicle 1 travels further.
  • the obstacle narrows the width of the road in which the vehicle can travel
  • information to that effect is transmitted to at least one of a server outside the vehicle and surrounding vehicles via the communication unit 130. sell.
  • the processing unit 140 determines whether or not the vehicle 1 can pass through the front road based on the width of the front road (steps S13 to S14), and An example of performing both steps (steps S15 and S16) of determining whether or not the vehicle 1 can pass through the forward road based on the situation has been described.
  • the processing unit 140 is not limited to this, and the processing unit 140 performs only one of the steps of determining based on the width of the road ahead (steps S13 and S14) and the steps of determining based on the road surface conditions of the road ahead (steps S15 and S16). may be performed.
  • FIG. 5 is a block diagram showing a configuration example of the control device 2 of the vehicle 1. As shown in FIG. In FIG. 5, a schematic plan view and a side view of the vehicle 1 are shown. As the vehicle 1, a sedan-type four-wheeled passenger car is exemplified.
  • the control device 2 corresponds to the processing section 140 of the in-vehicle device 100 shown in FIG. 2 and controls each section of the vehicle 1 .
  • the control device 2 includes a plurality of ECUs 20 to 29 communicatively connected by an in-vehicle network.
  • Each ECU (Electronic Control Unit) includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like.
  • the storage device stores programs executed by the processor, data used for processing by the processor, and the like.
  • Each ECU may include a plurality of processors, storage devices, interfaces, and the like.
  • the ECU 20 includes a processor 20a and a memory 20b.
  • Processing by the ECU 20 is executed by the processor 20a executing instructions included in the program stored in the memory 20b.
  • the ECU 20 may include a dedicated integrated circuit such as an ASIC for executing processing by the ECU 20 . The same applies to other ECUs.
  • each ECU 20 to 29 takes charge of will be described below. It should be noted that the number of ECUs and the functions they are in charge of can be appropriately designed, and it is possible to subdivide or integrate them more than in the present embodiment.
  • the ECU 20 performs overall control of the vehicle 1 (self-vehicle) according to this embodiment.
  • the ECU 20 can be configured to execute control related to automatic driving of the vehicle 1 .
  • the ECU 20 can automatically control at least one of steering and vehicle speed (acceleration/deceleration) of the vehicle 1 .
  • the ECU 21 controls the electric power steering device 3.
  • the electric power steering device 3 includes a mechanism that steers the front wheels according to the driver's driving operation (steering operation) on the steering wheel 31 .
  • the electric power steering device 3 also includes a motor 3a that exerts a driving force for assisting a steering operation and automatically steering the front wheels, a steering angle sensor 3b that detects a steering angle, and the like.
  • the ECU 21 automatically controls the electric power steering device 3 in response to instructions from the ECU 20 to control the traveling direction of the vehicle 1 .
  • the ECUs 22 and 23 control the detection units 41 to 43 that detect the vehicle's surroundings and process information on the detection results.
  • the detection unit 41 corresponds to the imaging unit 110 (camera) of the in-vehicle device 100 shown in FIG. be).
  • the camera 41 is attached to the vehicle interior side of the front window in the front part of the roof of the vehicle 1 so as to be able to photograph the front of the vehicle 1 .
  • Analysis (image processing) of the images captured by the camera 41 analyzes the target in front of the vehicle 1, as well as the width (width) and state of the road in front of the vehicle 1, the display of traffic lights, and the lanes on the road. Demarcation lines (white lines, etc.) can be analyzed (extracted).
  • the detection unit 42 is a Light Detection and Ranging (LIDAR), and uses light to detect targets around the vehicle 1 and measure the distance to the target. Below, the detection unit 42 may be described as “rider 42".
  • the detection unit 43 is a millimeter wave radar, and uses radio waves to detect targets around the vehicle 1 and to measure the distance to the target. Below, the detection unit 43 may be described as "radar 43".
  • the ECU 22 controls the one camera 41 and each rider 42 and processes the detection results.
  • the ECU 23 performs control of the other camera 41 and each radar 43 and information processing of detection results.
  • the ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and performs information processing of detection results or communication results.
  • a gyro sensor 5 detects rotational motion of the vehicle 1 .
  • the course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel speed, and the like.
  • GPS sensor 24 b detects the current position of vehicle 1 .
  • the communication device 24c performs wireless communication with the server via the network. Using this communication device 24c, the ECU 24 can receive information from the server via the network, and transmit information to the server via the network.
  • the ECU 24 can access a map information database 24a built in a storage device, and the ECU 24 searches for a route from the current location to the destination.
  • the database 24a can be placed on a network, and the communication device 24c can access the database 24a on the network to obtain information.
  • the ECU 25 includes a communication device 25a capable of communicating with an information processing device such as vehicle-to-vehicle communication, road-to-vehicle communication, or a smartphone.
  • the communication device 25a can wirelessly communicate with other vehicles in the vicinity to exchange information between vehicles, or can exchange information with an external information processing device or the like by wireless communication.
  • the communication device 24c and the communication device 25a correspond to the communication section 130 of the in-vehicle device 100 shown in FIG.
  • the ECU 26 controls the power plant 6.
  • the power plant 6 is a mechanism that outputs driving force for rotating the drive wheels of the vehicle 1, and includes, for example, an engine and a transmission.
  • the configuration of the power plant 6 is not limited to this example, and includes an electric vehicle using an electric motor as a power source, a hybrid vehicle having both an engine and an electric motor, and the like.
  • the ECU 26 controls the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, or detects the vehicle speed detected by the vehicle speed sensor 7c.
  • the gear stage of the transmission is switched based on the information.
  • the ECU 26 automatically controls the power plant 6 in response to instructions from the ECU 20 to control the vehicle speed (the speed and acceleration/deceleration of the vehicle 1).
  • the ECU 27 controls the direction indicators 8a (winkers) and lamps 8b (headlights, taillights, etc.).
  • the ECU 28 also controls the input/output device 9 .
  • the input/output device 9 outputs information to passengers including the driver, and receives input of information from the passengers.
  • a voice output device 91 (for example, a speaker) notifies the passenger of information by voice.
  • a display device 92 (for example, a display) notifies the driver of information by displaying an image. Audio output device 91 and/or display device 92 correspond to notification unit 120 of in-vehicle device 100 shown in FIG.
  • the input device 93 is arranged at a position operable by the driver, and includes a group of switches for inputting instructions to the vehicle 1 and a voice input device for inputting the voice of the passenger.
  • the ECU 29 controls the braking device 10 and a parking brake (not shown).
  • the brake device 10 is, for example, a disc brake device, is provided on each wheel of the vehicle 1, and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheels.
  • the ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example.
  • the ECU 29 automatically controls the braking device 10 in response to instructions from the ECU 20 to control deceleration and stopping of the vehicle 1 .
  • the brake device 10 and the parking brake can also be operated to keep the vehicle 1 stopped.
  • the transmission of the power plant 6 is equipped with a parking lock mechanism, it can also be operated to keep the vehicle 1 in a stopped state.
  • the ECU 20 that controls the automatic driving uses the determination result of the determination unit 143 described in the first embodiment to control the automatic driving before the vehicle 1 enters the front road. Furthermore, since it is possible to determine whether or not the vehicle 1 can pass through the front road, it is possible to realize more accurate automatic driving.
  • a program that implements one or more functions described in the above embodiments is supplied to a system or device via a network or storage medium, and one or more processors in the computer of the system or device read this program. can be executed.
  • the present invention can also be realized by such an aspect.
  • the in-vehicle device of the above embodiment includes: An in-vehicle device (eg, 100) mounted on a vehicle (eg, 1), detection means (e.g. 142) for detecting a drivable width (e.g. W 2 ) of a road (e.g. R) around the vehicle; determining means (for example, 143) for determining whether or not the vehicle can pass through the road based on the vehicle information about the vehicle and the travelable width of the road detected by the detecting means; .
  • the occupant (driver) of the vehicle can grasp whether or not the vehicle can pass through the road before the vehicle enters the road around the vehicle.
  • the driving state of the vehicle is automatic driving, it is possible to grasp whether the vehicle can pass through the road before the vehicle enters the road around the vehicle. It becomes possible to realize driving.
  • the vehicle information includes information indicating the vehicle width (for example, W 1 ) or vehicle class of the vehicle.
  • the judging means judges whether or not the vehicle can pass through the road based on the width or class of the vehicle and the width of the road detected by the detecting means. According to this embodiment, it is possible to appropriately determine whether or not the vehicle can pass through the road around the vehicle according to the width and class of the vehicle.
  • the detection means further detects a road surface condition of the road
  • the judging means judges whether or not the vehicle can pass through the road based on the vehicle information and the road surface condition detected by the detecting means. According to this embodiment, it is possible to appropriately determine whether or not the vehicle can travel on the road, that is, whether or not the vehicle can pass through the road, according to the road surface conditions around the vehicle. can be done.
  • notification means for example, 120, 144.
  • a vehicle occupant for example, a driver
  • It further comprises communication means (for example, 130, 144) for transmitting information about the width of the road that can be traveled, detected by the detection means, to at least one of surrounding vehicles present around the vehicle and a server.
  • communication means for example, 130, 144 for transmitting information about the width of the road that can be traveled, detected by the detection means, to at least one of surrounding vehicles present around the vehicle and a server.
  • the communication means when the detection means detects that the width of the road becomes narrower in the traveling direction of the vehicle, transmits information to that effect to the at least one of the vehicles.
  • the width of the road itself becomes narrower, and the drivable width of the road becomes narrower. In this case, it is possible to make a vehicle that is scheduled to pass through the road later understand that the width of the road that can be traveled will be narrower.
  • the communication means transmits the information about the width of the road that can be traveled detected by the detection means only to following vehicles having a vehicle width or vehicle class equal to or smaller than the vehicle, among the following vehicles of the vehicle.
  • the following vehicle of the vehicle 1 can grasp the width of the road around (in front of) the vehicle that the vehicle can travel through, for example, vehicle-to-vehicle communication.
  • the information about the width of the road that can be traveled is transmitted only to following vehicles whose vehicle width or vehicle class is equal to or less than the vehicle (self-vehicle), it can be advantageous in terms of reducing the amount of communication.

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  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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  • Transportation (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

This in-vehicle device to be mounted on a vehicle comprises: a detection means for detecting the width of a road around the vehicle in which the vehicle can travel; and a determination means for determining whether or not the vehicle can pass along the road, on the basis of vehicle information concerning the vehicle and the width of the road which is detected by the detection means and in which the vehicle can travel.

Description

車載装置、車両、情報処理方法、およびプログラムIn-vehicle device, vehicle, information processing method, and program
　本発明は、車載装置、車両、情報処理方法、およびプログラムに関する。 The present invention relates to an in-vehicle device, a vehicle, an information processing method, and a program.
　従来、レーダ装置やカメラ等を用いて自車両の周辺に存在する障害物を検出し、当該障害物と接触する恐れがある場合に、当該接触を回避するように車両制御を行う装置が開示されている（例えば特許文献１を参照）。 Conventionally, there has been disclosed a device that detects an obstacle existing around the own vehicle using a radar device, a camera, or the like, and controls the vehicle so as to avoid contact with the obstacle when there is a risk of contact with the obstacle. (See Patent Document 1, for example).
特開２００５－１３８７６４号公報JP 2005-138764 A
　自車両が侵入しようとする道路によっては、その道路の幅（走行可能な幅）が自車両の車幅より狭く、当該道路を自車両が通過することができない場合がある。そのため、当該道路を自車両が通過可能か否かを、当該道路に自車両が侵入する前に把握することが望まれる。 Depending on the road that the vehicle is trying to enter, the width of the road (drivable width) may be narrower than the width of the vehicle, and the vehicle may not be able to pass through the road. Therefore, it is desirable to know whether or not the vehicle can pass through the road before the vehicle enters the road.
　そこで、本発明は、自車両の前方の道路を自車両が通過可能か否かを把握することが可能な技術を提供することを目的とする。 Therefore, it is an object of the present invention to provide a technology that can determine whether or not the vehicle can pass on the road ahead of the vehicle.
　上記目的を達成するために、本発明の一側面としての車載装置は、車両に搭載される車載装置であって、前記車両の周囲における道路の走行可能な幅を検出する検出手段と、前記車両に関する車両情報と、前記検出手段で検出された前記道路の走行可能な幅とに基づいて、前記車両が前記道路を通過可能か否かを判断する判断手段と、を備えることを特徴とする。 In order to achieve the above object, an in-vehicle device as one aspect of the present invention is an in-vehicle device mounted on a vehicle, comprising detection means for detecting a travelable width of a road around the vehicle; determining means for determining whether or not the vehicle can pass through the road based on the vehicle information related to the road and the width of the road that can be traveled detected by the detecting means.
　本発明によれば、自車両の前方の道路を自車両が通過可能か否かを把握することが可能な技術を提供することができる。 According to the present invention, it is possible to provide a technology capable of ascertaining whether or not the vehicle can pass through the road ahead of the vehicle.
　添付図面は明細書に含まれ、その一部を構成し、本発明の実施の形態を示し、その記述と共に本発明の原理を説明するために用いられる。 The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present invention and, together with the description, are used to explain the principles of the present invention.
一実施形態に係る車載装置が搭載される車両の一例を示す図A diagram showing an example of a vehicle in which an in-vehicle device according to one embodiment is mounted. 一実施形態に係る車載装置の構成例を示すブロック図1 is a block diagram showing a configuration example of an in-vehicle device according to an embodiment; FIG. 車両の幅および前方道路の幅を説明するための図Diagram for explaining the width of the vehicle and the width of the road ahead 判断処理を示すフローチャートFlowchart showing judgment processing 一実施形態に係る車載装置が搭載される車両の他の例を示す図A diagram showing another example of a vehicle in which an in-vehicle device according to one embodiment is mounted
　以下、添付図面を参照して実施形態を詳しく説明する。尚、以下の実施形態は特許請求の範囲に係る発明を限定するものでなく、また実施形態で説明されている特徴の組み合わせの全てが発明に必須のものとは限らない。実施形態で説明されている複数の特徴のうち二つ以上の特徴が任意に組み合わされてもよい。また、同一若しくは同様の構成には同一の参照番号を付し、重複した説明は省略する。 Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the features described in the embodiments may be combined arbitrarily. Also, the same or similar configurations are denoted by the same reference numerals, and redundant explanations are omitted.
　＜第１実施形態＞
　本発明に係る一実施形態の車載装置１００について説明する。本発明に係る車載装置１００は、車両１（自車両）の周囲における道路の走行可能な幅を検出し、当該道路を当該車両１が通過可能か否かを判断する装置である。また、以下では、本発明に係る車載装置１００が搭載される車両１として鞍乗型車両（自動二輪車）を例示して説明するが、例えば、三輪車などの他の形式の鞍乗型車両や四輪車（普通自動車、軽自動車、トラックなど）においても本発明に係る車載装置を搭載することができる。ここで、「道路の走行可能な幅」とは、道路のうち車両が実際に走行（通過）することができる部分の幅のことであり、一例として、道路のうち、路側帯や歩道、路肩など車両の走行が禁止されている禁止部分を除いた車道部分（例えば、車道外側線より内側の部分）の幅や、障害物が位置する部分以外の部分の幅を含みうる。以下では、「道路の走行可能な幅」を、単に「道路の幅」と表記することがある。 <First Embodiment>
An in-vehicle device 100 according to one embodiment of the present invention will be described. An in-vehicle device 100 according to the present invention is a device that detects the width of a road around which a vehicle 1 (self-vehicle) can travel, and determines whether or not the vehicle 1 can pass through the road. In the following description, a straddle-type vehicle (motorcycle) will be exemplified as the vehicle 1 on which the in-vehicle device 100 according to the present invention is mounted. The in-vehicle device according to the present invention can also be installed in wheeled vehicles (ordinary cars, light cars, trucks, etc.). Here, the ``drivable width of a road'' is the width of a portion of a road on which a vehicle can actually run (pass). It can include the width of the roadway part (for example, the part inside the roadway outside line) excluding the prohibited part where the vehicle is prohibited, and the width of the part other than the part where the obstacle is located. Hereinafter, the “drivable width of the road” may be simply referred to as “the width of the road”.
　図１は、本実施形態の車載装置１００が搭載される車両１（鞍乗型車両）の一例を示す図である。図１において、矢印ＦＲは車両１の前後方向を示しており、ＦＴは前方、ＲＲは後方を示している。図１に示される車両１は、前輪ＦＷおよび後輪ＲＷを有する自動二輪車であり、例えば、運転者（ライダ）が着座する運転席ＳＴ（シート）と、各種メータが搭載されるメータパネルＭＰと、車両１の操舵を行うために運転者が把持するハンドルＨＤと、走行風を防ぐために運転者の前方に配置されるスクリーンＳＣとを含みうる。また、車両１には、車両１の周囲（例えば前方）を撮影するカメラＣＭＲと、運転者に情報を通知する通知部ＮＴＣとが設けられる。通知部ＮＴＣは、例えば、音声出力装置（例えばスピーカ）および／または表示装置（例えばディスプレイ）を含みうる。カメラＣＭＲおよび／または通知部ＮＴＣは、車載装置１００の構成要素として理解されてもよい。 FIG. 1 is a diagram showing an example of a vehicle 1 (straddle-type vehicle) in which an in-vehicle device 100 of this embodiment is mounted. In FIG. 1, the arrow FR indicates the longitudinal direction of the vehicle 1, FT indicates the front, and RR indicates the rear. A vehicle 1 shown in FIG. 1 is a motorcycle having front wheels FW and rear wheels RW. , a steering wheel HD that is gripped by the driver to steer the vehicle 1, and a screen SC that is placed in front of the driver to prevent the wind from traveling. The vehicle 1 is also provided with a camera CMR that captures the surroundings (for example, the front) of the vehicle 1 and a notification unit NTC that notifies the driver of information. The notification part NTC may include, for example, an audio output device (eg a speaker) and/or a display device (eg a display). Camera CMR and/or notification unit NTC may be understood as components of in-vehicle device 100 .
　［車載装置の構成］
　次に、本実施形態の車載装置１００の構成例について、図２を参照しながら説明する。図２は、本実施形態の車載装置１００の構成例を示すブロック図である。車載装置１００は、前述したように、車両１（自車両）の周囲における道路を当該車両１が通過可能か否かを判断する装置であり、システムバス１５０を介して相互に通信可能に接続された撮影部１１０、通知部１２０、通信部１３０、および処理部１４０を備えうる。なお、以下では、撮影部１１０が車両１の前方を撮影するように配置されており、当該撮影部１１０を用いて得られた車両１の前方の画像に基づいて、車両１の前方における道路を当該車両１が通過可能か否かを判断する例について説明する。 [Configuration of in-vehicle device]
Next, a configuration example of the in-vehicle device 100 of this embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing a configuration example of the in-vehicle device 100 of this embodiment. As described above, the in-vehicle device 100 is a device that determines whether or not the vehicle 1 can pass through the road around the vehicle 1 (self-vehicle). A photographing unit 110, a notification unit 120, a communication unit 130, and a processing unit 140 can be provided. In the following description, the photographing unit 110 is arranged to photograph the front of the vehicle 1, and the road in front of the vehicle 1 is captured based on the image of the front of the vehicle 1 obtained using the photographing unit 110. An example of determining whether or not the vehicle 1 can pass will be described.
　撮影部１１０は、例えば図１のカメラＣＭＲに対応するものであり、車両１の周囲（例えば前方）を撮影し、車両１の周囲（前方）の画像を生成する。撮影部１１０は、車両１の周囲（前方）に存在する物体や標識を含む物標に関する外界情報（前方情報）を取得する外界センサとして理解されてもよい。本実施形態の場合、撮影部１１０は、車両１の前方における道路を撮影し、当該道路を含む画像を生成しうる。なお、以下では、撮影部１１０をカメラ１１０と表記することがある。 The photographing unit 110 corresponds to, for example, the camera CMR of FIG. The photographing unit 110 may be understood as an external sensor that acquires external world information (forward information) regarding targets including objects and signs that exist around (in front of) the vehicle 1 . In the case of this embodiment, the photographing unit 110 can photograph a road in front of the vehicle 1 and generate an image including the road. In addition, below, the imaging unit 110 may be referred to as the camera 110 .
　通知部１２０は、例えば図１の通知部ＮＴＣ（音声出力装置および／または表示装置）に対応するものである。通知部１２０は、音声出力装置（スピーカ）を用いて音声により、および／または、表示装置（ディスプレイ）への表示により、後述する判断部１４３での判断結果を車両１の乗員（例えば運転者）に通知する。 The notification unit 120 corresponds to, for example, the notification unit NTC (audio output device and/or display device) in FIG. The notification unit 120 notifies an occupant (for example, a driver) of the vehicle 1 of the judgment result of the judgment unit 143 (to be described later) by voice using an audio output device (speaker) and/or by display on a display device (display). to notify.
　通信部１３０は、後述する検出部１４２で検出された前方道路の状態（走行可能な幅）に関する情報を、車外のサーバに送信したり、車両１の周囲に存在する周囲車両（例えば後続車両）に送信（車車間通信）したりしうる。なお、前方道路の状態に関する情報を受信した車外のサーバは、周囲車両に当該情報を送信してもよいし、地図情報として利用してもよい。また、前方道路の状態に関する情報を受信した周囲車両は、周囲車両に設けられたディスプレイに当該情報を表示して、当該周囲車両の運転者に通知してもよい。 The communication unit 130 transmits information about the state of the road ahead (drivable width) detected by the detection unit 142 (to be described later) to a server outside the vehicle, and detects surrounding vehicles existing around the vehicle 1 (for example, following vehicles). (vehicle-to-vehicle communication). The server outside the vehicle that has received information about the state of the road ahead may transmit the information to surrounding vehicles, or may use the information as map information. In addition, the surrounding vehicles that have received the information about the state of the road ahead may display the information on a display provided in the surrounding vehicle to notify the driver of the surrounding vehicle.
　処理部１４０は、ＣＰＵに代表されるプロセッサ、半導体メモリ等の記憶デバイス、外部デバイスとのインタフェース等を含むコンピュータによって構成されうる。処理部１４０は、車両Ｖの各部を制御するＥＣＵ（Electronic Control Unit）の一部として構成されてもよい。本実施形態の場合、記憶デバイスには、車両１の前方における道路を当該車両１が通過可能か否かを判断するためのプログラム（以下では、判断プログラムと表記することがある）が格納されており、判断プログラムに含まれる命令をプロセッサが実行することにより、車両１の前方における道路を当該車両１が通過可能か否かを判断する判断処理が処理部１４０で実行されうる。また、本実施形態の処理部１４０は、取得部１４１と、検出部１４２と、判断部１４３と、出力部１４４とを含みうる。 The processing unit 140 can be configured by a computer including a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The processing section 140 may be configured as part of an ECU (Electronic Control Unit) that controls each section of the vehicle V. FIG. In the case of this embodiment, the storage device stores a program for determining whether or not the vehicle 1 can pass the road ahead of the vehicle 1 (hereinafter sometimes referred to as a determination program). When the processor executes the instructions included in the determination program, the processing unit 140 can determine whether or not the vehicle 1 can pass the road ahead of the vehicle 1 . Also, the processing unit 140 of this embodiment may include an acquisition unit 141 , a detection unit 142 , a determination unit 143 , and an output unit 144 .
　取得部１４１は、各種情報や各種データを取得する。本実施形態の場合、取得部１４１は、カメラ１１０で得られた画像を取得する。また、取得部１４１は、車両１に関する情報（以下では、車両情報と表記することがある）を取得してもよい。車両情報が車両１（処理部１４０）の記憶デバイスに記憶されている場合には、取得部１４１は、当該記憶デバイスから車両情報を取得しうる。一方、車両情報が車外のサーバ（ネットワーク上のデータベース）に記憶されている場合には、取得部１４１は、通信部１３０を介して当該サーバから車両情報を取得しうる。ここで、車両情報は、車両１の車幅および／または車格に関する情報を含みうる。本実施形態の場合、車両情報は、例えば、二輪車の排気量、スクータ、モータサイクル、普通自動車、軽自動車、トラック、三輪車などの車格情報、車両１の車幅情報、および／または、車両１の全長、形態、駆動方式（四輪駆動、二輪駆動）などの情報を含みうる。 The acquisition unit 141 acquires various types of information and data. In the case of this embodiment, the acquisition unit 141 acquires the image obtained by the camera 110 . The acquisition unit 141 may also acquire information about the vehicle 1 (hereinafter sometimes referred to as vehicle information). When vehicle information is stored in a storage device of vehicle 1 (processing unit 140), acquisition unit 141 can acquire vehicle information from the storage device. On the other hand, when the vehicle information is stored in a server outside the vehicle (database on the network), the acquisition unit 141 can acquire the vehicle information from the server via the communication unit 130 . Here, the vehicle information may include information regarding the vehicle width and/or vehicle class of the vehicle 1 . In the case of the present embodiment, the vehicle information includes, for example, displacement of a two-wheeled vehicle, vehicle class information such as a scooter, a motorcycle, an ordinary vehicle, a light vehicle, a truck, and a tricycle, vehicle width information of the vehicle 1, and/or vehicle 1 It can include information such as the total length, shape, and drive system (four-wheel drive, two-wheel drive) of the vehicle.
　検出部１４２は、取得部１４１によりカメラ１１０から得られた画像に基づいて、車両１の前方における道路（以下では、前方道路と表記することがある）の状態を検出する。本実施形態の場合、検出部１４２は、取得部１４１によりカメラ１１０から得られた画像に対して公知の画像処理を行うことにより、前方道路を抽出するとともに、当該前方道路の状態を検出する。前方道路の状態とは、例えば、当該前方道路の幅（幅員）、および／または、当該前方道路の路面状況を含みうる。一例として、検出部１４２は、取得部１４１で得られた画像に含まれる前方道路の特徴点（例えば、区画線（白線）、路肩の段差、側壁など）を公知の画像処理を用いて抽出することにより、前方道路の幅（道路の走行可能な幅）を検出することができる。また、検出部１４２は、取得部１４１で得られた画像に含まれる前方道路の路面の反射率および／または鏡面度を公知の画像処理を用いて算出することにより、前方道路が濡れている状態（ウェット状態）なのか、或いは、前方道路が凍結状態なのかなど、前方道路の路面状況を検出することができる。 The detection unit 142 detects the state of the road in front of the vehicle 1 (hereinafter sometimes referred to as the front road) based on the image obtained from the camera 110 by the acquisition unit 141 . In this embodiment, the detection unit 142 extracts the road ahead and detects the state of the road ahead by performing known image processing on the image obtained from the camera 110 by the acquisition unit 141 . The state of the road ahead can include, for example, the width of the road ahead and/or the road surface condition of the road ahead. As an example, the detection unit 142 extracts feature points of the road ahead (eg, lane markings (white lines), steps on the shoulder, side walls, etc.) included in the image obtained by the acquisition unit 141 using known image processing. This makes it possible to detect the width of the road ahead (the width of the road in which the vehicle can travel). In addition, the detection unit 142 calculates the reflectance and/or specularity of the road surface of the road ahead included in the image obtained by the acquisition unit 141 using known image processing, thereby detecting whether the road ahead is wet. It is possible to detect the road surface condition of the road ahead, such as whether it is wet (wet) or frozen.
　判断部１４３は、取得部１４１で取得された車両情報と、検出部１４２で検出された前方道路の状態（道路の幅、路面状況）とに基づいて、車両１が当該前方道路を通過可能か否かを判断する。例えば、判断部１４３は、図３に示されるように、車両情報に含まれる車両１の幅Ｗ１と、検出部１４２で検出された前方道路Ｒの幅Ｗ２とを比較し、車両１の幅Ｗ１より前方道路Ｒの幅Ｗ２の方が広ければ、車両１が前方道路Ｒを通過可能であると判断する。一方、車両１の幅Ｗ１より前方道路Ｒの幅Ｗ２の方が狭ければ、車両１が前方道路Ｒを通過不可であると判断する。また、判断部１４３は、車両情報と検出部１４２で検出された前方道路Ｒの路面状況とを比較し、車両１が前方道路Ｒを走行可能か否かを判断しうる。一例として、路面状況がウェット状態または凍結状態であり、且つ、車両１が鞍乗型車両（自動二輪車）である場合、判断部１４３は、車両１が前方道路Ｒを走行不可であると判断する。なお、図３は、車両１の幅Ｗ１および前方道路Ｒの幅Ｗ２を説明するための図であり、図中における矢印ＴＤは、車両１の進行方向を示している。 Based on the vehicle information acquired by the acquisition unit 141 and the state of the road ahead (road width, road surface condition) detected by the detection unit 142, the determination unit 143 determines whether the vehicle 1 can pass through the road ahead. determine whether or not For example, as shown in FIG . 3, the determination unit 143 compares the width W1 of the vehicle 1 included in the vehicle information with the width W2 of the forward road R detected by the detection unit 142, and determines the width of the vehicle 1. If the width W2 of the front road R is wider than the width W1, it is determined that the vehicle 1 can pass through the front road R. On the other hand, if the width W2 of the front road R is narrower than the width W1 of the vehicle 1 , it is determined that the vehicle 1 cannot pass through the front road R. Further, the determination unit 143 can compare the vehicle information with the road surface condition of the front road R detected by the detection unit 142, and determine whether the vehicle 1 can travel on the front road R or not. As an example, when the road surface condition is wet or icy and the vehicle 1 is a straddle-type vehicle (motorcycle), the determination unit 143 determines that the vehicle 1 cannot travel on the forward road R. . FIG . 3 is a diagram for explaining the width W1 of the vehicle 1 and the width W2 of the forward road R, and the arrow TD in the diagram indicates the traveling direction of the vehicle 1. As shown in FIG.
　出力部１４４は、判断部１４３により車両１が前方道路を通過可能か否かの判断が行われた場合、その判断結果を通知部１２０に出力する。例えば、出力部１４４は、判断部１４３での判断結果を示す情報を、通知部１２０としての表示装置（ディスプレイ）に出力（送信）することにより、当該判断結果を車両１の乗員（例えば運転者）に通知（報知）することができる。また、出力部１４４は、検出部１４２により前方道路の状態が検出された場合、その前方道路の状態に関する情報を通信部１３０に出力する。これにより、出力部１４４は、通信部１３０を介して、前方道路の状態に関する情報を車体のサーバに送信したり、当該情報を周囲車両（例えば後続車両）に送信したりすることができる。 The output unit 144 outputs the determination result to the notification unit 120 when the determination unit 143 determines whether or not the vehicle 1 can pass through the road ahead. For example, the output unit 144 outputs (transmits) information indicating the determination result of the determination unit 143 to a display device (display) serving as the notification unit 120, so that the determination result is displayed to the passenger of the vehicle 1 (for example, the driver). ) can be notified (notified). Further, when the detection unit 142 detects the state of the road ahead, the output unit 144 outputs information about the state of the road ahead to the communication unit 130 . As a result, the output unit 144 can transmit information about the state of the road ahead to the server in the vehicle body and transmit the information to surrounding vehicles (for example, following vehicles) via the communication unit 130 .
　［判断処理のフロー］
　次に、処理部１４０で実行される判断処理（情報処理方法）のフローについて説明する。前述したように、判断処理は、車両１が前方道路を通過可能か否かを判断する処理のことである。図４は、処理部１４０で実行される判断処理を示すフローチャートである。図４に示すフローチャートは、繰り返し実行されうるものであり、ステップＳ１９が終了した後もステップＳ１１から新たに開始されうる（ステップＳ１２から新たに開始されてもよい）。 [Determination process flow]
Next, the flow of determination processing (information processing method) executed by the processing unit 140 will be described. As described above, the judgment process is a process of judging whether or not the vehicle 1 can pass on the road ahead. FIG. 4 is a flowchart showing determination processing executed by the processing unit 140. As shown in FIG. The flowchart shown in FIG. 4 can be repeatedly executed, and can be newly started from step S11 even after step S19 is finished (or can be newly started from step S12).
　ステップＳ１１では、処理部１４０（取得部１４１）は、車両情報を取得する。前述したように、車両情報は、車両１の車幅および／または車格に関する情報を含みうる。処理部１４０は、車両情報が車両１の記憶デバイスに記憶されている場合には当該記憶デバイスから車両情報を取得し、車両情報が車外のサーバに記憶されている場合には通信部１３０を介して当該サーバから車両情報を取得しうる。 At step S11, the processing unit 140 (acquisition unit 141) acquires vehicle information. As described above, the vehicle information may include information regarding the vehicle width and/or vehicle class of the vehicle 1 . If the vehicle information is stored in the storage device of the vehicle 1, the processing unit 140 acquires the vehicle information from the storage device. vehicle information from the server.
　ステップＳ１２では、処理部１４０（取得部１４１）は、車両１の周囲（前方）をカメラ１１０に撮影させ、それによりカメラ１１０で得られた画像を取得する。次いで、ステップＳ１３では、処理部１４０（検出部１４２）は、ステップＳ１２で取得した画像に基づいて、前方道路の幅を検出する。例えば、処理部１４０は、前述したように、ステップＳ１２で取得した画像に対して公知の画像処理を行うことにより、当該画像に含まれる前方道路を抽出し、当該前方道路の幅を検出することができる。ここで、本ステップＳ１３において、処理部１４０（出力部１４４）は、前方道路の幅に関する情報を通知部１２０に出力することにより、当該情報を車両１の乗員に通知してもよい。また、処理部１４０（出力部１４４）は、前方道路の幅に関する情報を通信部１３０に出力することにより、当該情報を、車外のサーバおよび周囲車両（例えば後続車両）の少なくとも一方に送信してもよい。処理部１４０は、前方道路の幅に関する情報を後続車両に送信する場合、車両１（自車両）の後続車両のうち車幅または車格が車両１以下である後続車両のみに当該情報を送信してもよい。一例として、処理部１４０は、通信部１３０（例えば車車間通信）を介して、後続車両の車幅または車格に関する後続車両情報を取得し、その後続車両情報に基づいて、車幅または車格が車両１以下である後続車両を特定することができる。これにより、処理部１４０は、特定した後続車両のみに対して、前方道路の幅に関する情報を送信することができるため、通信量の低減の点で有利になりうる。 In step S12, the processing unit 140 (acquisition unit 141) causes the camera 110 to photograph the surroundings (front) of the vehicle 1, thereby acquiring the image obtained by the camera 110. Next, in step S13, the processing unit 140 (detection unit 142) detects the width of the road ahead based on the image acquired in step S12. For example, as described above, the processing unit 140 performs known image processing on the image acquired in step S12 to extract the road ahead included in the image and detect the width of the road ahead. can be done. Here, in this step S13, the processing unit 140 (output unit 144) may notify the occupant of the vehicle 1 of the information by outputting the information on the width of the forward road to the notification unit 120. FIG. In addition, the processing unit 140 (output unit 144) outputs information about the width of the road ahead to the communication unit 130, thereby transmitting the information to at least one of a server outside the vehicle and surrounding vehicles (for example, following vehicles). good too. When transmitting the information about the width of the road ahead to the following vehicles, the processing unit 140 transmits the information only to the following vehicles of the following vehicles of the vehicle 1 (own vehicle) whose vehicle width or vehicle class is equal to or smaller than the vehicle 1. may As an example, the processing unit 140 acquires following vehicle information regarding the vehicle width or vehicle rating of the following vehicle via the communication unit 130 (for example, vehicle-to-vehicle communication), and based on the following vehicle information, determines the vehicle width or vehicle size. is less than or equal to vehicle 1 can be identified. As a result, the processing unit 140 can transmit information about the width of the road ahead only to the specified following vehicle, which can be advantageous in reducing the amount of communication.
　ステップＳ１４では、処理部１４０（判断部１４３）は、ステップＳ１１で取得した車両情報に含まれる車両１の幅と、ステップＳ１３で検出された前方道路の幅とを比較し、車両１の幅より前方道路の幅の方が広いか否かを判断する。車両１の幅より前方道路の幅の方が広い場合にはステップＳ１５に進む。一方、車両１の幅より前方道路の幅の方が狭い場合にはステップＳ１８に進み、処理部１４０（判断部１４３）は、車両１が前方道路を通過不可であると判断する。 In step S14, the processing unit 140 (determining unit 143) compares the width of the vehicle 1 included in the vehicle information acquired in step S11 with the width of the road ahead detected in step S13, and determines the width of the vehicle 1. It is determined whether or not the width of the road ahead is wider. If the width of the road ahead is wider than the width of the vehicle 1, the process proceeds to step S15. On the other hand, if the width of the road ahead is narrower than the width of the vehicle 1, the process advances to step S18, and the processing unit 140 (determining unit 143) determines that the vehicle 1 cannot pass through the road ahead.
　ステップＳ１５では、処理部１４０（検出部１４２）は、ステップＳ１２で取得した画像に基づいて、前方道路の路面状況を検出する。例えば、処理部１４０は、前述したように、ステップＳ１２で取得した画像に対して公知の画像処理を行い、前方道路の反射率および／または鏡面度を算出することにより、前方道路の路面状況を検出することができる。ここで、本ステップＳ１５において、処理部１４０（出力部１４４）は、前方道路の路面状況に関する情報を通知部１２０に出力することにより、当該当該情報を車両１の乗員に通知してもよい。また、処理部１４０（出力部１４４）は、前方道路の路面状況に関する情報を通信部１３０に出力することにより、当該情報を、車外のサーバおよび周囲車両（例えば後続車両）の少なくとも一方に送信してもよい。 In step S15, the processing unit 140 (detection unit 142) detects the road surface condition of the road ahead based on the image acquired in step S12. For example, as described above, the processing unit 140 performs known image processing on the image acquired in step S12 to calculate the reflectance and/or specularity of the road ahead, thereby determining the road surface condition of the road ahead. can be detected. Here, in step S15, the processing unit 140 (output unit 144) may notify the occupant of the vehicle 1 of the information about the road surface condition of the road ahead by outputting the information to the notification unit 120. FIG. In addition, the processing unit 140 (output unit 144) outputs information about the road surface condition of the road ahead to the communication unit 130, thereby transmitting the information to at least one of a server outside the vehicle and surrounding vehicles (for example, following vehicles). may
　ステップＳ１６では、処理部１４０（判断部１４３）は、車両１が前方道路を走行可能か否かを判断する。例えば、処理部１４０は、前述したように、ステップＳ１１で取得した車両情報と、ステップＳ１５で検出された前方道路の路面状況とに基づいて、車両１が前方道路を走行可能か否かを判断する。車両１が前方道路を走行可能であると判断した場合にはステップＳ１７に進み、処理部１４０（判断部１４３）は、車両１が前方道路を通過可能であると判断する。一方、車両１が前方道路を走行不可であると判断した場合にはステップＳ１８に進み、処理部１４０（判断部１４３）は、車両１が前方道路を通過不可であると判断する。 At step S16, the processing unit 140 (determination unit 143) determines whether the vehicle 1 can travel on the road ahead. For example, as described above, the processing unit 140 determines whether the vehicle 1 can travel on the road ahead based on the vehicle information acquired in step S11 and the road surface condition of the road ahead detected in step S15. do. When it is determined that the vehicle 1 can travel on the road ahead, the process proceeds to step S17, and the processing unit 140 (determining unit 143) determines that the vehicle 1 can pass the road ahead. On the other hand, if it is determined that the vehicle 1 cannot travel on the road ahead, the process advances to step S18, and the processing unit 140 (determining unit 143) determines that the vehicle 1 cannot pass the road ahead.
　ステップＳ１９では、処理部１４０（出力部１４４）は、ステップＳ１７またはＳ１８での判断結果を車両１の乗員に通知する。例えば、処理部１４０は、前述したように、ステップＳ１７またはＳ１８での判断結果を示す情報を、通知部１２０としての音声出力装置（スピーカ）および／または表示装置（ディスプレイ）に出力（送信）することにより、当該判断結果を車両１の乗員（例えば運転者）に通知することができる。 In step S19, the processing unit 140 (output unit 144) notifies the occupant of the vehicle 1 of the determination result in step S17 or S18. For example, as described above, the processing unit 140 outputs (transmits) information indicating the determination result in step S17 or S18 to an audio output device (speaker) and/or a display device (display) as the notification unit 120. Accordingly, it is possible to notify the passenger (for example, the driver) of the vehicle 1 of the determination result.
　上述したように、本実施形態の車載装置１００は、車両１の周囲を撮影する撮影部１１０（カメラ）で得られた画像に基づいて、当該車両１の周囲における道路（前方道路）を当該車両１が通過可能か否かを判断する。このような処理により、車両１の乗員（運転者）は、車両１が前方道路に侵入する前に、車両１が当該前方道路を通過可能か否かを把握することができる。 As described above, the in-vehicle device 100 of the present embodiment captures the road (front road) around the vehicle 1 based on the image obtained by the image capturing unit 110 (camera) that captures the surroundings of the vehicle 1. Determine whether or not 1 can pass. Through such processing, the occupant (driver) of the vehicle 1 can grasp whether or not the vehicle 1 can pass through the front road before the vehicle 1 enters the front road.
　ここで、上記実施形態において、処理部１４０は、図４のフローチャートを繰り返すことにより、車両１の進行方向において前方道路が狭くなることを検出した場合、当該前方道路が狭くなる旨を示す情報を、通信部１３０を介して車外のサーバおよび周囲車両（例えば後続車両）の少なくとも一方に送信してもよい。一例として、車両１の進行方向において道路自体の幅（幅員）が狭くなることにより、道路の走行可能な幅が狭くなっている場合、あるいは、道路自体の幅は変わらないが、車両１の進行方向に障害物があり、当該障害物により道路の走行可能な幅が狭くなっている場合に、その旨を示す情報を、通信部１３０を介して車外のサーバおよび周囲車両の少なくとも一方に送信しうる。これにより、後に当該前方道路を通過する予定の車両に対して、当該前方道路が徐々に狭くなることを把握させることが可能となる。 Here, in the above-described embodiment, when the processing unit 140 detects that the road ahead of the vehicle 1 is narrowing in the traveling direction by repeating the flow chart of FIG. , to at least one of a server outside the vehicle and a surrounding vehicle (for example, a following vehicle) via the communication unit 130 . As an example, when the width of the road itself becomes narrower in the direction in which the vehicle 1 travels, the width of the road becomes narrower, or when the width of the road itself does not change, the vehicle 1 travels further. When there is an obstacle in the direction, and the obstacle narrows the width of the road in which the vehicle can travel, information to that effect is transmitted to at least one of a server outside the vehicle and surrounding vehicles via the communication unit 130. sell. As a result, it becomes possible for a vehicle that is scheduled to pass through the road ahead to recognize that the road ahead will gradually become narrower.
　また、図４に示すフローチャートでは、処理部１４０が、前方道路の幅に基づいて車両１が当該前方道路を通過可能か否かを判断する工程（ステップＳ１３～Ｓ１４）、および、前方道路の路面状況に基づいて車両１が当該前方道路を通過可能か否かを判断する工程（ステップＳ１５～Ｓ１６）の両方を行う例について説明した。しかしながら、それに限られず、処理部１４０は、前方道路の幅に基づいて判断する工程（ステップＳ１３～Ｓ１４）、および、前方道路の路面状況に基づいて判断する工程（ステップＳ１５～Ｓ１６）の一方のみを行ってもよい。 Further, in the flowchart shown in FIG. 4, the processing unit 140 determines whether or not the vehicle 1 can pass through the front road based on the width of the front road (steps S13 to S14), and An example of performing both steps (steps S15 and S16) of determining whether or not the vehicle 1 can pass through the forward road based on the situation has been described. However, the processing unit 140 is not limited to this, and the processing unit 140 performs only one of the steps of determining based on the width of the road ahead (steps S13 and S14) and the steps of determining based on the road surface conditions of the road ahead (steps S15 and S16). may be performed.
　＜第２実施形態＞
　上記実施形態では、判断部１４３での判断結果を、車両１の乗員に通知したり、車外のサーバや周囲車両に送信したりする例を説明したが、それに限られず、判断部１４３での判断結果を車両１の自動運転に用いてもよい。判断部１４３での判断結果を車両１の自動運転に用いることにより、より高度な自動運転を実現することが可能なる。以下に、自動運転が可能な車両１の構成について説明する。本実施形態では、車両１として四輪車を例示して説明する。 <Second embodiment>
In the above embodiment, an example in which the determination result of the determination unit 143 is notified to the occupants of the vehicle 1 or transmitted to a server outside the vehicle or to surrounding vehicles has been described. The result may be used for automatic driving of the vehicle 1 . By using the determination result of the determination unit 143 for automatic driving of the vehicle 1, it is possible to realize more advanced automatic driving. The configuration of the vehicle 1 capable of automatic operation will be described below. In this embodiment, a four-wheeled vehicle will be described as an example of the vehicle 1 .
　図５は、車両１の制御装置２の構成例を示すブロック図である。図５では、車両１の概略が平面図と側面図とで図示されており、車両１としてはセダンタイプの四輪の乗用車が例示されている。 FIG. 5 is a block diagram showing a configuration example of the control device 2 of the vehicle 1. As shown in FIG. In FIG. 5, a schematic plan view and a side view of the vehicle 1 are shown. As the vehicle 1, a sedan-type four-wheeled passenger car is exemplified.
　制御装置２は、図２に示される車載装置１００の処理部１４０に対応するものであり、車両１の各部を制御する。制御装置２は車内ネットワークにより通信可能に接続された複数のＥＣＵ２０～２９を含む。各ＥＣＵ（Electronic Control Unit）は、ＣＰＵに代表されるプロセッサ、半導体メモリ等の記憶デバイス、外部デバイスとのインタフェース等を含む。記憶デバイスにはプロセッサが実行するプログラムやプロセッサが処理に使用するデータ等が格納される。各ＥＣＵはプロセッサ、記憶デバイスおよびインタフェース等を複数備えていてもよい。例えば、ＥＣＵ２０は、プロセッサ２０ａとメモリ２０ｂとを備える。メモリ２０ｂに格納されたプログラムが含む命令をプロセッサ２０ａが実行することによって、ＥＣＵ２０による処理が実行される。これに代えて、ＥＣＵ２０は、ＥＣＵ２０による処理を実行するためのＡＳＩＣ等の専用の集積回路を備えてもよい。他のＥＣＵについても同様である。 The control device 2 corresponds to the processing section 140 of the in-vehicle device 100 shown in FIG. 2 and controls each section of the vehicle 1 . The control device 2 includes a plurality of ECUs 20 to 29 communicatively connected by an in-vehicle network. Each ECU (Electronic Control Unit) includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used for processing by the processor, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like. For example, the ECU 20 includes a processor 20a and a memory 20b. Processing by the ECU 20 is executed by the processor 20a executing instructions included in the program stored in the memory 20b. Alternatively, the ECU 20 may include a dedicated integrated circuit such as an ASIC for executing processing by the ECU 20 . The same applies to other ECUs.
　以下、各ＥＣＵ２０～２９が担当する機能等について説明する。なお、ＥＣＵの数や担当する機能については適宜設計可能であり、本実施形態よりも細分化したり、あるいは、統合したりすることが可能である。 The functions that each ECU 20 to 29 takes charge of will be described below. It should be noted that the number of ECUs and the functions they are in charge of can be appropriately designed, and it is possible to subdivide or integrate them more than in the present embodiment.
　ＥＣＵ２０は、本実施形態に係る車両１（自車両）の統括的な制御を行う。ＥＣＵ２０は、車両１の自動運転に関わる制御を実行するように構成されうる。この場合、ＥＣＵ２０は、車両１の操舵および車速（加減速）の少なくとも一方を自動制御しうる。 The ECU 20 performs overall control of the vehicle 1 (self-vehicle) according to this embodiment. The ECU 20 can be configured to execute control related to automatic driving of the vehicle 1 . In this case, the ECU 20 can automatically control at least one of steering and vehicle speed (acceleration/deceleration) of the vehicle 1 .
　ＥＣＵ２１は、電動パワーステアリング装置３を制御する。電動パワーステアリング装置３は、ステアリングホイール３１に対する運転者の運転操作（操舵操作）に応じて前輪を操舵する機構を含む。また、電動パワーステアリング装置３は、操舵操作をアシストしたり、前輪を自動操舵したりするための駆動力を発揮するモータ３ａや、操舵角を検知する操舵角センサ３ｂ等を含む。車両１の運転状態が自動運転の場合、ＥＣＵ２１は、ＥＣＵ２０からの指示に対応して電動パワーステアリング装置３を自動制御し、車両１の進行方向を制御する。 The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism that steers the front wheels according to the driver's driving operation (steering operation) on the steering wheel 31 . The electric power steering device 3 also includes a motor 3a that exerts a driving force for assisting a steering operation and automatically steering the front wheels, a steering angle sensor 3b that detects a steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to instructions from the ECU 20 to control the traveling direction of the vehicle 1 .
　ＥＣＵ２２および２３は、車両の周囲状況を検知する検知ユニット４１～４３の制御および検知結果の情報処理を行う。検知ユニット４１は、図２に示される車載装置１００の撮影部１１０（カメラ）に対応するものであり、撮像により車両１の外界を周期的に撮影する（以下では、カメラ４１と表記することがある）。本実施形態の場合、カメラ４１は車両１の前方を撮影可能なように、車両１のルーフ前部でフロントウィンドウの車室内側に取り付けられる。カメラ４１が撮影した画像の解析（画像処理）により、車両１の前方における物標の解析に加えて、車両１の前方における道路の幅（幅員）や状態、信号機の表示、道路上の車線の区画線（白線等）などを解析可能（抽出可能）である。 The ECUs 22 and 23 control the detection units 41 to 43 that detect the vehicle's surroundings and process information on the detection results. The detection unit 41 corresponds to the imaging unit 110 (camera) of the in-vehicle device 100 shown in FIG. be). In the case of this embodiment, the camera 41 is attached to the vehicle interior side of the front window in the front part of the roof of the vehicle 1 so as to be able to photograph the front of the vehicle 1 . Analysis (image processing) of the images captured by the camera 41 analyzes the target in front of the vehicle 1, as well as the width (width) and state of the road in front of the vehicle 1, the display of traffic lights, and the lanes on the road. Demarcation lines (white lines, etc.) can be analyzed (extracted).
　検知ユニット４２は、Light Detection and Ranging（LIDAR：ライダ）であり、光により車両１の周囲の物標を検知したり、物標との距離を測距したりする。以下では、検知ユニット４２を「ライダ４２」と表記することがある。また、検知ユニット４３は、ミリ波レーダであり、電波により車両１の周囲の物標を検知したり、物標との距離を測距したりする。以下では、検知ユニット４３を「レーダ４３」と表記することがある。 The detection unit 42 is a Light Detection and Ranging (LIDAR), and uses light to detect targets around the vehicle 1 and measure the distance to the target. Below, the detection unit 42 may be described as "rider 42". The detection unit 43 is a millimeter wave radar, and uses radio waves to detect targets around the vehicle 1 and to measure the distance to the target. Below, the detection unit 43 may be described as "radar 43".
　ＥＣＵ２２は、一方のカメラ４１と、各ライダ４２の制御および検知結果の情報処理を行う。ＥＣＵ２３は、他方のカメラ４１と、各レーダ４３の制御および検知結果の情報処理を行う。車両の周囲状況を検知する装置を二組備えることで、検知結果の信頼性を向上することができる。また、カメラ、ライダ、レーダといった種類の異なる検知ユニットを備えることで、車両の周辺環境の解析を多面的に行うことができる。 The ECU 22 controls the one camera 41 and each rider 42 and processes the detection results. The ECU 23 performs control of the other camera 41 and each radar 43 and information processing of detection results. By providing two sets of devices for detecting the surrounding conditions of the vehicle, the reliability of detection results can be improved. In addition, by providing different types of detection units such as cameras, lidars, and radars, it is possible to analyze the vehicle's surrounding environment from multiple perspectives.
　ＥＣＵ２４は、ジャイロセンサ５、ＧＰＳセンサ２４ｂ、通信装置２４ｃの制御および検知結果あるいは通信結果の情報処理を行う。ジャイロセンサ５は車両１の回転運動を検知する。ジャイロセンサ５の検知結果や、車輪速等により車両１の進路を判定することができる。ＧＰＳセンサ２４ｂは、車両１の現在位置を検知する。また、通信装置２４ｃは、ネットワークを介してサーバと無線通信を行う。この通信装置２４ｃを用いて、ＥＣＵ２４は、ネットワークを介して当該サーバから情報を受信したり、ネットワークを介して当該サーバに情報を送信したりすることができる。例えば、ＥＣＵ２４は、記憶デバイスに構築された地図情報のデータベース２４ａにアクセス可能であり、ＥＣＵ２４は現在地から目的地へのルート探索等を行う。データベース２４ａはネットワーク上に配置可能であり、通信装置２４ｃがネットワーク上のデータベース２４ａにアクセスして、情報を取得することが可能である。 The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and performs information processing of detection results or communication results. A gyro sensor 5 detects rotational motion of the vehicle 1 . The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel speed, and the like. GPS sensor 24 b detects the current position of vehicle 1 . Also, the communication device 24c performs wireless communication with the server via the network. Using this communication device 24c, the ECU 24 can receive information from the server via the network, and transmit information to the server via the network. For example, the ECU 24 can access a map information database 24a built in a storage device, and the ECU 24 searches for a route from the current location to the destination. The database 24a can be placed on a network, and the communication device 24c can access the database 24a on the network to obtain information.
　ＥＣＵ２５は、車車間通信、路車間通信、またはスマートフォン等の情報処理装置と通信可能な通信装置２５ａを備える。例えば、通信装置２５ａは、周辺の他車両と無線通信を行い、車両間での情報交換を行ったり、外部の情報処理装置等との無線通信により情報交換を行ったりすることが可能である。ここで、通信装置２４ｃおよび通信装置２５ａは、図２に示される車載装置１００の通信部１３０に対応するものである。 The ECU 25 includes a communication device 25a capable of communicating with an information processing device such as vehicle-to-vehicle communication, road-to-vehicle communication, or a smartphone. For example, the communication device 25a can wirelessly communicate with other vehicles in the vicinity to exchange information between vehicles, or can exchange information with an external information processing device or the like by wireless communication. Here, the communication device 24c and the communication device 25a correspond to the communication section 130 of the in-vehicle device 100 shown in FIG.
　ＥＣＵ２６は、パワープラント６を制御する。パワープラント６は車両１の駆動輪を回転させる駆動力を出力する機構であり、例えば、エンジンと変速機とを含む。なお、パワープラント６の構成は、この例に限られず、電動機を動力源とした電気自動車、エンジン及び電動機を兼ね備えたハイブリッド自動車等を含む。ＥＣＵ２６は、例えば、アクセルペダル７Ａに設けた操作検知センサ７ａにより検知した運転者の運転操作（アクセル操作あるいは加速操作）に対応してエンジンの出力を制御したり、車速センサ７ｃが検知した車速等の情報に基づいて変速機の変速段を切り替えたりする。車両１の運転状態が自動運転の場合、ＥＣＵ２６は、ＥＣＵ２０からの指示に対応してパワープラント６を自動制御し、車速（車両１の速度および加減速）を制御する。 The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs driving force for rotating the drive wheels of the vehicle 1, and includes, for example, an engine and a transmission. The configuration of the power plant 6 is not limited to this example, and includes an electric vehicle using an electric motor as a power source, a hybrid vehicle having both an engine and an electric motor, and the like. For example, the ECU 26 controls the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, or detects the vehicle speed detected by the vehicle speed sensor 7c. The gear stage of the transmission is switched based on the information. When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in response to instructions from the ECU 20 to control the vehicle speed (the speed and acceleration/deceleration of the vehicle 1).
　ＥＣＵ２７は、方向指示器８ａ（ウィンカ）および灯火器８ｂ（ヘッドライト、テールライト等）を制御する。また、ＥＣＵ２８は、入出力装置９の制御を行う。入出力装置９は、運転者を含む乗員に対する情報の出力と、乗員からの情報の入力の受け付けを行う。音声出力装置９１（例えばスピーカ）は乗員に対して音声により情報を報知する。表示装置９２（例えばディスプレイ）は運転者に対して画像の表示により情報を報知する。音声出力装置９１および／または表示装置９２は、図２に示される車載装置１００の通知部１２０に対応するものである。入力装置９３は、運転者が操作可能な位置に配置され、車両１に対する指示を入力するスイッチ群および乗員の音声を入力する音声入力装置を含む。 The ECU 27 controls the direction indicators 8a (winkers) and lamps 8b (headlights, taillights, etc.). The ECU 28 also controls the input/output device 9 . The input/output device 9 outputs information to passengers including the driver, and receives input of information from the passengers. A voice output device 91 (for example, a speaker) notifies the passenger of information by voice. A display device 92 (for example, a display) notifies the driver of information by displaying an image. Audio output device 91 and/or display device 92 correspond to notification unit 120 of in-vehicle device 100 shown in FIG. The input device 93 is arranged at a position operable by the driver, and includes a group of switches for inputting instructions to the vehicle 1 and a voice input device for inputting the voice of the passenger.
　ＥＣＵ２９は、ブレーキ装置１０やパーキングブレーキ（不図示）を制御する。ブレーキ装置１０は、例えばディスクブレーキ装置であり、車両１の各車輪に設けられ、車輪の回転に抵抗を加えることで車両１を減速あるいは停止させる。ＥＣＵ２９は、例えば、ブレーキペダル７Ｂに設けた操作検知センサ７ｂにより検知した運転者の運転操作（ブレーキ操作）に対応してブレーキ装置１０の作動を制御する。車両１の運転状態が自動運転の場合、ＥＣＵ２９は、ＥＣＵ２０からの指示に対応してブレーキ装置１０を自動制御し、車両１の減速および停止を制御する。ブレーキ装置１０やパーキングブレーキは、車両１の停止状態を維持するために作動することもできる。また、パワープラント６の変速機がパーキングロック機構を備える場合、これを車両１の停止状態を維持するために作動することもできる。 The ECU 29 controls the braking device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device, is provided on each wheel of the vehicle 1, and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheels. The ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the braking device 10 in response to instructions from the ECU 20 to control deceleration and stopping of the vehicle 1 . The brake device 10 and the parking brake can also be operated to keep the vehicle 1 stopped. Moreover, if the transmission of the power plant 6 is equipped with a parking lock mechanism, it can also be operated to keep the vehicle 1 in a stopped state.
　上記のように構成された車両１の自動運転において、第１実施形態で説明した判断部１４３での判断結果を用いることにより、自動運転を制御するＥＣＵ２０は、車両１が前方道路に侵入する前に、車両１が当該前方道路を通過可能か否かを把握することができるため、より高精度な自動運転を実現することが可能となる。 In the automatic driving of the vehicle 1 configured as described above, the ECU 20 that controls the automatic driving uses the determination result of the determination unit 143 described in the first embodiment to control the automatic driving before the vehicle 1 enters the front road. Furthermore, since it is possible to determine whether or not the vehicle 1 can pass through the front road, it is possible to realize more accurate automatic driving.
　＜他の実施形態＞
　上記の実施形態で説明された１以上の機能を実現するプログラムは、ネットワーク又は記憶媒体を介してシステム又は装置に供給され、該システム又は装置のコンピュータにおける１以上のプロセッサは、このプログラムを読み出して実行することができる。このような態様によっても本発明は実現可能である。 <Other embodiments>
A program that implements one or more functions described in the above embodiments is supplied to a system or device via a network or storage medium, and one or more processors in the computer of the system or device read this program. can be executed. The present invention can also be realized by such an aspect.
　＜実施形態のまとめ＞
　１．上記実施形態の車載装置は、
　車両（例えば１）に搭載される車載装置（例えば１００）であって、
　前記車両の周囲における道路（例えばＲ）の走行可能な幅（例えばＷ２）を検出する検出手段（例えば１４２）と、
　前記車両に関する車両情報と、前記検出手段で検出された前記道路の走行可能な幅とに基づいて、前記車両が前記道路を通過可能か否かを判断する判断手段（例えば１４３）と、を備える。
　この実施形態によれば、車両の乗員（運転者）は、車両の周囲における道路に当該車両が侵入する前に、当該車両が当該道路を通過可能か否かを把握することができる。また、車両の運転状態が自動運転の場合、車両の周囲における道路に当該車両が侵入する前に、当該車両が当該道路を通過可能か否かを把握することができるため、より高精度な自動運転を実現することが可能となる。 <Summary of embodiment>
1. The in-vehicle device of the above embodiment includes:
An in-vehicle device (eg, 100) mounted on a vehicle (eg, 1),
detection means (e.g. 142) for detecting a drivable width (e.g. W 2 ) of a road (e.g. R) around the vehicle;
determining means (for example, 143) for determining whether or not the vehicle can pass through the road based on the vehicle information about the vehicle and the travelable width of the road detected by the detecting means; .
According to this embodiment, the occupant (driver) of the vehicle can grasp whether or not the vehicle can pass through the road before the vehicle enters the road around the vehicle. In addition, when the driving state of the vehicle is automatic driving, it is possible to grasp whether the vehicle can pass through the road before the vehicle enters the road around the vehicle. It becomes possible to realize driving.
　２．上記実施形態では、
　前記車両情報は、前記車両の車幅（例えばＷ１）または車格を示す情報を含み、
　前記判断手段は、前記車両の車幅または車格と前記検出手段で検出された前記道路の走行可能な幅とに基づいて、前記車両が前記道路を通過可能か否かを判断する。
　この実施形態によれば、車両の車幅、車格に応じて、当該車両の周囲における道路を当該車両が通過可能か否かを適切に判断することができる。 2. In the above embodiment,
The vehicle information includes information indicating the vehicle width (for example, W 1 ) or vehicle class of the vehicle,
The judging means judges whether or not the vehicle can pass through the road based on the width or class of the vehicle and the width of the road detected by the detecting means.
According to this embodiment, it is possible to appropriately determine whether or not the vehicle can pass through the road around the vehicle according to the width and class of the vehicle.
　３．上記実施形態では、
　前記検出手段は、前記道路の路面状況を更に検出し、
　前記判断手段は、前記車両情報と前記検出手段で検出された前記路面状況とに基づいて、前記車両が前記道路を通過可能か否かを判断する。
　この実施形態によれば、車両の周囲における道路の路面状況に応じて、当該道路を当該車両が走行可能か否か、即ち、当該道路を当該車両が通過可能か否かを適切に判断することができる。 3. In the above embodiment,
The detection means further detects a road surface condition of the road,
The judging means judges whether or not the vehicle can pass through the road based on the vehicle information and the road surface condition detected by the detecting means.
According to this embodiment, it is possible to appropriately determine whether or not the vehicle can travel on the road, that is, whether or not the vehicle can pass through the road, according to the road surface conditions around the vehicle. can be done.
　４．上記実施形態では、
　前記判断手段での判断結果を前記車両の乗員に通知する通知手段（例えば１２０、１４４）を更に備える。
　この実施形態によれば、車両の乗員（例えば運転者）は、車両が道路に侵入する前に、当該車両が当該道路を通過可能か否かを把握することができる。 4. In the above embodiment,
It further comprises notification means (for example, 120, 144) for notifying the occupant of the vehicle of the determination result of the determination means.
According to this embodiment, a vehicle occupant (for example, a driver) can grasp whether or not the vehicle can pass through the road before the vehicle enters the road.
　５．上記実施形態では、
　前記検出手段で検出された前記道路の走行可能な幅に関する情報を、前記車両の周囲に存在する周囲車両およびサーバの少なくとも一方に送信する通信手段（例えば１３０、１４４）を更に備える。
　この実施形態によれば、後に当該道路を通過する予定の車両に対して、当該道路の走行可能な幅を事前に把握させることができる。 5. In the above embodiment,
It further comprises communication means (for example, 130, 144) for transmitting information about the width of the road that can be traveled, detected by the detection means, to at least one of surrounding vehicles present around the vehicle and a server.
According to this embodiment, it is possible to allow a vehicle that is scheduled to pass through the road later to know in advance the width of the road in which the vehicle can travel.
　６．上記実施形態では、
　前記通信手段は、前記車両の進行方向において前記道路の走行可能な幅が狭くなることが前記検出手段で検出された場合、その旨を示す情報を前記少なくとも一方に送信する。
　この実施形態によれば、車両の進行方向において、道路自体の幅が狭くなることにより道路の走行可能な幅が狭くなったり、道路上の障害物により道路の走行可能な幅が狭くなったりした場合に、後に当該道路を通過する予定の車両に対して、当該道路の走行可能な幅が狭くなることを把握させることができる。 6. In the above embodiment,
The communication means, when the detection means detects that the width of the road becomes narrower in the traveling direction of the vehicle, transmits information to that effect to the at least one of the vehicles.
According to this embodiment, in the traveling direction of the vehicle, the width of the road itself becomes narrower, and the drivable width of the road becomes narrower. In this case, it is possible to make a vehicle that is scheduled to pass through the road later understand that the width of the road that can be traveled will be narrower.
　７．上記実施形態では、
　前記通信手段は、前記検出手段で検出された前記道路の走行可能な幅に関する情報を、前記車両の後続車両のうち車幅または車格が前記車両以下である後続車両のみに送信する。
　この実施形態によれば、車両の周囲（前方）における道路の走行可能な幅を、車車間通信等により、当該車両１の後続車両に把握させることができる。また、当該道路の走行可能な幅に関する情報を、車幅または車格が車両（自車両）以下である後続車両のみに送信するため、通信量の低減の点で有利になりうる。 7. In the above embodiment,
The communication means transmits the information about the width of the road that can be traveled detected by the detection means only to following vehicles having a vehicle width or vehicle class equal to or smaller than the vehicle, among the following vehicles of the vehicle.
According to this embodiment, the following vehicle of the vehicle 1 can grasp the width of the road around (in front of) the vehicle that the vehicle can travel through, for example, vehicle-to-vehicle communication. In addition, since the information about the width of the road that can be traveled is transmitted only to following vehicles whose vehicle width or vehicle class is equal to or less than the vehicle (self-vehicle), it can be advantageous in terms of reducing the amount of communication.
　本発明は上記実施の形態に制限されるものではなく、本発明の精神及び範囲から離脱することなく、様々な変更及び変形が可能である。従って、本発明の範囲を公にするために、以下の請求項を添付する。 The present invention is not limited to the above embodiments, and various changes and modifications are possible without departing from the spirit and scope of the present invention. Accordingly, to publicize the scope of the invention, the following claims are included.
１００：車載装置、１１０：撮影部（カメラ）、１２０：通知部、１３０：通信部、１４０：処理部、１４１：取得部、１４２：検出部、１４３：判断部、１４４：出力部 100: in-vehicle device, 110: imaging unit (camera), 120: notification unit, 130: communication unit, 140: processing unit, 141: acquisition unit, 142: detection unit, 143: determination unit, 144: output unit

Claims (10)

  1. 　車両に搭載される車載装置であって、
    　前記車両の周囲における道路の走行可能な幅を検出する検出手段と、
    　前記車両に関する車両情報と、前記検出手段で検出された前記道路の走行可能な幅とに基づいて、前記車両が前記道路を通過可能か否かを判断する判断手段と、
    　を備えることを特徴とする車載装置。     An in-vehicle device mounted in a vehicle,
    detection means for detecting a travelable width of a road around the vehicle;
    determination means for determining whether or not the vehicle can pass through the road based on vehicle information about the vehicle and the travelable width of the road detected by the detection means;
    An in-vehicle device comprising:
  2. 　前記車両情報は、前記車両の車幅または車格を示す情報を含み、
    　前記判断手段は、前記車両の車幅または車格と前記検出手段で検出された前記道路の走行可能な幅とに基づいて、前記車両が前記道路を通過可能か否かを判断する、
    　ことを特徴とする請求項１に記載の車載装置。     The vehicle information includes information indicating the vehicle width or vehicle class of the vehicle,
    The judging means judges whether the vehicle can pass through the road based on the width or class of the vehicle and the drivable width of the road detected by the detecting means.
    The in-vehicle device according to claim 1, characterized in that:
  3. 　前記検出手段は、前記道路の路面状況を更に検出し、
    　前記判断手段は、前記車両情報と前記検出手段で検出された前記路面状況とに基づいて、前記車両が前記道路を通過可能か否かを判断する、
    　ことを特徴とする請求項１又は２に記載の車載装置。     The detection means further detects a road surface condition of the road,
    The determination means determines whether or not the vehicle can pass through the road based on the vehicle information and the road surface condition detected by the detection means.
    3. The in-vehicle device according to claim 1, wherein:
  4. 　前記判断手段での判断結果を前記車両の乗員に通知する通知手段を更に備える、ことを特徴とする請求項１乃至３のいずれか１項に記載の車載装置。 The in-vehicle device according to any one of claims 1 to 3, further comprising notification means for notifying the occupant of the vehicle of the determination result of the determination means.
  5. 　前記検出手段で検出された前記道路の走行可能な幅に関する情報を、前記車両の周囲に存在する周囲車両およびサーバの少なくとも一方に送信する通信手段を更に備える、ことを特徴とする請求項１乃至４のいずれか１項に記載の車載装置。 1. The vehicle further comprises communication means for transmitting information about the width of the road that is detected by the detection means to at least one of surrounding vehicles existing around the vehicle and a server. 5. The in-vehicle device according to any one of 4.
  6. 　前記通信手段は、前記車両の進行方向において前記道路の走行可能な幅が狭くなることが前記検出手段で検出された場合、その旨を示す情報を前記少なくとも一方に送信する、ことを特徴とする請求項５に記載の車載装置。 The communication means is characterized in that, when the detection means detects that the width of the road becomes narrower in the direction in which the vehicle travels, the communication means transmits information indicating that fact to the at least one of the roads. The in-vehicle device according to claim 5 .
  7. 　前記通信手段は、前記検出手段で検出された前記道路の走行可能な幅に関する情報を、前記車両の後続車両のうち車幅または車格が前記車両以下である後続車両のみに送信する、ことを特徴とする請求項５又は６に記載の車載装置。 wherein the communication means transmits the information about the width of the road that can be traveled, detected by the detection means, only to vehicles following the vehicle whose width or class is equal to or smaller than the vehicle following the vehicle. 7. The in-vehicle device according to claim 5 or 6.
  8. 　請求項１乃至７のいずれか１項に記載の車載装置を備える車両。 A vehicle equipped with the in-vehicle device according to any one of claims 1 to 7.
  9. 　車両における情報処理方法であって、
    　前記車両の周囲における道路の走行可能な幅を検出する検出工程と、
    　前記車両に関する車両情報と、前記検出工程で検出された前記道路の走行可能な幅とに基づいて、前記車両が前記道路を通過可能か否かを判断する判断工程と、
    　を備えることを特徴とする情報処理方法。     An information processing method in a vehicle,
    a detection step of detecting a drivable width of a road around the vehicle;
    a determination step of determining whether or not the vehicle can pass through the road based on the vehicle information about the vehicle and the travelable width of the road detected in the detection step;
    An information processing method comprising:
  10. 　請求項９に記載の情報処理方法の各工程をコンピュータに実行させるためのプログラム。 A program for causing a computer to execute each step of the information processing method according to claim 9.
PCT/JP2021/012263 2021-03-24 2021-03-24 In-vehicle device, vehicle, information processing method, and program WO2022201363A1 (en)

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