JP2011134103A - Guidance apparatus, guidance method and guidance program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a guidance apparatus, a guidance method and a guidance program for giving guidance in consideration of the possibility of other vehicles approaching a vehicle from outside the detection range of a sensor. <P>SOLUTION: The guidance apparatus 50 to be mounted on a vehicle includes: a vehicle detection part 51 for detecting other vehicles in a detection range, a vehicle speed estimation part 52a for estimating the speed of a virtual vehicle located outside the detection range and on a target lane if no other vehicle is detected by the vehicle detection part 51, and an output part 52b for outputting guidance information about the target lane, according to the speed of the vehicle and the speed of the virtual vehicle estimated by the vehicle speed estimation part 52a. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a guidance device, a guidance method, and a guidance program.

  Conventionally, when a vehicle changes lanes, a guidance device has been proposed that guides the driver of the vehicle about lane changes. For example, the driving support device described in Patent Document 1 measures the relative distance and relative speed between the host vehicle and another vehicle using a sensor, and the host vehicle changes lanes based on the relative distance and relative speed. The collision risk with other vehicles is calculated. Then, according to the calculated collision risk, a warning light is turned on and a warning sound is output.

JP 2009-78735 A

  By the way, when the own vehicle tries to change the lane to a lane where the traveling vehicle speed is relatively higher than that of the currently traveling lane, there may be another vehicle approaching the own vehicle at a high speed. However, since the conventional apparatus such as Patent Document 1 does not consider the existence of other vehicles outside the detection range of the sensor, when the own vehicle tries to change the lane, the vehicle approaches the own vehicle from outside the detection range of the sensor. It was not possible to provide guidance in consideration of the possibility that other vehicles exist.

  The present invention has been made in view of the above, and can provide guidance in consideration of the possibility that there is another vehicle approaching the host vehicle from outside the detection range of the sensor. The purpose is to provide a guidance program.

  In order to solve the above-described problems and achieve the object, the guide device according to claim 1 is a guide device mounted on the host vehicle, and includes other vehicle detection means for detecting another vehicle in the detection range. When the other vehicle is not detected by the other vehicle detection means, vehicle speed estimation means for estimating the vehicle speed of the virtual vehicle that is outside the detection range and is present in the target lane, the vehicle speed of the host vehicle and the vehicle speed Output means for outputting guidance information related to the target lane based on the vehicle speed of the virtual vehicle estimated by the estimation means.

  A guide device according to a second aspect of the present invention is the guide device according to the first aspect, further comprising deceleration detection means for detecting deceleration of the host vehicle, wherein the vehicle speed estimation means is detected by the deceleration detection means. When the vehicle deceleration is detected, the vehicle speed of the virtual vehicle is estimated.

  According to a third aspect of the present invention, there is provided the guide device according to the second aspect, wherein the vehicle speed estimating means sets the vehicle speed of the subject vehicle before the deceleration of the subject vehicle is detected by the deceleration detection means. Based on this, the vehicle speed of the virtual vehicle is estimated.

  The guide device according to claim 4 is the guide device according to any one of claims 1 to 3, wherein the vehicle speed estimation means is the other vehicle existing in the target lane and the other vehicle. The vehicle speed of the virtual vehicle is estimated based on the vehicle speed of the other vehicle detected last by the detecting means.

  In addition, the guidance method according to claim 5 is a guidance method executed by a guidance device mounted on the host vehicle, the other vehicle detection step for detecting another vehicle within a detection range, and the other vehicle detection step. When the other vehicle is not detected, the vehicle speed estimation step for estimating the vehicle speed of the virtual vehicle existing outside the detection range and in the target lane, the vehicle speed of the host vehicle and the vehicle speed estimation step An output step of outputting guidance information regarding the target lane based on a comparison with the vehicle speed of the virtual vehicle.

  A guidance program according to claim 6 causes a computer to execute the method according to claim 5.

  According to the guidance device according to claim 1, the guidance method according to claim 5, or the guidance program according to claim 6, the detection range is detected when no other vehicle within the detection range is detected by the other vehicle detection means. The vehicle speed of the virtual vehicle that exists outside and in the target lane is estimated, and guidance information related to the target lane is output based on the vehicle speed of the host vehicle and the vehicle speed of the virtual vehicle. Therefore, it is possible to provide guidance in consideration of the possibility of approaching the host vehicle, and to prompt the driver to check the surrounding safety and to drive carefully. For example, when the relative vehicle speed between the vehicle speed of the host vehicle and the vehicle speed of the virtual vehicle is equal to or greater than a threshold value, guidance information regarding the target lane is output to warn of the possibility of another vehicle having a higher relative vehicle speed approaching the host vehicle. it can.

  According to the guide device of the second aspect, since the vehicle speed of the virtual vehicle is estimated when the deceleration of the host vehicle is detected by the deceleration detection means, the vehicle speed relative to the vehicle speed of the host vehicle is reduced by the deceleration of the host vehicle. When there is a possibility that another vehicle having a large vehicle may approach the host vehicle, guidance information regarding the target lane can be output based on the vehicle speed of the virtual vehicle.

  According to the guide device of the third aspect, since the vehicle speed of the virtual vehicle is estimated based on the vehicle speed of the host vehicle before the deceleration of the host vehicle is detected by the deceleration detection unit, the same as the host vehicle before the deceleration. It is possible to estimate the vehicle speed of a virtual vehicle that may be traveling at a vehicle speed of.

  According to the guide device of the fourth aspect, since the vehicle speed of the virtual vehicle is estimated based on the vehicle speed of the other vehicle existing in the target lane and detected last by the other vehicle detection means, the target lane The vehicle speed of the virtual vehicle can be estimated more accurately.

It is a block diagram which illustrates the guidance system concerning an embodiment. It is a flowchart of a guidance process. It is a flowchart of a guidance necessity determination process. FIG. 4A and FIG. 4C are plan views illustrating the positional relationship between the host vehicle and another vehicle, and FIG. 4B and FIG. It is the figure which showed the example of a display of a display.

  Hereinafter, embodiments of a guidance device, a guidance method, and a guidance program according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited by these embodiments.

(Constitution)
First, the configuration of the guidance system according to the embodiment will be described. FIG. 1 is a block diagram illustrating a guidance system according to an embodiment. As shown in FIG. 1, this guidance system 1 is mounted on a vehicle (hereinafter referred to as “own vehicle” if necessary), and includes a vehicle speed sensor 10, a current position detection processing unit 20, a display 30, a speaker 40, And a guide device 50.

(Configuration-vehicle speed sensor)
The vehicle speed sensor 10 outputs a vehicle speed pulse signal or the like proportional to the rotational speed of the axle to the guide device 50, and a known vehicle speed sensor can be used.

(Configuration-Current position detection processing unit)
The current position detection processing unit 20 is current position detection means for detecting the current position of the vehicle. Specifically, the current position detection processing unit 20 includes at least one of a GPS, a geomagnetic sensor, a distance sensor, and a gyro sensor (all of which are not shown), and determines the current vehicle position (coordinates), direction, and the like. Detection is performed by a known method.

(Configuration-Display)
The display 30 displays various images based on the control of the guide device 50, and constitutes output means together with an output unit 52b described later. The specific configuration of the display 30 is arbitrary, and a known flat panel display such as a liquid crystal display or an organic EL display, a head-up display, a retinal projection display, or the like can be used.

(Configuration-Speaker)
The speaker 40 outputs various sounds based on the control of the guide device 50, and constitutes an output means together with an output unit 52b described later. The specific configuration of the speaker 40 is arbitrary, and a known speaker can be used.

(Configuration-guide device)
The guide device 50 includes an other vehicle detection unit 51, a control unit 52, and a data recording unit 53.

(Configuration-Guide device-Other vehicle detection unit)
The other vehicle detection unit 51 is other vehicle detection means for detecting another vehicle in the detection range. In addition, as the vehicle detection unit 51, for example, known devices such as a camera, a laser sensor, a millimeter wave radar sensor, and an ultrasonic sensor can be used in any combination or independently. Moreover, the detection content by the other vehicle detection part 51 is arbitrary, for example, detects the distance to the other vehicle, the direction, the vehicle speed of the other vehicle, and the like.

(Configuration-Guide device-Control unit)
The control unit 52 is a control unit that controls the guide device 50. Specifically, the CPU, various programs interpreted and executed on the CPU (basic control programs such as an OS, and specific functions activated on the OS) And an internal memory such as a RAM for storing the program and various data. In particular, the guide program according to the embodiment is substantially installed in the guide device 50 via an arbitrary recording medium or network, thereby substantially configuring each unit of the control unit 52.

  The control unit 52 includes a vehicle speed estimation unit 52a and an output unit 52b in terms of functional concept.

  The vehicle speed estimation unit 52a is a vehicle speed estimation unit that estimates the vehicle speed of a virtual vehicle that exists outside the detection range of the other vehicle detection unit 51 and exists in the target lane, and is a deceleration detection unit that detects deceleration of the host vehicle. . Here, the “target lane” means a lane targeted for guidance by the guidance device 50. Specifically, the “target lane” may be limited to a lane in which the host vehicle is traveling and a lane adjacent to the lane (the lane having the same traveling direction as the lane in which the host vehicle is traveling). ) Is included. Note that the detection range of the other vehicle detection unit 51 described above is set to include all target lanes within a certain range around the host vehicle. Further, the “virtual vehicle” means another vehicle that is virtually present in the target lane. The output unit 52 b is an output unit that outputs guidance information related to the target lane via the display 30 and the speaker 40. Details of processing executed by each component of the control unit 52 will be described later.

(Configuration-Guide device-Data recording part)
The data recording unit 53 is a recording unit that records a program and various data necessary for the operation of the guide device 50, and is configured using, for example, a hard disk (not shown) as an external recording device. However, any other recording medium including a magnetic recording medium such as a magnetic disk or an optical recording medium such as a DVD or a Blu-ray disk can be used instead of or together with the hard disk.

  The data recording unit 53 includes a map information database (hereinafter, the database is referred to as “DB”) 53a. The map information DB 53a is map information storage means for storing map information. “Map information” includes, for example, link data (link number, connection node number, road coordinates, road type, number of lanes, lane width, travel regulation, etc.), node data (node number, coordinates), feature data (signals, roads) Sign, stop line position, guardrail, building, etc.), terrain data, map display data for displaying a map on the display 30, and the like.

(processing)
Next, guidance processing executed by the guidance device 50 configured as described above will be described. FIG. 2 is a flowchart of the guidance process (in the following description of each process, step is abbreviated as “S”). This guidance process is repeatedly activated at a predetermined cycle (for example, every 100 msec) after the vehicle starts running, for example.

  After starting the guidance process, for example, based on an input from the vehicle speed sensor 10 or a known acceleration sensor (not shown), the vehicle speed estimation unit 52a determines whether or not deceleration of the host vehicle has been detected (SA1). The determination criterion in SA1 is arbitrary. For example, it is determined that deceleration of the host vehicle is detected when the vehicle speed of the host vehicle decreases or when the acceleration in the traveling direction of the host vehicle becomes negative. As a result, when it is determined that deceleration of the host vehicle is not detected (SA1, No), it is unlikely that another vehicle will rapidly approach the host vehicle, and it is not necessary to provide guidance regarding the target lane. The unit 52 ends the guidance process.

  On the other hand, when it is determined that the deceleration of the host vehicle is detected (SA1, Yes), it is assumed that the other vehicle may approach the host vehicle rapidly, and the other vehicle detection unit 51 causes the other vehicle detection unit 51 to detect the other vehicle. It is determined for each target lane whether it has been detected (SA2). As a result, when another vehicle is detected by the other vehicle detection unit 51 in any target lane (SA2, Yes), the output unit 52b relates to the presence of another vehicle in the target lane via the display 30 or the speaker 40. Guide information is output (SA3). Thereafter, the control unit 52 ends the guidance process.

  FIG. 4 is a diagram showing an example of guidance by the guidance device 50. FIGS. 4 (a) and 4 (c) are plan views illustrating the positional relationship between the host vehicle and another vehicle, and FIGS. 4 (b) and 4 (c). 4 (d) is a diagram showing a display example on the display 30. FIG. As shown in FIG. 4A, the other vehicle 3 that travels in the detection range in any target lane (the vehicle behind the right lane of the host vehicle 2 in FIG. 4A) is detected by the other vehicle detection unit 51. 4B, the output unit 52b detects the other vehicle 3 by the other vehicle detection unit 51 among the fan-shaped figures displayed on the display 30 corresponding to the rear of the host vehicle 2. A display indicating that the other vehicle 3 has been detected is output to the area corresponding to the target lane (the area on the right side in FIG. 4B) (the hatched line in FIG. 4B).

  Returning to FIG. 2, if the other vehicle 3 is not detected by the other vehicle detection unit 51 in any target lane in SA2 (SA2, No), the vehicle speed estimation unit 52a determines whether or not to output guidance information regarding the target lane. Determine (SA4). FIG. 3 is a flowchart of the SA4 guidance necessity determination process.

  As shown in FIG. 3, after starting the guidance necessity determination process, the vehicle speed estimation unit 52a determines whether the other vehicle 3 is detected by the other vehicle detection unit 51 in the target lane during the past predetermined time (for example, 30 seconds). Is determined (SB1). As a result, when it is determined that the other vehicle 3 is detected in the target lane (SB1, Yes), the vehicle speed estimation unit 52a detects the vehicle speed before the deceleration of the own vehicle 2 last by the other vehicle detection unit 51. It is determined whether or not the vehicle speed is below (SB2). Here, as the “vehicle speed before deceleration of the host vehicle 2”, for example, the vehicle speed when the acceleration in the traveling direction of the host vehicle 2 has finally changed from positive to zero is used.

  As a result, when it is determined that the vehicle speed before deceleration of the host vehicle 2 is equal to or lower than the vehicle speed of the other vehicle 3 last detected by the other vehicle detection unit 51 (SB2, Yes), the vehicle speed estimation unit 52a is determined by the other vehicle detection unit 51. The vehicle speed of the other vehicle 3 detected last is estimated as the vehicle speed of the virtual vehicle existing in the target lane where the other vehicle 3 is detected (SB3).

  On the other hand, when it is determined that the vehicle speed before deceleration of the host vehicle 2 is not less than or equal to the vehicle speed of the other vehicle 3 last detected by the other vehicle detection unit 51 (SB2, No), the vehicle speed before deceleration of the host vehicle 2 is It is estimated as the vehicle speed of the virtual vehicle existing in the target lane where the other vehicle 3 is detected (SB4). In this way, by estimating the higher vehicle speed of the vehicle speed of the host vehicle 2 before deceleration or the vehicle speed of the other vehicle 3 last detected by the other vehicle detection unit 51 as the vehicle speed of the virtual vehicle, higher virtual speed The possibility of the vehicle approaching the host vehicle 2 can be taken into consideration, and it is possible to provide guidance in consideration of safety.

  Further, when it is determined in SB1 that the other vehicle 3 has not been detected in the target lane during the past predetermined time (SB1, No), the vehicle speed estimation unit 52a determines that the vehicle speed before deceleration of the host vehicle 2 is the limit of the target lane. It is determined whether or not the speed is below (SB5). As a result, when it is determined that the vehicle speed before deceleration of the host vehicle 2 is equal to or lower than the speed limit of the target lane (SB5, Yes), the vehicle speed estimation unit 52a determines the speed limit of the target lane as a virtual vehicle existing in the target lane. Is estimated as the vehicle speed (SB6).

  On the other hand, when it is determined that the vehicle speed before deceleration of the host vehicle 2 is not less than or equal to the speed limit of the target lane (SB5, No), the vehicle speed before deceleration of the host vehicle 2 is set as the vehicle speed of the virtual vehicle existing in the target lane. Estimate (SB4).

  After the processing of SB3, SB4, or SB6, the vehicle speed estimation unit 52a determines the vehicle speed of the virtual vehicle estimated in SB3, SB4, or SB6 and the current vehicle speed of the host vehicle 2 after it is determined that deceleration is detected in SA1. Relative vehicle speed is calculated (SB7). Then, it is determined whether the calculated relative vehicle speed is equal to or higher than a threshold value (SB8). The specific value of this threshold value is arbitrary. For example, the virtual vehicle is brought up to the vehicle speed of the host vehicle 2 until the virtual vehicle reaches the position of the host vehicle 2 from the outer edge of the detection range of the other vehicle detection unit 51 (virtual The relative vehicle speed at which the deceleration required for deceleration (until the relative vehicle speed between the vehicle and the host vehicle 2 becomes 0) is 0.6 G or less is set as a threshold value. Alternatively, the time required for the virtual vehicle to decelerate to the vehicle speed of the host vehicle 2 before the virtual vehicle reaches the position of the host vehicle 2 from the outer edge of the detection range of the other vehicle detection unit 51 becomes a predetermined time or less. The relative vehicle speed is set as a threshold value.

  As a result of the determination in SB8, when the relative vehicle speed between the virtual vehicle and the host vehicle 2 is equal to or higher than the threshold (SB8, Yes), the output unit 52b determines that it is necessary to output guidance information regarding the target lane (SB9). ). On the other hand, when the relative vehicle speed between the virtual vehicle and the host vehicle 2 is less than the threshold (SB8, No), the output unit 52b determines that it is not necessary to output the guidance information regarding the target lane (SB10).

  After the process of SB9 or SB10, the output unit 52b determines whether or not it is necessary to output guidance information for all target lanes in which the other vehicle 3 is not detected by the other vehicle detection unit 51 in SA2 of FIG. Determine (SB11). As a result, when the necessity of outputting the guidance information is not determined for all target lanes (SB11, No), the process returns to SB1 and the vehicle speed estimation unit 52a detects other vehicles in other target lanes during the past predetermined time. It is determined whether the other vehicle 3 was detected by the part 51 (SB1). On the other hand, when the necessity of outputting the guidance information is determined for all target lanes (SB11, Yes), the control unit 52 ends the guidance necessity determination process and returns to the main routine.

  Returning to FIG. 2, after performing the guidance necessity determination process in SA4, the output unit 52b provides guidance information for each target lane based on the necessity of outputting the guidance information for each target lane determined in the guidance necessity determination process. Output (SA5). For example, in the situation shown in FIG. 4A, when it is determined that it is necessary to output guidance information for the left lane of the host vehicle 2, as shown in FIG. Among the fan-shaped figures corresponding to the rear of the host vehicle 2 displayed in 30, the area corresponding to the left lane determined to need to output guidance information (the left area in FIG. 4B) Then, a display to the effect that the other vehicle 3 may approach is output (horizontal line in FIG. 4B). Further, in the situation shown in FIG. 4A, when it is determined that it is not necessary to output the guidance information for the traveling lane of the host vehicle 2, the output unit 52b displays the display as shown in FIG. 4B. The area corresponding to the traveling lane of the own vehicle 2 that is determined not to output the guidance information among the fan-shaped figures corresponding to the rear of the own vehicle 2 displayed in 30 (the center in FIG. 4B) No new display output is performed for the area (in FIG. 4B).

  Returning to FIG. 2, after the process of SA5, the output unit 52b determines whether or not the host vehicle 2 changes the lane to any target lane (SA6). For example, when the direction indicator is operated by the driver, when the steering angle is equal to or greater than the threshold value, when the host vehicle 2 straddles the lane boundary line, the driver's line of sight detected by a known line-of-sight detection method is a room mirror. When the vehicle 2 is facing the side mirror or the like, it is determined that the host vehicle 2 changes the lane. In addition, when the navigation system provides guidance related to lane change (for example, guidance for right / left turn exclusive lanes, guidance for reducing the number of lanes, guidance for merging lanes, guidance for branching, guidance for prompting a break, etc.) When the distance between the vehicle and the vehicle ahead is equal to or less than the threshold value, it may be determined that the lane change is performed.

  As a result, when it is determined that the host vehicle 2 does not change lanes (SA6, No), it is not necessary to change the content of the guidance information already output, and the control unit 52 ends the guidance process.

  On the other hand, when it is determined that the host vehicle 2 changes the lane to any of the target lanes (SA6, Yes), the output unit 52b specifies the target lane that is the lane change destination and emphasizes the specified target lane. Is output (SA7). The target lane that is the lane change destination can be specified based on, for example, the operation of the direction indicator, the steering angle, the line-of-sight direction of the driver, and the like. For example, as shown in FIG. 4C, when it is determined that the host vehicle 2 changes the lane in the left direction, the left lane (left lane) of the lane in which the host vehicle 2 is traveling is set as the lane change destination. As shown in FIG. 4D, the output unit 52b corresponds to the left lane to which the lane is changed, among the fan-shaped figures displayed on the display 30 corresponding to the rear of the host vehicle 2. A display emphasizing the area (the left area in FIG. 4D) is output (lattice line in FIG. 4D). In addition, the mode of the guidance display for emphasizing the target lane to be the lane change destination is arbitrary, and for example, the color or pattern may be changed, or blinking display may be performed. At this time, the guidance display for the target lane other than the lane specified as the lane change destination may be deleted. After the process of SA7, the control unit 52 ends the guidance process.

(effect)
Thus, according to the embodiment, when the other vehicle 3 within the detection range is not detected by the other vehicle detection unit 51, the vehicle speed of the virtual vehicle that exists outside the detection range and exists in the target lane is estimated. Since guidance information about the target lane is output based on the vehicle speed of the host vehicle 2 and the vehicle speed of the virtual vehicle, guidance can be performed in consideration of the possibility that the other vehicle 3 approaches the host vehicle 2 from outside the detection range of the sensor. It is possible to encourage the driver to check the safety of the surroundings and to drive carefully. For example, when the relative vehicle speed between the vehicle speed of the host vehicle 2 and the vehicle speed of the virtual vehicle is greater than or equal to a threshold value, guidance information regarding the target lane is output, and a warning is given that the other vehicle 3 having a higher relative vehicle speed may approach the host vehicle 2 can do.

  Further, when the deceleration of the host vehicle 2 is detected, the vehicle speed of the virtual vehicle is estimated. Therefore, when there is a possibility that the other vehicle 3 may approach the host vehicle 2 rapidly, the target is determined based on the vehicle speed of the virtual vehicle. Guidance information about lanes can be output.

  Further, since the vehicle speed of the virtual vehicle is estimated based on the vehicle speed of the host vehicle 2 before the deceleration of the host vehicle 2 is detected, there is a possibility that the vehicle is traveling at the same vehicle speed as the host vehicle 2 before the deceleration. The vehicle speed of the virtual vehicle can be estimated.

  Since the vehicle speed of the virtual vehicle is estimated based on the vehicle speed of the other vehicle 3 existing in the target lane and detected last by the other vehicle detection unit 51, the vehicle speed of the virtual vehicle in the target lane is more accurately determined. Can be estimated.

  Further, when it is determined that the host vehicle 2 changes the lane to the target lane, guidance information for emphasizing the target lane is output, so that appropriate guidance information can be output according to whether or not the lane has been changed. .

[Modifications to Embodiment]
Although the embodiments of the present invention have been described above, the specific configuration and means of the present invention can be arbitrarily modified and improved within the scope of the technical idea of each invention described in the claims. Can do. Hereinafter, such a modification will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the above contents, and may vary depending on the implementation environment and details of the configuration of the invention. May be solved, or only some of the effects described above may be achieved.

(About guidance processing)
In the above-described embodiment, it has been described that it is determined whether or not the deceleration of the host vehicle 2 is detected in SA1 of the guidance process in FIG. 2, but it is determined whether or not the vehicle speed of the host vehicle 2 is equal to or less than a threshold value. It may be. In this case, for example, when the vehicle speed is equal to or lower than the threshold value (SA1, Yes), the vehicle speed estimation unit 52a determines for each target lane whether the other vehicle 3 is detected by the other vehicle detection unit 51 (SA2). On the other hand, when the vehicle speed is not less than or equal to the threshold (SA1, No), the guidance process is terminated.

(About guidance necessity judgment processing)
In the above-described embodiment, in the guidance necessity determination process of FIG. 3, the relative vehicle speed between the virtual vehicle and the host vehicle 2 is calculated (SB7), and the guidance information is based on whether the calculated relative vehicle speed is equal to or greater than a threshold value. Although it has been described that the necessity of output is determined (SB9, SB10), the necessity of outputting the guidance information may be determined based on a different standard. For example, until the virtual vehicle reaches the position of the host vehicle 2 from the outer edge of the detection range of the other vehicle detection unit 51 to the vehicle speed of the host vehicle 2 (the relative vehicle speed between the virtual vehicle and the host vehicle 2 is If the deceleration required to decelerate is not less than a threshold value (for example, 0.6G), it may be determined that it is necessary to output guidance information regarding the target lane (SB9). Alternatively, when the time required for the virtual vehicle to decelerate the virtual vehicle to the vehicle speed of the host vehicle 2 before reaching the position of the host vehicle 2 from the outer edge of the detection range of the other vehicle detection unit 51 is less than a predetermined time Whether or not it is necessary to output the guidance information regarding the target lane may be determined (SB9).

  In addition, a data recording unit previously stores a table in which information such as the relative vehicle speed between the virtual vehicle and the host vehicle 2 and the detection distance by the other vehicle detection unit 51 and information specifying whether or not the guidance information needs to be output are associated with each other. It may be stored in 53 and the necessity of outputting guidance information may be determined by referring to the table.

  Further, the necessity of outputting the guidance information may be determined in consideration of the acceleration / deceleration of the host vehicle 2. For example, when the host vehicle 2 is decelerating, the threshold value at SB8 in FIG. 3 is set to a relatively small value, and when the host vehicle 2 is accelerating, the threshold value at SB8 is set to a relatively large value. Thereby, when the own vehicle 2 is decelerating and there is a possibility that the relative vehicle speed with the other vehicle 3 is further increased, the guidance information is positively output, and the own vehicle 2 is accelerating and the other vehicle 3 When there is a possibility that the relative vehicle speed may be reduced, it is possible to perform more appropriate guidance, such as preventing output of unnecessary guidance information.

  Further, the necessity of outputting the guidance information may be determined in consideration of the road surface condition of the target lane. For example, when it is specified that the road surface is slippery based on the presence / absence of the operation of the wiper, the weather information acquired through a known communication means, or the operation status of the ABS or ESC of the host vehicle 2, 3 is a relatively small threshold value in SB8. As a result, when there is a possibility that the other vehicle 3 may approach the host vehicle 2 while the relative vehicle speed is high because the deceleration of the other vehicle 3 is insufficient, the guidance information can be actively output. The driver of the vehicle 2 can be alerted.

  Further, regardless of whether or not the other vehicle 3 is detected by the other vehicle detection unit 51 in the target lane during the past predetermined time in SB1 of FIG. 3, the vehicle speed before the deceleration of the own vehicle 2 is always set as the vehicle speed of the virtual vehicle. You may estimate (SB4).

  Moreover, although it demonstrated that the vehicle speed before deceleration of the own vehicle 2 was estimated as vehicle speed of a virtual vehicle in SB4 of FIG. 3, when the own vehicle 2 changes lanes, it changes according to the kind of lane before and behind lane change. May be estimated as the vehicle speed of the virtual vehicle. For example, when it is determined that the vehicle lane is changed to the traveling lane when the host vehicle 2 is traveling in the overtaking lane, a constant coefficient (for example, 0.9) of less than 1 is set to the vehicle speed before the host vehicle 2 decelerates. The multiplied value is estimated as the vehicle speed of the virtual vehicle. Further, when it is determined that the lane change to the overtaking lane is performed when the host vehicle 2 is traveling in the travel lane, a constant coefficient (for example, 1.1) greater than 1 is set to the vehicle speed before the host vehicle 2 decelerates. The multiplied value is estimated as the vehicle speed of the virtual vehicle. Further, when the lane type is the same before and after the lane change, the vehicle speed before deceleration of the host vehicle 2 may be estimated as the vehicle speed of the virtual vehicle. Thereby, the vehicle speed of the virtual vehicle can be estimated in consideration of the possibility that the average vehicle speed of the vehicle traveling in each lane is different.

DESCRIPTION OF SYMBOLS 1 Guide system 2 Own vehicle 3 Other vehicle 10 Vehicle speed sensor 20 Current position detection process part 30 Display 40 Speaker 50 Guide apparatus 51 Other vehicle detection part 52 Control part 52a Vehicle speed estimation part 52b Output part 53 Data recording part 53a Map information DB

Claims (6)

A guidance device mounted on the host vehicle,
Other vehicle detection means for detecting other vehicles in the detection range;
Vehicle speed estimation means for estimating the vehicle speed of a virtual vehicle that is outside the detection range and is in the target lane when the other vehicle is not detected by the other vehicle detection means;
Based on the vehicle speed of the host vehicle and the vehicle speed of the virtual vehicle estimated by the vehicle speed estimation means, output means for outputting guidance information related to the target lane;
A guide device comprising: Comprising deceleration detection means for detecting deceleration of the host vehicle,
The vehicle speed estimation means includes
Estimating the vehicle speed of the virtual vehicle when the deceleration of the host vehicle is detected by the deceleration detection means;
The guide device according to claim 1. The vehicle speed estimation means includes
Estimating the vehicle speed of the virtual vehicle based on the vehicle speed of the host vehicle before the deceleration of the host vehicle is detected by the deceleration detection unit;
The guide device according to claim 2. The vehicle speed estimation means includes
Estimating the vehicle speed of the virtual vehicle based on the vehicle speed of the other vehicle that was present in the target lane and was last detected by the other vehicle detection means;
The guidance device according to any one of claims 1 to 3. A guidance method executed by a guidance device mounted on the host vehicle,
Another vehicle detection step for detecting another vehicle in the detection range;
A vehicle speed estimation step for estimating a vehicle speed of a virtual vehicle that is outside the detection range and is present in the target lane when the other vehicle is not detected in the other vehicle detection step;
Based on the comparison between the vehicle speed of the host vehicle and the vehicle speed of the virtual vehicle estimated in the vehicle speed estimation step, an output step of outputting guidance information on the target lane;
Including guidance methods.   A guide program for causing a computer to execute the method according to claim 5.

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