JP2019040279A - Information output device and information output method - Google Patents

Abstract

To provide an information output device and information output method for appropriately determining another vehicle having a possibility to affect travelling of an own vehicle.SOLUTION: An other vehicle information acquisition unit 21 acquires information of other vehicles 200 positioned in the periphery of an own vehicle 1. A lane separation facility recognition unit 24 recognizes whether a lane separation facility is arranged between an own lane and an opposite lane. A determination object identification unit identifies another vehicle being a determination object on whether there is a possibility to affect traveling of the own vehicle 1 on the basis of information acquired by the other vehicle information acquisition unit 21 and a recognition result of a road separation facility by the lane separation facility recognition unit 24. A traveling state determination unit 27 determines whether the other vehicle identified as a determination object by the determination object identification unit 26 has a possibility to affect the own vehicle 1. A determination information output unit 28 outputs information based on a determination result by the traveling state determination unit 27.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an information output device and an information output method.

  Conventionally, a stop detection unit that detects a bus that stops in front of the host vehicle, an approach detection unit that detects the approach of an oncoming vehicle traveling in the oncoming lane, and a stop of the bus is detected, and the oncoming vehicle approaches There has been proposed a notification device having a notification unit that notifies that the overtaking of the bus is prohibited when the signal is detected (see, for example, Patent Document 1).

JP, 2006-189074, A

The apparatus described in Patent Document 1 has a problem that notification of prohibiting overtaking is performed even though the notification of prohibiting overtaking is unnecessary. For example, if you try to pass a stopped bus and there is a lane separation facility that separates the lanes according to the direction of the round trip, the host vehicle will travel even if the approach of an oncoming vehicle traveling in the opposite lane is detected. If no vehicle traveling in the lane is detected, notification of prohibiting overtaking of the bus is not required, but the stop of the bus in front of the host vehicle is detected, and the approaching vehicle on the opposite lane is not approaching. If it is detected, a notification that the overtaking of the bus is prohibited is issued. In other words, it cannot be said that other vehicles that may affect the running of the host vehicle are appropriately determined and notified.
Therefore, an object of the present invention is to provide an information output device and an information output method for more appropriately determining other vehicles that may affect the traveling of the host vehicle.

  An information output device according to the present invention provides a lane separation facility between an other vehicle information acquisition unit that acquires information on another vehicle located around the own vehicle, and an own lane in which the own vehicle is traveling and an opposite lane. A lane separation facility recognition unit for recognizing whether the vehicle is provided, information on the other vehicle acquired by the other vehicle information acquisition unit, and a recognition result of the lane separation facility by the lane separation facility recognition unit A determination target specifying unit that specifies the other vehicle as a determination target whether or not there is a possibility of affecting the travel of the host vehicle, and the other set as the determination target by the determination target specifying unit A traveling state determination unit that determines whether or not the vehicle may affect the traveling of the host vehicle, and a determination information output unit that outputs information based on a result of determination by the traveling state determination unit, It is characterized by having

  The determination target specifying unit obtains the other vehicle information when the lane separation facility recognition unit recognizes that the lane separation facility is provided between the own lane and the opposite lane. The other vehicle located on the road on the opposite lane side is excluded from the judgment object, and the other vehicle located on the road on the own lane side is judged as the judgment target. It is good also as a structure.

  Further, the vehicle includes a road information acquisition unit that acquires information on a road on which the host vehicle is traveling, and the lane separation facility recognition unit, based on the information acquired by the road information acquisition unit, It may be configured to recognize whether or not the lane separation facility is provided between the opposite lane.

  In addition, the vehicle includes a lane number recognition unit that recognizes the number of lanes on the own lane side on the road on which the host vehicle is traveling, and the determination target specifying unit includes the lane number recognition unit acquired by the other vehicle information acquisition unit. Based on the information, the recognition result of the lane separation facility by the lane separation facility recognition unit, and the recognition result of the number of lanes on the own lane side by the lane number recognition unit, the other vehicle to be determined is specified It is good also as composition to do.

  In addition, whether or not there is a possibility of affecting the traveling of the host vehicle by including a forward vehicle detection unit that detects a forward vehicle on the own lane side located on the own lane side of the road on which the host vehicle is traveling The determination of whether or not there is a possibility that the host vehicle may interfere with the traveling of the host vehicle when the host vehicle passes the side of the host vehicle on the lane side and travels in front of the host vehicle on the lane side. It is good also as a structure which is side passage judgment which judges these.

  Moreover, the said driving | running | working condition judgment part is good also as a structure which performs the said side passage judgment, when the said front lane side front vehicle has stopped.

  In addition, the vehicle includes a lane number recognition unit that recognizes the number of lanes on the own lane side on the road on which the host vehicle is traveling, and the determination target specifying unit includes the lane number recognition unit acquired by the other vehicle information acquisition unit. Based on the information, the recognition result of the lane separation facility by the lane separation facility recognition unit, and the recognition result of the number of lanes on the own lane side by the lane number recognition unit, the target of the side passage determination It is good also as composition which specifies other vehicles.

  In addition, when the lane separation facility recognition unit recognizes that the lane separation facility is provided between the own lane and the opposite lane, the determination target specifying unit is configured to recognize the lane number recognition unit. When it is recognized that the number of lanes on the own lane side on the road on which the own vehicle is traveling is 1, only the other vehicle that is traveling in front of the own vehicle in the own lane is When the lane number recognition unit recognizes that the number of lanes on the lane side of the road on which the host vehicle is traveling is 2 or more, the target lane side road It is good also as a structure which makes the said other vehicle currently driving | running | working the front and back of the said vehicle the object of the said side passage judgment.

  Next, in the information output method of the present invention, between the other vehicle information acquisition step of acquiring information of other vehicles located around the own vehicle, and the own lane and the opposite lane in which the own vehicle is traveling, A lane separation facility recognition step for recognizing whether a lane separation facility is provided, information on the other vehicle acquired by the other vehicle information acquisition unit, and recognition of the lane separation facility by the lane separation facility recognition unit Based on the result, the determination target specifying step for specifying the other vehicle as a determination target whether or not there is a possibility of affecting the traveling of the host vehicle, and the determination target specifying step determines the determination target. A determination of whether or not the other vehicle may affect the traveling of the host vehicle, and a determination of outputting information based on a result of the determination by the traveling condition determination step Characterized in that it comprises a distribution output step.

  According to the information output device and the information output method of the present invention, the recognition of the situation of whether or not a lane separation facility is provided between the own lane and the oncoming lane, and information on other vehicles located around the own vehicle. Based on the result, the other vehicle to be determined whether or not there is a possibility of affecting the traveling of the host vehicle is specified. The time required for the determination process can be reduced by determining whether there is a possibility of affecting the travel of the host vehicle by limiting to other vehicles specified in this way. It is possible to suppress a delay in outputting the information based on the result, and it is possible to more appropriately determine another vehicle that may affect the traveling of the host vehicle.

The block diagram of information processing apparatus. 1 is a first flowchart of an information processing apparatus. 2 is a second flowchart of the information processing apparatus. Explanatory drawing of the condition where the own vehicle passes the side of the parked bus on a one-lane road with a lane separation facility. Explanatory drawing of the situation where the own vehicle passes the side of the stopped bus on a one-lane road with no lane separation facility. Explanatory drawing of the situation where the own vehicle passes the side of the stopped bus on a one-lane two-lane road provided with a lane separation facility. Explanatory drawing of the situation where the own vehicle passes the side of the stopped bus on a one-lane two-lane road where no lane separation facility is provided.

An embodiment of the present invention will be described with reference to FIGS.
[1. Configuration of information processing apparatus]
With reference to FIG. 1, the configuration of the information processing apparatus (including the configuration of the information output apparatus of the present invention) in this embodiment will be described. The information processing apparatus 10 according to the present embodiment is mounted on the host vehicle 1. Here, the information processing apparatus 10 may be configured exclusively, and as a part of an in-vehicle apparatus (an ECU (Electronic Control Unit), a navigation apparatus, a driving support apparatus, etc.) of the host vehicle 1 or a function of the in-vehicle apparatus. You may comprise using a part. Further, as a configuration in which the information processing device 10 can be carried, a driver or the like of the host vehicle 1 may bring the information processing device 10 into the passenger compartment of the host vehicle 1 and use it as necessary.

  The information processing apparatus 10 is an electronic circuit unit that includes a CPU 20, a memory 30, various interface circuits (not shown), and the like. The CPU 20 reads and executes the control program 31 of the information processing apparatus 10 stored in the memory 30 to thereby execute another vehicle information acquisition unit 21, a forward vehicle detection unit 22, a road information acquisition unit 23, a lane separation facility recognition unit. 24, functions as a lane number recognition unit 25, a determination target specifying unit 26, a traveling state determination unit 27, and a determination information output unit 28.

  A communication unit 40, a speaker 41, a camera 42, a GPS (Global Positioning System) unit 43, a map DB (database) 44, a vehicle speed sensor 45, and a touch panel 50 are connected to the information processing apparatus 10. One or more of the communication unit 40, the speaker 41, the camera 42, the GPS unit 43, the map DB 44, and the vehicle speed sensor 45 may be integrated with the information processing apparatus 10, or may be separate.

  The communication unit 40 has a function of communicating with a communication device outside the host vehicle 1, and the information processing device 10 communicates with another vehicle 200 via the communication unit 40 (vehicle-to-vehicle communication). I do. Further, the information processing apparatus 10 communicates with the traffic information server 101 or the like connected to the network 100 via the communication unit 40, and acquires traffic information and weather information.

  In addition, the information processing apparatus 10 outputs an alarm sound, voice guidance, and the like via the speaker 41 and captures image data around the own vehicle 1 captured by the camera 42. Furthermore, the information processing apparatus 10 inputs the current position data (longitude and latitude data) of the host vehicle 1 detected by the GPS unit 43, and inputs road information and the like stored in the map DB 44.

  The touch panel 50 includes a flat type display 51 such as a liquid crystal panel, and a touch switch 52 disposed so as to cover the surface of the display 51. An operation signal of the touch switch 52 is input to the information processing apparatus 10, and a screen display of the display 51 is controlled by a control signal output from the information processing apparatus 10.

  The other vehicle information acquisition unit 21 performs inter-vehicle communication with another vehicle via the communication unit 40 and acquires information on other vehicles located around the host vehicle 1. The communicable distance by the inter-vehicle communication is, for example, 300 m to 500 m, and the other vehicle information acquisition unit 21 acquires information of other vehicles located within this range. The information on the other vehicle includes the position (latitude, longitude), vehicle type, traveling speed, and the like of the other vehicle.

  The forward vehicle detection unit 22 is based on the information on the other vehicle acquired by the other vehicle information acquisition unit 21 and the map information stored in the map DB 44, and is a bus that stops at the bus stop in front of the host vehicle 1 ( (Corresponding to the vehicle in front of the own lane of the present invention).

  The road information acquisition unit 23 refers to the map data stored in the map DB 44, and acquires information on the road on which the host vehicle 1 is traveling and roads around the road (hereinafter also referred to as road information). The road information includes information such as the number of lanes on the road and whether or not a lane separation facility is installed.

  From the road information acquired by the road information acquisition unit 23, the lane separation facility recognition unit 24 determines whether or not a lane separation facility is provided between the own lane in which the host vehicle 1 is traveling and the opposite lane. recognize. Here, the lane marking is a road display that divides a portion of a strip-shaped roadway provided for safely and smoothly passing one column of automobiles, or a road display that displays a roadway center line or a roadway outer line. Further, the lane separation facility is a facility that separates the lane according to the reciprocating direction, and physically obstructs the movement of the vehicle to the opposite lane. Lane separation facilities include, for example, a median strip provided with workpieces or curbs, blocks installed on lane lines, rubber poles, road fences, and the like.

  The lane number recognition 25 recognizes the number of lanes on the road on which the host vehicle 1 is traveling from the road information acquired by the road information acquisition unit 23. The determination target specifying unit 26 determines whether or not there is a possibility that the host vehicle 1 may interfere with the traveling of the host vehicle 1 when the host vehicle 1 passes the side of the bus that is parked forward and proceeds forward of the bus. The target other vehicle is specified from the other vehicles whose information has been acquired by the other vehicle information acquisition unit 21.

  The traveling state determination unit 27 performs inter-vehicle communication with the other vehicle specified by the determination target specifying unit 26 via the communication unit 40, and the side of the bus where the host vehicle 1 is stopped ahead. It is determined whether there is a possibility that the identified other vehicle may interfere with the traveling of the host vehicle 1 when the vehicle travels ahead of the bus after passing through (side-passing determination). The determination information output unit 28 outputs a warning when there is another vehicle that is determined to have a possibility of hindering the traveling of the host vehicle 1 by the side passage determination. Moreover, in the case of side passage determination, the traffic information and weather information acquired via the communication unit 40 are taken into consideration.

[2. Information output processing by information processing device]
Next, information output processing for driving support of the host vehicle 1 executed by the information processing apparatus 10 will be described according to the flowcharts shown in FIGS. 2 and 3. In the flowcharts of FIGS. 2 and 3, information output processing is executed for a situation in which the host vehicle 1 travels to the side of the bus where the vehicle 1 is stopped ahead and travels ahead of the bus. The information output process is periodically performed at an extremely short cycle. For example, by performing the information output process every 1 millisecond, the information processing apparatus 10 can respond to changes in other vehicles located around the host vehicle.

  Step S <b> 1 in FIG. 2 is processing by the forward vehicle detection unit 22. The forward vehicle detection unit 22 includes information on other vehicles (current position, traveling direction, travel speed, acceleration, vehicle type, etc.) acquired by the other vehicle information acquisition unit 21 and road information acquired by the road information acquisition unit 23. Based on the above, it is determined whether or not the bus is stopped at the bus stop ahead of the host vehicle 1 on the road on which the host vehicle 1 is traveling. Here, when the host vehicle 1 is traveling on a road prohibited from passing, it is necessary to pass the side of the bus after the bus stops, so it is important to confirm the stop of the bus. The processing by the other vehicle information acquisition unit 21 corresponds to the other vehicle information acquisition step in the information output method of the present invention.

  And the front vehicle detection part 22 advances a process to step S2, when the bus stopped at the bus stop ahead of the own vehicle 1 is detected. On the other hand, when the bus stopped at the bus stop in front of the host vehicle 1 is not detected, the forward vehicle detection unit 22 executes the process of step S1 again.

  Step S2 is processing by the lane separation facility recognition unit 24, and corresponds to a lane separation facility recognition step in the information output method of the present invention. Whether the lane separation facility recognition unit 24 is provided with a lane separation facility on the road on which the host vehicle 1 is traveling, based on the information on the road on which the host vehicle 1 is traveling, acquired by the road information acquisition unit 23. Recognize whether or not.

  The subsequent step S3 is processing by the lane number recognition unit 25. The lane number recognition unit 25 recognizes the number of lanes on the road on which the host vehicle 1 is traveling based on the information on the road on which the host vehicle 1 is traveling, acquired by the road information acquisition unit 23.

  The next step S4 to step S7 in FIG. 3 is a process by the determination target specifying unit 26, and corresponds to a determination target specifying step in the information output method of the present invention. In step S4, the determination target specifying unit 26 determines whether the road on which the host vehicle 1 is traveling is one lane on the basis of the recognition result by the lane number recognition unit 25. The determination target specifying unit 26 proceeds to step S5 when the road on which the host vehicle 1 is traveling is one lane on one side, and proceeds to step S5 when the road is not one lane on one side (when two or more lanes on one side). The process proceeds to S20.

  In step S <b> 5, the determination target specifying unit 26 determines whether a lane separation facility is provided on the road on which the host vehicle 1 is traveling based on the recognition result by the lane separation facility recognition unit 24. Then, when the lane separation facility is provided on the road on which the host vehicle 1 is traveling, the determination target specifying unit 26 advances the process to step S <b> 6. The process proceeds to step S7 in FIG.

  Here, FIG. 4 shows a case where the road Rd1 on which the host vehicle 1 is traveling is one lane on one side and a lane separation facility MD1 is provided between the host lane L11 and the opposite lane L12. . Since the bus stop 300 is provided with the evacuation zone SE1, the host vehicle 1 can travel to the front of the bus 301 by passing through the side of the bus 301 stopped at the bus stop 300 along the route D1. .

  In this case, the determination target specifying unit 26 sets the other vehicle 201 that enters the road Rd1 from the side road Rd2 that is “the other vehicle in front of the own lane” by the process of step S6. For this reason, the other vehicle 202 located on the opposite lane L12 side and the other vehicle 203 entering the road Rd1 from the side road Rd3 on the opposite lane L12 side are excluded from the determination targets. Here, the side road is a road (Rd2, Rd3 in FIG. 4) that intersects the main road (Rd1 in FIG. 4), a road that is separated from the main road, a road that joins the main road, and a road (side Road) etc.

  On the other hand, when the lane separation facility is not provided on the road on which the host vehicle 1 is traveling, the determination target specifying unit 26 proceeds from step S5 to step S40. Then, the determination target specifying unit 26 sets “other front vehicle on the own lane side” and “front other vehicle on the opposite lane side” as the determination targets, and proceeds to step S <b> 7 in FIG. 3.

  Here, FIG. 5 shows that the road Rd4 on which the host vehicle 1 is traveling is one lane on one side, and a lane marking (white line, yellow line, etc.) ML1 is provided between the host lane L21 and the opposite lane L22. However, the lane separation facility is not provided. In the example of FIG. 5, the bus 311 stops at the bus stop 310 in front of the host vehicle 1, and no bus retreat space is provided as shown in FIG. 4. Therefore, when the own vehicle 1 passes the side of the bus 311 that is stopped by the route indicated by D2, the own vehicle 1 protrudes to the opposite lane L22 side, and it is necessary to pay attention to the oncoming vehicle on the opposite lane L22 side. is there.

  Therefore, the determination target specifying unit 26 is the other vehicle 211 that enters the road Rd4 from the side road Rd5 that is “the other vehicle on the own lane side” and the “other vehicle on the opposite lane side” by the process of step S40. The other vehicle 212 located in the oncoming lane L22 and the other vehicle 213 entering the road Rd4 from the side road Rd6 on the side of the oncoming lane L22 are determined.

  In step S20, the determination target specifying unit 26 determines whether a lane separation facility is provided on the road on which the host vehicle 1 is traveling. Then, when the lane separation facility is provided on the road on which the host vehicle 1 is traveling, the determination target specifying unit 26 proceeds to step S21 to execute “the other vehicle ahead on the own lane side” and “the own vehicle”. The process proceeds to step S7 in FIG. 3 with “the other vehicle on the lane side” as a determination target.

  Here, FIG. 6 shows a case where the road Rd7 on which the host vehicle 1 is traveling has two lanes on one side, and a lane separation facility MD2 is provided between the host lanes L31 and L32 and the opposite lanes L33 and L34. Is shown. In FIG. 6, the host vehicle 1 passes by a side of the bus 321 that stops at the front bus stop 320 through the route D3 or D4. In the case of the route D4, it is necessary to avoid contact with the other vehicle 221 traveling behind.

  Therefore, the determination target specifying unit 26 is the other vehicle 222 that enters the road Rd7 from the side road Rd8 that is “the other vehicle on the own lane side” and “the other vehicle on the rear side on the own lane” by the process of step S21. The other vehicle 221 that travels in the lane L32 is set as a determination target. Therefore, the other vehicles 223 and 224 that travel on the opposite lanes L33 and L34 that are prevented from traveling to the own lanes L31 and L32 by the lane separation facility MD2 are excluded from the determination targets.

  On the other hand, when the lane separation facility is not provided on the road on which the host vehicle 1 is traveling, the determination target specifying unit 26 proceeds from step S20 to step S30. Then, in step 30, the determination target specifying unit 26 sets “other front vehicle on the own lane side”, “rear other vehicle on the own lane side”, and “front other vehicle on the opposite lane side” as determination targets. The process proceeds to step S7.

  Here, FIG. 7 shows that the road Rd10 on which the host vehicle 1 is traveling has two lanes on one side, and a lane marking (white line, yellow line, etc.) ML2 between the host lanes L41 and L42 and the opposite lanes L43 and L44. Is shown, but no lane separation facility is provided. In FIG. 7, the host vehicle 1 basically passes by the side of the bus 331 stopped at the front bus stop 330 by the route D5, but it is also possible that the vehicle 1 protrudes to the opposite lane L43 by the route D6. .

  Therefore, the determination target specifying unit 26 performs the processing in step S30, such as the other vehicle 232 that enters the road Rd10 from the side road Rd11 that is “the other vehicle ahead on the own lane”, and the other vehicle that is “the other vehicle behind the own lane”. The vehicle 231 and the other vehicle 233 that is traveling on the opposite lane L44, which is the “other vehicle ahead on the opposite lane”, and the other vehicle 234 that enters the road Rd10 from the side road Rd12 are determined.

  In step S7 of FIG. 3, the determination target specifying unit 26 includes the above-described steps S6, S40, and the like among the other vehicles (other vehicles located around the host vehicle 1) whose information has been acquired by the other vehicle information acquisition unit 23. The other vehicle corresponding to the determination target by the process of either S21 or S30 is extracted. In subsequent step S8, the determination target specifying unit 26 proceeds to step S9 when the other vehicle to be determined is extracted. On the other hand, when the other vehicle to be determined is not extracted, the determination target specifying unit 26 proceeds to step S12 and ends the information output process.

  Step S9 is a process performed by the traveling state determination unit 27 and corresponds to a traveling state determination step in the information output method of the present invention. The traveling state determination unit 27 confirms the positional relationship between the bus, the other vehicle, and the host vehicle 1, and when the host vehicle 1 passes by the side of the bus, the traveling state determination unit 27 determines from the vehicles extracted in step S7. The presence / absence of another vehicle that may hinder the traveling of the vehicle 1 is determined (side passage determination). Details of the side determination process will be described later.

  Subsequent steps S10 to S11 are processes by the determination information output unit 28, and correspond to the determination information output step in the information output method of the present invention. In step S10, the determination information output unit 28 determines that there is another vehicle that may interfere with the traveling of the host vehicle 1 when the host vehicle 1 passes the side of the bus. When it is determined that the warning is necessary, the process proceeds to step S11. On the other hand, when the traveling state determination unit 27 determines that there is no other vehicle that may have an influence when the host vehicle 1 passes the side of the bus, the determination information output unit 28 performs steps from step S10 to step S10. The process proceeds to S12.

  In step S11, the determination information output unit 28 outputs an alarm sound (voice guidance, output of a buzzer sound, etc.) from the speaker 41, displays a warning screen on the display 51, and outputs a warning to the driver. The process proceeds to step S12 to end the information output process. The determination information output unit 28 changes the content of the voice guidance according to the other vehicle that is the warning target. For example, in the case of another vehicle on the oncoming lane side, the judgment information output unit 28 outputs a screen display such as a character “a oncoming vehicle is approaching”, a figure, etc. and voice guidance. For other vehicles that can be approached from a side street, a screen display such as “There is a vehicle entering from a side street”, a screen display such as a figure, and voice guidance are output.

  In addition, when the traveling state determination unit 27 determines that “there is no other vehicle that may interfere with the traveling of the host vehicle 1 when the host vehicle 1 passes by the side of the bus”, the determination is made. The information output unit 28 may output a permission notification informing that “the bus can be passed by the side”. In this case, for example, when the own vehicle 1 is located within a predetermined distance behind the bus, a restriction may be provided at the timing of outputting the permission notification. If this restriction is not provided, for example, when a notification of overtaking is output at a position further than 300 m behind the bus, the bus may start before the host vehicle 1 approaches the bus. Because there is.

[3. Side Passing Judgment Processing by Traveling State Judgment Unit 27]
With reference to FIGS. 4-7, the process of the side passage determination based on the positional relationship of the bus | bath and other vehicles, and the own vehicle performed by the driving | running | working condition judgment part 27 in FIG.3 S9 is demonstrated.

[3-1. Road with one-lane lane separation facility]
First, the case where the host vehicle 1 passes by the side of the bus 301 stopped at the front bus stop 300 on the road Rd1 provided with the lane separation facility MD1 in one lane shown in FIG. 4 will be described. In the situation of FIG. 4, the other vehicle 201 in front of the own lane L <b> 11 becomes the determination target by the process of step S <b> 6 of FIG. 2 described above. The traveling state determination unit 27 recognizes the distance X between the bus 301 and the other vehicle 201 based on the information acquired by the other vehicle information acquisition unit 21, and the host vehicle 1 passes by the side of the bus 301. At this time, it is determined whether or not the other vehicle 201 may interfere with the traveling of the host vehicle 1.

  Here, the distance at which a traveling vehicle can be safely stopped is generally defined by a stop distance Y that is the sum of an idle running distance and a braking distance depending on the running speed. For example, when the traveling speed of the host vehicle 1 is 20 km / h, the idling distance is assumed to be 6 m and the braking distance is about 3 m, so the stop distance Y is 9 m.

Since the stopping distance Y (9 m) assumed for the traveling speed 20 km / h of the host vehicle 1 is the minimum distance, A · Y multiplied by a coefficient A for securing a margin is used as a determination threshold value. To do. Here, the coefficient A may be a constant, but the braking distance of the host vehicle 1 varies depending on various factors such as weather (sunny, rain, snow, etc.) and the number of passengers. A may be changed. Therefore, the determination formula is the following formula (1).
X> Y × A (1)
Where X is the distance between the bus and the other vehicle ahead, Y is the stop distance of the host vehicle 1, and A is the correction coefficient for the stop distance.

  When the relationship of the above formula (1) is established for the other vehicle 201 that is the determination target, the traveling state determination unit 27 determines that the other vehicle 201 passes through the side of the bus 301. Judge that there is no possibility of hindrance. And the driving | running | working condition judgment part 27 shows the result of a side passage judgment "There is no other vehicle which may become the hindrance of the driving | running | working of the own vehicle 1 when the own vehicle 1 passes the side of the bus 301." And

  On the other hand, when the relationship of the above formula (1) is not established for the other vehicle 201 that is the determination target, the traveling state determination unit 27 performs the traveling of the own vehicle 1 when the own vehicle 1 passes by the side of the bus 301. Judge that it may be an obstacle. And the driving | running | working condition judgment part 27 shows the result of the side passage judgment "There exists another vehicle which may become the obstruction of the own vehicle 1 when the own vehicle 1 passes the side of the bus 301." And

  Further, when the host vehicle 1 is stopped in front of the bus 301 and the travel speed of the host vehicle 1 is equal to or less than a predetermined speed, a stop distance Y corresponding to the travel speed of the host vehicle 1 is set, You may apply to Formula (1).

[3-2. Road with one lane on one side and no lane separation facility]
Next, the case where the host vehicle 1 passes by the side of the bus 311 stopped at the front bus stop 310 on the road Rd4 with one lane on one side and no lane separation facility shown in FIG. 5 will be described. In the situation of FIG. 5, the other vehicle 211 in front of the own lane L21 and the other vehicles 212 and 213 on the opposite lane L22 are determined by the process of step S40 in FIG.

  For the other vehicle 211 in front of the own lane L21, the traveling state determination unit 27 determines that the own vehicle 1 passes by the side of the bus 301 by the above formula (1), as in the case shown in FIG. Then, it is determined whether or not the other vehicle 211 may interfere with the traveling of the host vehicle 1. In addition, the traveling state determination unit 27 determines the other vehicles 212 and 213 on the opposite lane L22 side as follows.

  As illustrated in FIG. 5, the traveling state determination unit 27 recognizes the distance a between the host vehicle 1 and the bus 311 and the length b of the bus 311 based on the information acquired by the other vehicle information acquisition unit 21. Then, based on the detection signal of the vehicle speed sensor 45, the traveling speed v1 of the host vehicle 1 is recognized. In addition, the traveling state determination unit 27 sets a distance c necessary when the host vehicle 1 passes by the side of the bus 311. The distance c is a distance that can easily pass through the side of the bus, and is set to an integral multiple of the length b of the bus 311, for example.

Further, as illustrated in FIG. 5, the traveling state determination unit 27 determines the distance f between the host vehicle 1 and the other vehicle 212 on the opposite lane L22 side based on the information acquired by the other vehicle information acquisition unit 21, and The traveling speed v2 of the other vehicle 212 is recognized. In order for the host vehicle 1 to pass through the side of the bus 311 without difficulty, the following equation (2), that is, the relationship of equation (3) needs to be established.
f− (a + b + c)> g (2)
f− (a + b + c)> v2 × (a + b + c) / v1 (3)
Where, a: distance between the host vehicle 1 and the bus 311, b: length of the bus 311, c: distance that can pass the side of the bus 311 without difficulty, f: between the host vehicle 1 and the other vehicle 212 Distance, g: distance between the host vehicle 1 when the host vehicle 1 passes by the side of the bus 311 (indicated by a dotted line with 1 'in FIG. 5) and the other vehicle 212, v1: the host vehicle 1 Traveling speed, v2: Traveling speed of the other vehicle 212.

  When the relationship of the above formulas (2) and (3) is established between the host vehicle 1 and the other vehicle 212 on the opposite lane L22 side, the host vehicle 1 is not obstructed by the other vehicle 212. It is assumed that it can pass by the side of the bus 311. However, the conditions for the own vehicle 1 to pass through the side of the bus 311 without the other vehicle 212 being obstructed by various factors such as the driving ability of the driver of the own vehicle 1 and the weather of the day are as follows. Can change.

  Therefore, according to these factors, a margin may be provided by performing a process such as multiplying the determination distance (f− (a + b + c)) of the above equation (3) by a coefficient or adding a correction value. Similarly to the case of FIG. 4, when the traveling speed of the own vehicle 1 is equal to or lower than the predetermined speed as in the case where the own vehicle 1 stops once before the bus 311, the traveling speed v1 of the own vehicle 1 is increased. Accordingly, the time (a + b + c) / v1 and the distance (a + b + c) that can pass through the side of the bus 311 without difficulty are set, and these may be applied to the above expressions (2) and (3).

  When the conditions of the above formulas (2) and (3) are satisfied for the other vehicles 212 and 213 on the opposite lane L22 side, the traveling state determination unit 27 determines that the host vehicle 1 passes the side of the bus 311. In addition, it is determined that there is no possibility that the other vehicles 212 and 213 interfere. On the other hand, for the other vehicles 212 and 213 in which the conditions of the above expressions (2) and (3) are not satisfied, the traveling state determination unit 27 determines that the own vehicle 1 becomes an obstacle when passing the side of the bus 311. .

  And the driving | running | working condition judgment part 27 may become the hindrance of the driving | running | working of the own vehicle 1 when the own vehicle 1 passes the side of the bus 311 about all the other vehicles 211, 212, and 213 to be judged. If it is determined that there is no other vehicle that may interfere with the traveling of the host vehicle 1 when the host vehicle 1 passes by the side of the bus 311 .

  On the other hand, regarding at least one of the other vehicles 211, 212, and 213 to be determined, it is determined that there is a possibility that the host vehicle 1 may interfere with traveling when the host vehicle 1 passes by the side of the bus 311. In this case, the traveling state determination unit 27 determines that the result of the side passage determination is “There is another vehicle that may interfere with the traveling of the own vehicle 1 when the own vehicle 1 passes the side of the bus 311. "

[3-3. Road with two lanes on one side and lane separation facilities]
Next, the case where the host vehicle 1 passes by the side of the bus 321 stopped at the front bus stop 320 on the road Rd7 having the lane separation facility MD2 in one lane in two lanes shown in FIG. 6 will be described. In the situation of FIG. 6, the other vehicle 222 in front and the other vehicle 221 in the rear on the own lanes L31 and L32 are subjected to side passage determination by the process of step S21 in FIG.

  As for the other vehicle 222 in front of the own lanes L31 and L32, the traveling state determination unit 27 passes the side of the bus 321 by the above equation (1) as in the case shown in FIG. Judge whether it will be a hindrance or not. In addition, as for the other vehicle 221 behind the lanes L31 and L32, the traveling state determination unit 27 prevents the traveling of the own vehicle 1 when the own vehicle 1 passes by the side of the bus 321 as follows. It is determined whether there is a possibility of becoming.

  As illustrated in FIG. 6, the traveling state determination unit 27 determines the distance a between the host vehicle 1 and the bus 321, the distance between the host vehicle 1 and the other vehicle 221, based on the information acquired by the other vehicle information acquisition unit 21. The distance d and the traveling speed v3 of the other vehicle 221 are recognized. Further, the traveling state determination unit 27 recognizes the traveling speed v <b> 1 of the host vehicle 1 based on the detection signal of the vehicle speed sensor 45.

Then, the traveling state determination unit 27 changes the lane from the traveling lane L31 to the passing lane L32 so that the host vehicle 1 passes by the side of the bus 321 and travels to the other vehicle 221 at a certain inter-vehicle distance ( Hereinafter, whether or not the minimum inter-vehicle distance K) can be secured is determined by the following equation (4).
a + d> (v3 × a / v1) + K (4)
Where, a: distance between own vehicle 1 and bus 321, d: distance between own vehicle 1 and other vehicle 221, v1: traveling speed of own vehicle 1, v3: traveling speed of other vehicle 221, K: minimum inter-vehicle distance .

  When the condition of the above formula (4) is established for the other vehicle 221 in the rear, the traveling state determination unit 27 determines whether the other vehicle 221 passes the side of the bus 321 and the other vehicle 221 Judge that there is no possibility of hindering driving. On the other hand, when the condition of the above formula (4) is not satisfied for the other vehicle 221 in the rear, the traveling state determination unit 27 determines that the other vehicle 221 is the own vehicle 1 when the own vehicle 1 passes the side of the bus 321. Judging that there is a possibility of hindering driving.

  As in the case of FIGS. 3 and 4, it is also conceivable that the host vehicle 1 stops before the bus 321 or the traveling speed becomes a predetermined speed or less. In that case, the required time which can pass the side of the bus 321 without difficulty according to the traveling speed of the own vehicle 1 is set, and the other vehicle 221 determines that the own vehicle 1 is based on this required time. It may be determined whether or not there is a possibility of hindering traveling.

  For example, when the host vehicle 1 is traveling at 10 km / h, the required time that can pass through the side of the bus 321 without difficulty is set to 15 seconds. In this case, if the time required for the other vehicle 221 to travel the distance a + d is 15 seconds or longer, the host vehicle 1 passes by the side of the bus 321 stopped in front of the bus 321 and moves forward. Therefore, the traveling state determination unit 27 determines that there is no possibility that the other vehicle 221 hinders the traveling of the host vehicle 1.

  In addition, the time that can be passed by the side of the bus 321 without difficulty changes due to various factors such as the weather or the driving skill of the driver, so that the required time is changed according to these factors. It may be.

  The traveling state determination unit 27 determines that there is no possibility that the traveling of the own vehicle 1 is hindered when the own vehicle 1 passes by the side of the bus 321 with respect to both the other vehicles 221 and 222 to be determined. In such a case, the result of the side passage determination is “no other vehicle that may interfere with the traveling of the host vehicle 1 when the host vehicle 1 passes by the side of the bus 321”.

  On the other hand, when at least one of the other vehicles 221 and 222 that is the determination target passes the side of the bus 321, it is determined that there is a possibility that the own vehicle 1 may interfere with traveling. In this case, the traveling state determination unit 27 determines that the result of the side passage determination is “There is no other vehicle that may hinder the traveling of the own vehicle 1 when the own vehicle 1 passes the side of the bus 321. "

[3-4. Road with two lanes on one side and no lane separation facility]
Next, on the road Rd10 in which the lane marking ML2 is provided in two lanes on one side and no lane separation facility shown in FIG. 7, the own vehicle 1 passes by the side of the bus 331 stopped at the front bus stop 330. The case will be described. In the situation of FIG. 7, by the process of step S30 of FIG. 2 described above, the other vehicle 232 in front of the own lane L41, L42 and the other vehicle 231 in the rear, and the other vehicle 233 in front of the opposite lane L43, L44. 234 is a target of side passage determination.

  For the other vehicle 232 in front of the own lanes L41 and L42, the traveling state determination unit 27 passes the side of the bus 331 by the above equation (1), as in the case shown in FIG. In doing so, it is determined whether or not there is a possibility of hindering the traveling of the host vehicle 1. In addition, the traveling state determination unit 27 determines that the other vehicle 231 behind the lanes L41 and L42 is the side of the bus 331 according to the above equation (4), as in the case shown in FIG. When passing the vehicle, it is determined whether or not there is a possibility of hindering the traveling of the host vehicle 1.

  Furthermore, the traveling state determination unit 27 determines that the other vehicles 233 and 234 in front of the oncoming lanes L43 and L44 are in accordance with the above formulas (2) and (3), similar to the case shown in FIG. When 1 passes by the side of the bus 331, it is determined whether or not there is a possibility that the vehicle 1 may interfere with traveling.

  And the driving | running | working condition judgment part 27 becomes the obstruction | occlusion of the driving | running | working of the own vehicle 1 when the own vehicle 1 passes the side of the bus 331 about all the other vehicles 231, 232, 233, 234 to be judged. When it is determined that there is no possibility, the result of the side passage determination is “there is no other vehicle that may interfere with the traveling of the own vehicle 1 when the own vehicle 1 passes the side of the bus 331”. And

  On the other hand, when at least one of the other vehicles 231, 232, 233, and 234 to be determined, when the host vehicle 1 passes by the side of the bus 331, it may hinder the traveling of the host vehicle 1. When it is determined that there is a possibility, the traveling state determination unit 27 determines that the result of the side passage determination is that “when the own vehicle 1 passes the side of the bus 331, the traveling of the own vehicle 1 may be hindered. It is determined that there is another vehicle.

  According to the present embodiment, for example, when there is a lane separation facility on the road on which the host vehicle travels when trying to pass the side of a stopped bus, the approaching vehicle on the opposite lane is approached. Even if it is detected, there is no notification that the side passage of the bus is prohibited unless a vehicle traveling on the lane on which the host vehicle travels is detected. In addition, when there is no lane separation facility on the road where the host vehicle travels when trying to pass the side of a stopped bus, the stop of the bus in front of the host vehicle is detected and the vehicle travels in the opposite lane. If the approach of an oncoming vehicle is detected, a notification that the side passage of the bus is prohibited is notified. In other words, other vehicles that may affect the traveling of the host vehicle are appropriately determined. Therefore, a vehicle traveling in a lane that is physically separated by the lane separation facility can be excluded from the judgment object of the side passage, and the opportunity of the side passage is not missed.

[4. Other Embodiments]
Although the example which outputs a warning with respect to the driver | operator of the own vehicle 1 was shown in the said embodiment, this invention is applicable also to the own vehicle which performs an automatic driving | operation. When the host vehicle performs automatic driving, a warning (warning signal) is output not to the driver but to a control subject of automatic driving such as an ECU (Electric Control Unit) of the host vehicle. While the ECU receives the warning signal, the ECU prohibits the passage on the side of the bus, stops in front of the bus, and passes the side of the bus when the warning signal is not received. Perform automatic operation control.

  In the above embodiment, as a situation where another vehicle may have an influence when the host vehicle travels, the situation in which the host vehicle passes the side of the bus that is parked forward is shown. The situation where is possible is not limited to passing the side of a parked bus, but a parked passenger car, parked taxi, parked truck, other parked vehicle, or running bus, The present invention may be applied when passing the side of a passenger car, a traveling taxi, a traveling truck, and other traveling vehicles. For example, the present invention can be applied to situations where the host vehicle travels such as turning right, turning left, joining, and changing lanes.

  In the above-described embodiment, as illustrated in FIG. 1, the road information acquisition unit 23 of the information processing apparatus 10 acquires the road information from the map DB 44 provided in the vehicle 1. However, the road information may be acquired from the traffic information server 101 via the communication unit 40 and the network 100.

  In the above embodiment, the lane separation facility recognition unit 24 recognizes whether or not the lane separation facility is provided on the road on which the host vehicle 1 is traveling based on the road information acquired by the road information acquisition unit 23. However, it may be recognized whether or not a lane separation facility is provided based on the captured image of the periphery of the host vehicle 1 by the camera 42. Further, whether or not a lane separation facility is provided may be recognized by object detection means such as a radar device provided in the host vehicle 1. Or you may make it recognize whether the lane separation facility is provided by receiving the beacon signal containing the road information transmitted from a roadside facility by the communication part 40. FIG.

  In the above embodiment, the lane recognition unit 25 recognizes the number of lanes on the road on which the host vehicle 1 is traveling based on the road information acquired by the road information acquisition unit 23. You may recognize the number of lanes of a road based on the surrounding captured image. Or you may make it recognize the number of lanes of a road by receiving the beacon signal containing the road information transmitted from a roadside facility by the communication part 40. FIG.

  In the above embodiment, the sound output from the speaker 41 and the warning display on the display 51 are performed as the warning output of the present invention, but the vibrating body is provided on the steering, seat, etc. of the host vehicle 1. The warning may be output by other methods such as vibrating the.

  FIG. 1 is a schematic diagram showing the functional configuration of the information processing apparatus 10 classified according to main processing contents in order to facilitate understanding of the present invention. Depending on the content, it can also be classified into more components. Moreover, it can also classify | categorize so that one component may perform more processes. Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware. Further, the processing of each component may be realized by one program or may be realized by a plurality of programs.

  In the information processing apparatus 10 shown in FIG. 1, a program executed by the CPU 20 is downloaded from an external server via the communication unit 40 and the network 100, for example, and then loaded onto the memory 30 such as a RAM and the CPU May also be executed. Alternatively, the program may be directly loaded from an external server into the memory 30 such as a RAM via the communication unit 40 and the network 100 and executed by the CPU 20. Alternatively, it may be loaded from a storage medium connected to the information processing apparatus 10 onto the memory 30 such as a RAM.

  In addition, the processing units of the flowcharts illustrated in FIGS. 2 to 3 are divided according to main processing contents in order to facilitate understanding of the processing by the information processing apparatus 10. The present invention is not limited by the way of dividing the processing unit or the name. The processing of the information processing apparatus 10 can be divided into more processing units according to the processing content. Moreover, it is also possible to divide so that one processing unit includes more processes. In addition, the processing order of the flowcharts is not limited to the illustrated example as long as similar processing results can be obtained.

1 own vehicle 10 information processing device 20 CPU
DESCRIPTION OF SYMBOLS 21 Other vehicle information acquisition part 22 Forward vehicle detection part 23 Road information acquisition part 24 Lane separation facility recognition part 25 Lane number recognition part 26 Judgment object specific | specification part 27 Travel condition judgment part 28 Judgment information output part 30 Memory 31 Control program 40 Communication Part 41 Speaker 42 Camera 43 GPS
44 Map DB
45 Vehicle speed sensor 50 Touch panel 51 Display 52 Touch switch 100 Network 101 Traffic information server 200 Other vehicle 201-203 Other vehicle 211-213 Other vehicle 221-224 Other vehicle 231-234 Other vehicle 300, 310, 320, 330 Bus stop 301, 311, 321, 331 Bus Rd1-Rd12 Road L11, L21, L31, L32, L41, L42 Own lane L12, L22, L33, L34, L43, L44 Oncoming lane MD1, MD2 Lane separation facility ML1, ML2

Claims (9)

Other vehicle information acquisition unit for acquiring information of other vehicles located around the own vehicle;
A lane separation facility recognition unit for recognizing whether or not a lane separation facility is provided between the own lane in which the host vehicle is traveling and the opposite lane;
Is there a possibility of affecting the traveling of the host vehicle based on the information on the other vehicle acquired by the other vehicle information acquisition unit and the recognition result of the lane separation facility by the lane separation facility recognition unit A determination target specifying unit for specifying the other vehicle as a determination target;
A traveling state determination unit that determines whether or not the other vehicle that is the determination target by the determination target identification unit may affect the traveling of the host vehicle;
A determination information output unit that outputs information based on a result of determination by the traveling state determination unit;
An information output device comprising:   When the lane separation facility recognizing unit recognizes that the lane separation facility is provided between the own lane and the opposite lane, the other vehicle information acquisition unit Of the other vehicles for which information has been acquired, the other vehicle located on the road on the opposite lane side is excluded from the judgment subject, and the other vehicle located on the road on the own lane side is regarded as the judgment subject. The information output device according to claim 1. A road information acquisition unit for acquiring information on a road on which the host vehicle is traveling;
The lane separation facility recognition unit recognizes whether or not the lane separation facility is provided between the own lane and the opposite lane based on the information acquired by the road information acquisition unit. The information output device according to claim 1 or 2. A lane number recognition unit for recognizing the number of lanes on the lane side of the road on which the host vehicle is traveling;
The determination target specifying unit includes the information on the other vehicle acquired by the other vehicle information acquisition unit, the recognition result of the lane separation facility by the lane separation facility recognition unit, and the own lane side by the lane number recognition unit. The information output device according to any one of claims 1 to 3, wherein the other vehicle to be determined is specified based on a recognition result of the number of lanes. A forward vehicle detection unit for detecting a forward vehicle on the own lane side located on the own lane side of the road on which the own vehicle is traveling;
The determination as to whether or not there is a possibility of affecting the travel of the host vehicle is when the host vehicle travels in front of the host vehicle on the lane side through the side of the host vehicle on the lane side. The information output device according to any one of claims 1 to 3, wherein the information output device is a side passage determination for determining whether or not there is a possibility of obstructing travel of the host vehicle.   The information output device according to claim 5, wherein the traveling state determination unit performs the side passage determination when the vehicle ahead in the own lane is stopped. A lane number recognition unit for recognizing the number of lanes on the lane side of the road on which the host vehicle is traveling;
The determination target specifying unit includes the information on the other vehicle acquired by the other vehicle information acquisition unit, the recognition result of the lane separation facility by the lane separation facility recognition unit, and the own lane side by the lane number recognition unit. The information output device according to claim 5 or 6, wherein the other vehicle to be subjected to the side passage determination is specified based on a recognition result of the number of lanes. The determination target specifying unit
When it is recognized by the lane separation facility recognition unit that the lane separation facility is provided between the own lane and the opposite lane,
When the lane number recognizing unit recognizes that the number of lanes on the own lane side on the road on which the host vehicle is traveling is 1, the vehicle running in front of the host vehicle in the own lane When only the other vehicle is a target of the side passage determination, and the lane number recognition unit recognizes that the number of lanes on the own lane side on the road on which the own vehicle is traveling is two or more, 8. The information output device according to claim 7, wherein the other vehicle that is traveling in front of and behind the host vehicle on a road on the host lane side is a target of the side passage determination. Other vehicle information acquisition step of acquiring information of other vehicles located around the own vehicle;
A lane separation facility recognition step for recognizing whether or not a lane separation facility is provided between the own lane in which the host vehicle is traveling and the opposite lane;
Is there a possibility of affecting the travel of the host vehicle based on the information on the other vehicle acquired in the other vehicle information acquisition step and the recognition result of the lane separation facility in the lane separation facility recognition step A determination target specifying step of specifying the other vehicle as a determination target;
A traveling state determination step of determining whether or not the other vehicle that is the determination target in the determination target specifying step may affect the traveling of the host vehicle;
A determination information output step of outputting information based on a result of the determination by the traveling state determination step.

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