JP2019159861A - Vehicle operation support device - Google Patents

Abstract

To provide a vehicle operation support device capable of reducing the possibility of a collision with another vehicle entering the course of an own vehicle.SOLUTION: A vehicle operation support device 1 includes: own vehicle traveling information acquisition means SC1 for acquiring a traveling state of an own vehicle C1; other vehicle traveling information acquisition means SC2 for acquiring a traveling state of the other vehicle C2 traveling around the own vehicle C1; and determination means U for determining whether or not the own vehicle C1 and the other vehicle C2 collide. The determination means U determines the possibility of a collision between the own vehicle C1 and the other vehicle C2 based on the degree of entry of the other vehicle C2 into a road RD and an operating state of a turn signal WN arranged on the other vehicle C2 in a form that is visible from the own vehicle C1 when the other vehicle C2 is entering from outside the road RD in the traveling direction of the road RD on which the own vehicle C1 travels, and adjusts the speed of the own vehicle C1 based on the determination result.SELECTED DRAWING: Figure 10

Description

  The present invention relates to a vehicle operation support device that supports a collision avoidance operation.

Conventionally, various methods have been proposed for vehicle operation support devices in order to avoid a collision between the host vehicle and another vehicle within an intersection.
For example, Patent Document 1 proposes an apparatus that detects an obstacle ahead of the host vehicle by photographing a surrounding road environment with a camera and analyzing the photographed image.
In the technique proposed in Patent Document 1, since an attention area is set in an image based on a vanishing point without using a lane mark or the like, an effective attention area is always set. Then, the obstacle is determined based on the direction of the movement vector with respect to the vanishing point and in which attention area the movement vector exists.
By using such a determination method, various obstacles that may collide with the host vehicle are detected.

JP 2008-257378 A

  By the way, in the technique proposed in Patent Document 1, how much is the possibility that the own vehicle and each obstacle collide, and what kind of case can be dealt with to prevent the collision, Is not disclosed.

  The present invention has been made in view of the foregoing points, and an object of the present invention is to provide a vehicle operation support device that can reduce the possibility of a collision with another vehicle entering the course of the host vehicle. And

  In order to achieve the above object, a vehicle operation support device according to the present invention acquires own vehicle travel information acquisition means for acquiring a travel state of the host vehicle and a travel state of another vehicle traveling around the host vehicle. Other vehicle travel information acquisition means, and determination means for determining whether or not the host vehicle and the other vehicle collide, and the determination means is on the traveling direction of the road on which the host vehicle is traveling. In addition, when there is the other vehicle to enter from outside the road, the degree of entry of the other vehicle into the road and the operating state of the winker arranged on the other vehicle in a form that can be confirmed from the own vehicle And determining whether the host vehicle and the other vehicle may collide with each other, and adjusting the speed of the host vehicle based on the determination result.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle operation assistance apparatus which can reduce the possibility of the collision with the other vehicle which approachs on the course of the own vehicle can be provided.

It is a schematic diagram which shows the vehicle carrying the vehicle operation assistance apparatus which concerns on this embodiment. It is a block diagram which shows the structure of a braking means. It is a block diagram which shows the structure of a determination means. It is a schematic diagram which shows the mode on the road of the other vehicle seen from the own vehicle, and has shown the state which the other vehicle protruded small from the road outside the driving lane side. It is a schematic diagram which shows the mode on the road of the other vehicle seen from the own vehicle, and has shown the state which the other vehicle protruded largely from the road outside the driving lane side. It is the model which shows the mode on the road of the other vehicle seen from the own vehicle, and has shown the state to which the turn signal was lighted, while the other vehicle protrudes small from the road outside on the opposite lane side. It is the model which shows the mode on the road of the other vehicle seen from the own vehicle, and has shown the state which the turn signal went out while the other vehicle protrudes small from the road outside on the opposite lane side. It is the model which shows the mode on the road of the other vehicle seen from the own vehicle, and has shown the state to which the turn signal was lighted, while the other vehicle protrudes largely from the road outside the opposite lane side. It is the model which shows the mode on the road of the other vehicle seen from the own vehicle, and has shown the state which the turn signal went out, while the other vehicle protrudes largely from the road outside on the opposite lane side. It is a flowchart which shows the operation | movement procedure of the vehicle operation assistance apparatus which concerns on this embodiment.

  An embodiment of the present invention will be described in detail with reference to the drawings as appropriate. The same components are denoted by the same reference numerals, and redundant description is omitted.

<1. Configuration of own vehicle in which vehicle operation support device is installed> (see FIGS. 1 and 2)
As shown in FIG. 1, the host vehicle C1 equipped with the vehicle operation support device 1 of the present embodiment includes drive means PW, wheels W, and braking means BR.
The drive means PW includes an engine E and a transmission T, and the driving force generated by the engine E is transmitted to the wheels W via the transmission T. When the driver operates the accelerator pedal PDA, the driving force generated by the engine E increases and the vehicle accelerates.
Note that the technology of the present invention is not limited to a vehicle having a drive source as the engine E, and can be applied to a vehicle using another drive source such as a motor.

The wheel W includes left and right front wheels WFL and WFR and left and right rear wheels WRL and WRR.
The left and right front wheels WFL and WFR function as driving wheels that transmit the driving force of the engine E to the road surface via the transmission T. Further, the left and right front wheels WFL, WFR also serve as steering wheels, and are steered according to the rotation of the steering wheel ST (steering means) that is rotated by the driver.
The left and right rear wheels WRL, WRR function as driven wheels that rotate as the vehicle travels.
The drive wheels are not limited to the front wheels, and can be applied to a configuration in which the rear wheels are the drive wheels and a vehicle having all the wheels W as the drive wheels.

  As shown in FIGS. 1 and 2, the brake pedal BR1 is connected to the master cylinder BR3 via an electronically controlled negative pressure booster BR2 by the brake pedal BR1 operated by the driver. The output port BR4 of the master cylinder BR3 is connected to brake calipers BRFL, BRFR, BRRL, BRRR provided on the front wheels WFL, WFR and the rear wheels WRL, WRR, respectively, via the hydraulic control means BR5.

The electronically controlled negative pressure booster BR2 mechanically boosts the depression force of the brake pedal BR1 to operate the master cylinder BR3. Further, the electronically controlled negative pressure booster BR2 operates the master cylinder BR3 by a control signal from a brake control means BRU described later during automatic braking without depending on the operation of the brake pedal BR1.
An input rod (not shown) of the electronically controlled negative pressure booster BR2 is connected to the brake pedal BR1 via a lost motion mechanism (not shown). Through the lost motion mechanism, even if the electronically controlled negative pressure booster BR2 is actuated by a signal from the braking control means BRU and the input rod moves, the brake pedal BR1 remains in the initial position.
In addition, when a pedaling force is input to the brake pedal BR1 and a braking command signal is input from the braking control means BRU, the electronically controlled negative pressure booster BR2 outputs the brake hydraulic pressure in accordance with whichever is greater. .

The hydraulic pressure control means BR5 includes a pressure regulator BR6 in each of the brake calipers BRFL, BRFR, BRRL, BRRR.
Each pressure regulator BR6 individually controls the operation of the brake calipers BRFL, BRFR, BRRL, BRRR provided for each wheel W according to the command of the brake control means BRU. Thereby, the anti-lock brake control which suppresses the lock | rock of the wheel W at the time of sudden braking can be performed. Further, by generating a braking force for each wheel W, it is possible to arbitrarily control the yaw moment of the vehicle and to stabilize the vehicle behavior during turning.

<2. Configuration of Vehicle Operation Support Device> (See FIGS. 1 and 3)
The vehicle operation support apparatus 1 of the present embodiment includes own vehicle travel information acquisition means SC1, other vehicle travel information acquisition means SC2, determination means U, and braking control means BRU.
The own vehicle travel information acquisition means SC1 acquires a travel state including the current position, traveling direction, and speed of the own vehicle, and includes own vehicle position information acquisition means SC1a and own vehicle movement information acquisition means SC1b. .

  The own vehicle position information acquisition means SC1a acquires the current position of the running vehicle C1. In the present embodiment, a navigation system that combines a satellite navigation system that receives radio waves from an artificial satellite and identifies its own position and map information is adopted as the vehicle position information acquisition means SC1a. In addition to the navigation system, various means such as a travel assistance road system (AHS: Advanced Cruise-Assist Highway Systems) that supports two-way communication between the road equipment and the vehicle and assists driving operation should be adopted. Can do.

The own vehicle movement information acquisition means SC1b acquires the traveling state such as the traveling direction and speed of the own vehicle C1. The own vehicle movement information acquisition means SC1b is composed of various sensors and devices such as a vehicle speed sensor installed in the own vehicle and map information of the navigation system, and calculates the speed and movement distance from the acquired acceleration. Is configured.
The other vehicle traveling information acquisition means SC2 acquires the traveling state such as the current position of the other vehicle C2 traveling around the host vehicle C1, the traveling direction and speed of the other vehicle C2. The other vehicle travel information acquisition means SC2 includes vehicle-to-vehicle communication between the host vehicle C1 and the other vehicle C2, road-to-vehicle communication such as a travel support road system (AHS), and a radar or camera installed in the host vehicle C1. Etc. can be adopted.

The determination unit U performs a current collision determination and an instruction to the host vehicle C1 after the current collision determination.
In the current collision determination, the vehicle C1 and the other vehicle C2 are determined based on the acquired information as to whether or not there is a possibility of a collision when the vehicle continues traveling at the same speed in the current state.
The braking control means BRU brakes the host vehicle C1 in accordance with the braking command from the determination means U.

<3. Function of vehicle operation support device> (see FIGS. 4 to 9)
Next, the operation of the vehicle operation support apparatus of the present embodiment having the above-described configuration will be described.
As shown in FIG. 4, when avoiding a collision at the intersection of the own vehicle C1 and the other vehicle C2 in an intersection where no traffic signal is installed, the own vehicle C1 can be decelerated and stopped by automatic braking. Has been done.
However, if the own vehicle C1 decelerates and stops each time the other vehicle C2 that tries to enter the road RD in the traveling direction of the own vehicle C1 is detected, there is a possibility of causing a traffic jam.
Therefore, in the vehicle operation support device 1 of the present embodiment, the driving of the host vehicle C1 is considered in consideration of the situation of the entering other vehicle C2 in order to avoid the collision of the host vehicle C1 and the other vehicle C2. Assisting the driver in driving.

The vehicle operation support device 1 acquires information on a plurality of vehicles traveling around the host vehicle C1 by the other vehicle travel information acquisition means SC2. And the vehicle operation assistance apparatus 1 always monitors during driving | running | working whether there is a vehicle which is going to approach from the road RD on the advancing direction of the road RD where the own vehicle C1 drive | works among several vehicles. Yes.
And if the vehicle operation assistance apparatus 1 detects the vehicle (other vehicle C2) which is going to approach from the road RD on the advancing direction of the road RD where the own vehicle C1 drive | works, the determination means U will perform the present condition collision determination. Do.
Note that “on the traveling direction of the road RD on which the host vehicle C1 travels” means on the road ahead of the vehicle when traveling forward and on the road behind the vehicle when traveling backward.

In the current collision determination, whether or not the own vehicle C1 and the other vehicle C2 collide when the other vehicle C2 enters from the outside of the road RD while the host vehicle C1 continues traveling at the same speed in the current situation. Determine whether or not.
The determination means U first enters the road RD from a plurality of detected vehicles based on the acquired current position and traveling state of the host vehicle C1 and the current position and traveling state of the other vehicle C2. Extract C2.
The determination means U determines (1) from which road the extracted other vehicle C2 enters, (2) the degree of entry to the road RD, and (3) the course after entering the road.

(1) Which road from which the vehicle enters from another road C2 determines whether the vehicle C2 enters from outside the road on the traveling lane side of the road RD or from the road on the opposite lane side of the road RD.
That is, it is determined whether the vehicle enters from the left side of the road RD as shown in FIGS. 4 and 5 or the right side of the road as shown in FIGS.

(2) Degree of approach to the road After moving from the position detected by the other vehicle C2 according to the degree of entry of the other vehicle C2, it is determined whether or not the course of the host vehicle C1 is blocked.
When the other vehicle C2 enters from outside the road on the traveling lane side, the distance between the lane boundary line on the driver's seat side (driver's seat side boundary line LD) and the other vehicle C2 that enters the vehicle (own vehicle side entry interval D1) Thus, the degree of entry of the other vehicle C2 is determined. (See Figs. 4 and 5)
For example, when the own vehicle side approach interval D1 is greater than or equal to a predetermined dimension, it is determined that the approach degree of the other vehicle C2 is “small” (less than the own vehicle side approach degree). (See Figure 4)
Further, when the own vehicle side approach interval D1 is less than a predetermined dimension such as a vehicle width dimension of the own vehicle C1, the degree of entry of the other vehicle C2 is determined to be “large” (more than the own vehicle side entry degree). (See Figure 5)

When another vehicle C2 enters from outside the road on the opposite lane side, the distance between the lane boundary line on the driver's seat side (passenger side boundary line LN) and the other vehicle C2 that enters the vehicle (opposite side entry interval D2) Then, the degree of entry of the other vehicle C2 is determined. (See FIGS. 6-9)
For example, when the facing side entry interval D2 is greater than or equal to a predetermined dimension, it is determined that the approach degree of the other vehicle C2 is “small” (less than the facing side entry degree). (See Figs. 6 and 7)
Further, when the facing side approaching distance D2 is less than a predetermined dimension, it is determined that the approaching degree of the other vehicle C2 is “large” (more than the facing side approaching degree). (See Figs. 8 and 9)

(3) Route after entering the road It is determined whether the other vehicle C2 enters so as to block the route of the own vehicle C1 or enters the route of the own vehicle C1 so as not to be blocked.
That is, the case of entering so as to block the course of the host vehicle C1 is a case where the other vehicle C2 joins the travel lane RD1 and a case where the other vehicle C2 crosses the road RD.
Moreover, the case where it enters so that the course of the own vehicle may not be blocked is a case where the other vehicle C2 joins the oncoming lane RD2.

In the present embodiment, the operating state of the winker WN installed in the other vehicle C2 is used for determining the course after entering.
It is determined whether or not the blinker WN arranged on the other vehicle C2 is blinking in a form that can be visually confirmed from the host vehicle C1.
When the blinker WN is blinking, it is determined that the other vehicle C2 joins the oncoming lane RD2. (See Figs. 6 and 8)
In this case, the other vehicle C2 enters the road RD so as not to block the course of the host vehicle C1.

When the blinker WN is not blinking, the other vehicle C2 either moves forward and crosses the road RD or merges with the traveling lane RD1 of the host vehicle C1. (See Figs. 7 and 9)
In these cases, the other vehicle C2 enters the road RD so as to block the course of the host vehicle C1.
However, in both cases, there is no particular problem because the passing of the host vehicle C1 is given priority.

Note that if the other vehicle C2 forgets to take out the blinker WN, it is determined that the vehicle is more dangerous than the actual vehicle, and the host vehicle C1 performs a safer response, so there is no problem.
That is, actually, even when the other vehicle C2 enters without closing the course of the host vehicle C1, it is determined that the course is blocked by the blinker WN not blinking. For this reason, the determination unit U issues an instruction to stop the vehicle without having to stop.
Further, various methods other than the blinker WN can be adopted, such as a method of receiving and determining the course after the approach of the other vehicle C2 by inter-vehicle communication.

  Next, the determination unit U performs control in the following cases [1] to [6] based on the determination results of the three items (1) to (3) described above.

[1. When the other vehicle C2 enters from outside the road RD on the traveling lane side and the degree of entry is small] (see FIG. 4)
First, when the other vehicle C2 enters from outside the road RD on the travel lane side, the route of the own vehicle C1 is blocked regardless of the route after the other vehicle C2 enters the road RD. The operation is not considered.
The case where the degree of approach from the road RD on the traveling lane side is small indicates a case where the own vehicle side approach distance D1 is equal to or larger than the vehicle width dimension of the own vehicle C1.
In this case, it is determined that attention is required, and an instruction is issued to detour other vehicle C2 within travel lane RD1 while decelerating.

This is because if the host vehicle C1 goes straight on the travel lane RD1, it may collide with another vehicle C2.
The road RD that is running is a multi-lane road (not shown), and there may be a lane between the road RD outside the road RD and the road lane RD1. In this case, since it is considered that the other vehicle C2 does not enter the travel lane RD1, it may be determined that attention is unnecessary, and the vehicle C1 may pass through without giving any specific instruction to the host vehicle C1.

[2. When another vehicle C2 enters from the road RD on the driving lane side and the degree of entry is large] (see FIG. 5)
Similar to [1], when the other vehicle C2 enters from outside the road RD on the travel lane side, the route of the host vehicle C1 is blocked regardless of the route after the other vehicle C2 enters the road RD. Therefore, the operation of the blinker WN is not considered.
Further, the case where the degree of approach from outside the road RD on the traveling lane side is a case where the own vehicle side approach distance D1 is less than the vehicle width dimension of the own vehicle C1.

In this case, it is determined that the vehicle needs to be stopped, and an instruction is issued to stop the vehicle before the other vehicle C2.
This is because if the host vehicle C1 travels on the travel lane RD1 as it is, the vehicle C1 cannot collide with the other vehicle C2 in the travel lane RD1 and collides.
In addition, after determining that the vehicle needs to be stopped, if the surrounding safety can be confirmed with respect to the lane change of the own vehicle C1, an instruction to detour while protruding from the traveling lane RD1 to the opposite lane side may be issued. good.

[3. When another vehicle C2 enters from the road RD on the opposite lane side and the entry degree is small and blinking of the blinker WN can be confirmed] (see FIG. 6)
The case where the degree of entry from outside the road RD on the opposite lane side is small indicates a case where the opposite entry distance D2 is equal to or greater than a predetermined dimension (not shown).
When blinking of the blinker WN can be confirmed, the other vehicle C2 is about to enter the oncoming lane RD2.
In this case, it is determined that attention is unnecessary, and the vehicle passes as it is without giving any specific instruction to the host vehicle C1.
This is because when the other vehicle C2 having a small entry degree enters the oncoming lane, it is considered that the route of the host vehicle C1 is not blocked (does not protrude into the travel lane RD1).

[4. When another vehicle C2 enters from outside the road RD on the opposite lane side, the entry degree is small, and blinking of the blinker WN cannot be confirmed] (see FIG. 7)
Similarly to [3], the case where the degree of approach from outside the road RD on the opposite lane side is small indicates a case where the opposite side entry interval D2 is equal to or greater than a predetermined dimension (not shown).
When blinking of the blinker WN cannot be confirmed, the other vehicle C2 either moves forward and crosses the road RD or merges with the travel lane RD1 of the host vehicle C1.
In this case, it is determined that attention is required and the vehicle is decelerated and passed.
In this case, priority is given to the passage of the host vehicle C1 over the approach of the other vehicle C2, but it is conceivable that the other vehicle C2 enters regardless of this. For this reason, when another vehicle C2 enters, the vehicle is allowed to pass while decelerating so as to be able to stop suddenly.

[5. When another vehicle C2 enters from outside the road RD on the opposite lane side, the degree of entry is large, and blinking of the blinker WN can be confirmed] (see FIG. 8)
The case where the degree of approach from outside the road RD on the opposite lane side is large indicates a case where the opposite side entry distance D2 is less than a predetermined dimension (not shown).
Similarly to [3], when blinking of the blinker WN can be confirmed, the other vehicle C2 is about to enter the oncoming lane RD2.
In this case, it is determined that attention is required, and the vehicle is allowed to pass while decelerating and bypassing the other vehicle C2 as necessary.
This is because when the other vehicle C2 having a large approach degree enters the oncoming lane, it is considered that there is a possibility that the route of the host vehicle C1 may be blocked (extends to the travel lane RD1).

[6. When another vehicle C2 enters from outside the road RD on the opposite lane side and the degree of approach is large and blinking of the blinker WN cannot be confirmed] (see FIG. 9)
Similarly to [5], the case where the degree of approach from outside the road RD on the opposite lane side is large indicates a case where the opposite side entry interval D2 is less than a predetermined dimension (not shown).
Similarly to [4], when blinking of the blinker WN cannot be confirmed, the other vehicle C2 either moves forward and crosses the road RD or joins the traveling lane RD1 of the own vehicle C1. is there.
In this case, it is determined that the vehicle needs to be stopped, and an instruction is issued to stop the vehicle before the other vehicle C2.
This is because if the host vehicle C1 travels on the travel lane RD1 as it is, it is considered that the host vehicle C1 collides with another vehicle C2 in the travel lane RD1.
When it is determined that the vehicle needs to be stopped and the surrounding safety is confirmed with respect to the lane change of the host vehicle C1, the vehicle is protruding from the traveling lane RD1 to the lane (not shown) adjacent to the passenger seat side. You may give an instruction to detour.

<4. Flow chart> (see FIG. 10)
In the determination means U, according to the flowchart FL, each above-mentioned determination and control are implemented. Apart from this flowchart FL, a main flow (not shown) is repeatedly executed at a preset predetermined cycle. In the main flow, this flow chart FL is executed when the presence of the traveling other vehicle C2 is detected around the host vehicle C1.

First, in step S11, it is confirmed that the other vehicle C2 is about to enter from outside the road RD on the traveling direction of the road RD on which the host vehicle C1 travels.
Next, in step S12, it is determined from which shoulder side of the road RD the other vehicle C2 is about to enter based on the information of the other vehicle travel information acquisition means SC2.
When the other vehicle C2 is going to enter from outside the road RD on the traveling lane side, the process proceeds to step S13, and when the other vehicle C2 is going to enter from outside the road RD on the opposite lane side, the process proceeds to step S21.

In step S13, it is determined whether or not the other vehicle C2 protrudes into the road RD.
If the other vehicle C2 does not protrude from the road RD, it is determined that there is no possibility of a collision, and the process returns to step S11 to prepare for the protrusion of the other vehicle C2.
If the other vehicle C2 protrudes from the road RD, it is determined that there is a possibility of collision, and the process proceeds to step S14.

In step S14, the degree of entry of the other vehicle C2 (the degree of protrusion into the road RD) is determined.
When the approach degree of the other vehicle C2 is small (less than the own vehicle side approach degree), it is determined that attention is required, and the process proceeds to step S15.
When the degree of entry of the other vehicle C2 is large (more than the degree of entry on the own vehicle side), it is determined that the vehicle needs to be stopped, and the process proceeds to step S16.

In step S15, the host vehicle C1 is instructed to decelerate and bypass the other vehicle C2 in the travel lane RD1, and the control is terminated.
In step S16, the host vehicle C1 is instructed to stop before the other vehicle C2, and the control is terminated.

In step S21, it is determined whether or not the other vehicle C2 protrudes into the road RD.
If the other vehicle C2 does not protrude from the road RD, it is determined that there is no possibility of a collision, and the process returns to step S11 to prepare for the protrusion of the other vehicle C2.
If the other vehicle C2 protrudes from the road RD, it is determined that there is a possibility of collision, and the process proceeds to step S22.

In step S22, the degree of entry of the other vehicle C2 (the degree of protrusion into the road RD) is determined.
If the entry degree of the other vehicle C2 is small (less than the opposite-side entry degree), the process proceeds to step S23.
When the degree of entry of the other vehicle C2 is large (more than the degree of entry on the opposite side), the process proceeds to step S31.

In step S23, it is determined whether or not the blinker WN arranged on the other vehicle C2 is blinking in a form that can be visually confirmed from the host vehicle C1.
If the blinker WN is blinking, it is determined that attention is unnecessary, and the process proceeds to step S24.
If the blinker WN is not blinking, it is determined that attention is required and the process proceeds to step S25.

In step S24, no specific instruction is issued to the host vehicle C1, and the vehicle is passed as it is, and the control is terminated.
In step S25, an instruction is issued to the host vehicle C1 to decelerate and pass, and the control is terminated.

In step S31, it is determined whether or not the blinker WN arranged on the other vehicle C2 is blinking in a form that can be visually confirmed from the host vehicle C1.
If the blinker WN is blinking, it is determined that attention is required, and the process proceeds to step S32.
If the blinker WN is not blinking, it is determined that the stop is necessary, and the process proceeds to step S33.

In step S32, the host vehicle C1 is instructed to pass through while decelerating and bypassing the other vehicle C2 as necessary, and the control is terminated.
In step S33, an instruction is issued to stop the vehicle C1 before the other vehicle C2, and the control is terminated.

Next, the effect of the vehicle operation assistance apparatus 1 which concerns on this embodiment is demonstrated.
In the present embodiment, when there is another vehicle C2 to enter from outside the road RD on the traveling direction of the road RD on which the host vehicle C1 travels, it is determined whether the host vehicle C1 and the other vehicle C2 may collide with each other. is doing.
The possibility of a collision is based on the degree of approach of the other vehicle C2 to the road RD and the operating state of the turn signal WN arranged on the other vehicle C2 in a form that can be confirmed (viewed) from the own vehicle C1. Judgment.
And based on the determination result, the determination means U is adjusting the speed of the own vehicle C1.
By determining and handling in this way, the possibility of a collision with another vehicle C2 can be reduced.

In the present embodiment, the determination unit U requires attention when the degree of entry when the other vehicle C2 enters from outside the road RD on the traveling lane side of the own vehicle C1 is small (when the degree of entry is less than the own vehicle side entry). It is determined.
In addition, the determination unit U determines that the vehicle needs to be stopped when the degree of entry when the other vehicle C2 enters from outside the road RD on the traveling lane side of the own vehicle C1 (when the degree of entry is greater than the own vehicle side entry). ing.
This can reduce the possibility of a collision between the host vehicle C1 and the other vehicle C2 when the other vehicle C2 enters from outside the road RD on the travel lane side of the host vehicle C1.

In the present embodiment, the determination means U is small when the other vehicle C2 enters from outside the road RD on the opposite lane side (less than the opposite side entry degree) and the blinker WN is blinking. Judgment is necessary.
In addition, the determination means U requires attention when the approach degree when the other vehicle C2 enters from outside the road RD on the opposite lane side (less than the opposite side entry degree) and the turn signal WN is turned off. Judgment.
As a result, when the other vehicle C2 enters from outside the road RD on the opposite lane side, the possibility of a collision between the host vehicle C1 and the other vehicle C2 when the approach amount is relatively small can be reduced.

In the present embodiment, the determination unit U has a high entry degree when the other vehicle C2 enters from the outside of the opposite lane side road RD (more than the opposite side entry degree) and the blinker WN is blinking. Judgment is necessary.
In addition, the determination unit U determines that a stop is required when the approach degree when the other vehicle C2 enters from outside the road RD on the opposite lane side (greater than or equal to the opposite side entry degree) and the turn signal WN is turned off. Judgment.
Thereby, when the other vehicle C2 enters from outside the road RD on the opposite lane side, it is possible to reduce the possibility of collision between the host vehicle C1 and the other vehicle C2 when the approach amount is relatively large.

In this embodiment, when it is determined that attention is not required, the determination unit U passes the vehicle as it is without giving an instruction to the host vehicle C1.
In addition, when the determination unit U determines that it needs attention, the determination unit U decelerates the host vehicle C1 and passes the other vehicle C2 while detouring as necessary.
Furthermore, when the determination unit U determines that the stop is necessary, the determination unit U stops the host vehicle C1 and gives priority to the passage of the other vehicle C2.
Thereby, the possibility of a collision between the host vehicle C1 and the other vehicle C2 can be reduced without hindering or delaying the flow of the vehicle on the road.

DESCRIPTION OF SYMBOLS 1 Vehicle operation assistance apparatus C1 Own vehicle C2 Other vehicle SC1 Own vehicle travel information acquisition means SC2 Other vehicle travel information acquisition means U Determination means RD Road WN Turn signal

Claims (5)

Own vehicle running information obtaining means for obtaining the running state of the own vehicle;
Other vehicle traveling information acquisition means for acquiring a traveling state of another vehicle traveling around the host vehicle;
Determination means for determining whether or not the host vehicle and the other vehicle collide;
With
The determination means includes
When the other vehicle is about to enter from the outside of the road on the traveling direction of the own vehicle,
The degree of entry of the other vehicle into the road;
The operating state of the blinker arranged on the other vehicle in a form that can be confirmed from the host vehicle,
The possibility of collision between the host vehicle and the other vehicle based on
A vehicle operation support device that adjusts the speed of the host vehicle based on a determination result. The determination means includes
The degree of entry when the other vehicle enters from outside the road on the lane side of the own vehicle,
If it is less than the own vehicle side entry degree, it is determined that attention is required.
The vehicle operation support device according to claim 1, wherein the vehicle operation support apparatus determines that the vehicle needs to be stopped when the vehicle-side entry degree is equal to or greater than the own vehicle side entry degree. The determination means includes
The degree of entry when the other vehicle enters from outside the road on the opposite lane side is less than the opposite side entry degree,
When the blinker blinks, it is determined that attention is unnecessary,
The approach degree when the other vehicle enters from outside the road on the opposite lane side is less than the opposite side entry degree,
The vehicle operation support device according to claim 1, wherein when the turn signal is turned off, it is determined that attention is required. The determination means includes
The approach degree when the other vehicle enters from the outside of the road on the opposite lane side is equal to or greater than the opposite side entry degree,
And if the blinker is blinking, it is determined that it needs attention.
The degree of entry when the other vehicle enters from outside the road on the opposite lane side is greater than or equal to the opposite side entry degree,
The vehicle operation support device according to any one of claims 1 to 3, wherein when the turn signal is turned off, it is determined that the stop is necessary. The determination means includes
If it is determined that attention is not required, the vehicle will not be instructed and will pass as it is.
If it is determined that it needs attention, let the vehicle pass while decelerating,
The vehicle operation support device according to any one of claims 1 to 4, wherein, when it is determined that the vehicle needs to be stopped, the host vehicle is stopped and priority is given to the passage of the other vehicle.

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