JP4876772B2 - Interrupting vehicle determination device - Google Patents

Description

  The present invention relates to an interrupting vehicle determination device, and more particularly to an interrupting vehicle determination device that determines whether or not another vehicle existing around the host vehicle is an interrupting vehicle.

As one of the vehicle travel support devices, another vehicle existing around the host vehicle is detected, and an interrupted vehicle that enters the lane in which the host vehicle travels is determined from the other vehicle, and a predetermined alarm is issued. An interrupting vehicle determination device that performs this notification and travel control has been put into practical use. For example, Patent Document 1 discloses a technique for estimating a travel locus by tracking another vehicle, and determining that the other vehicle is an interrupt vehicle when the travel locus has characteristics specific to a predetermined interrupt vehicle. Is described.
JP 2003-281700 A

  However, in the above technique, there is a problem that a vehicle that is not an interrupted vehicle is erroneously determined as an interrupted vehicle when the estimation of the travel locus of the other vehicle is not stable. That is, in the current technology for detecting other vehicles, the accuracy of determining whether another vehicle existing in the vicinity of the own vehicle is approaching or leaving the own vehicle is not necessarily high. . Therefore, depending on the movement of the preceding vehicle and the movement of the own vehicle, other vehicles that exist only in the vicinity of the own vehicle may be erroneously determined as interrupted vehicles, and erroneous control or false alarms may be performed. .

  This invention is made | formed in view of this situation, The objective is to provide the interruption vehicle determination apparatus which reduced the misjudgment more.

  The present invention relates to a host vehicle status acquisition unit that acquires the driving status of the host vehicle, a driving status of the other vehicle acquired by the other vehicle status acquisition unit, and a driving status of the host vehicle acquired by the host vehicle status acquisition unit. And determining whether or not the other vehicle is an interrupted vehicle, wherein the interrupt determining unit determines whether one of the traveling status of the other vehicle and the traveling status of the own vehicle satisfies a predetermined condition. If not satisfied, when the possibility that the other vehicle is an interrupted vehicle is greater than or equal to the first threshold, it is determined that the other vehicle is an interrupted vehicle, and one of the traveling status of the other vehicle and the traveling status of the host vehicle When the vehicle satisfies a predetermined condition, an interruption vehicle determination device that determines that the other vehicle is an interruption vehicle when the possibility that the other vehicle is an interruption vehicle is equal to or higher than a second threshold that is higher than the first threshold. It is.

  According to this configuration, the interrupt determination means determines whether the other vehicle is an interrupted vehicle based on whether one of the traveling status of the other vehicle and the traveling status of the host vehicle satisfies a predetermined condition. Is changed to a second threshold value higher than the first threshold value. Therefore, the risk of erroneous determination can be reduced as compared with the case where it is always determined whether or not the vehicle is an interrupted vehicle under certain conditions.

  In this case, when one of the traveling conditions of the other vehicle and the traveling condition of the host vehicle satisfies a predetermined condition, the preceding vehicle that travels ahead of the lane in which the host vehicle travels changes among other vehicles. It can be.

  When the preceding vehicle changes, that is, when the preceding preceding vehicle is no longer the preceding vehicle, the position of the other vehicle that is no longer the preceding vehicle is in the vicinity of the own vehicle, and the traveling locus is likely to overlap with the own vehicle. Although it is easy to mistakenly judge the other vehicle as an interrupted vehicle, in such a case, when the possibility that the other vehicle is an interrupted vehicle is equal to or higher than a second threshold higher than the first threshold, By determining, the possibility of erroneous determination can be reduced.

  In this case, the time when the preceding vehicle has changed can be the time when the preceding vehicle has changed due to either the lane change of the preceding vehicle or the lane change of the host vehicle.

  When the preceding vehicle changes due to either the lane change of the preceding vehicle or the lane change of the own vehicle, the position of the other vehicle that is no longer the preceding vehicle is in the vicinity of the own vehicle, and the traveling locus is likely to overlap with the own vehicle. Although it is easy to erroneously determine the other vehicle as an interrupted vehicle, the risk of erroneous determination is reduced by changing the threshold value for determining the other vehicle as an interrupted vehicle to a second threshold value that is higher than the first threshold value. Can do.

  On the other hand, the time when one of the traveling conditions of the other vehicle and the traveling condition of the host vehicle satisfies a predetermined condition may be a time when the host vehicle is turning at a predetermined turning radius or less.

  When the host vehicle is turning with a small turning radius equal to or less than the predetermined turning radius, the possibility that the other vehicle in the vicinity of the host vehicle is an interrupting vehicle is low. By determining that the other vehicle is an interrupted vehicle when it is equal to or higher than the high second threshold, the risk of erroneous determination can be reduced.

  Alternatively, when any of the traveling conditions of the other vehicle and the traveling condition of the host vehicle satisfies a predetermined condition, the relative speed between the host vehicle and the other vehicle is equal to or higher than a predetermined relative speed. be able to.

  When the relative speed between the host vehicle and the other vehicle is greater than a predetermined relative speed, the possibility that the other vehicle in the vicinity of the host vehicle is an interrupted vehicle is low. By determining that the other vehicle is an interrupted vehicle when it is equal to or higher than the high second threshold, the risk of erroneous determination can be reduced.

  On the other hand, in the present invention, it further comprises driving state acquisition means for acquiring the driving state of the driver of the host vehicle, and the interrupt determination means is configured such that the driving state of the driver detected by the driving state acquisition means satisfies a predetermined condition. When satisfying, even if any of the traveling status of the other vehicle and the traveling status of the host vehicle satisfy a predetermined condition, the possibility that the other vehicle is an interrupted vehicle is greater than or equal to the first threshold, It is preferable to determine that the other vehicle is an interrupted vehicle.

  According to this configuration, when the driving state of the driver detected by the driving state acquisition unit satisfies a predetermined condition, the interrupt determination unit determines whether the traveling state of the other vehicle or the traveling state of the host vehicle is predetermined. Even when the above condition is satisfied, it is determined that the other vehicle is an interrupted vehicle when the possibility that the other vehicle is an interrupted vehicle is greater than or equal to the first threshold value. Therefore, depending on the driving state of the driver, the lower first threshold value is applied to the threshold value used for determination of the interrupted vehicle, and the possibility that the interrupted vehicle cannot be determined is reduced, thereby ensuring safety.

  According to the interrupting vehicle determination device of the present invention, erroneous determination can be further reduced.

  Hereinafter, an interrupt vehicle determination device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a diagram illustrating a configuration of a cruise control system (hereinafter referred to as an ACC (Adaptive Cruise Control) system) as an example in which the interrupted vehicle determination device according to the present embodiment is applied to a travel support device.

  The ACC system 1 mainly includes a millimeter wave sensor 10, a stereo camera 11, an accelerator pedal 12, a vehicle speed sensor 13, a yaw rate sensor 14, a steering angle sensor 15, a winker SW 16 and a face direction sensor 17, and a preceding vehicle selection unit 20. And an interrupted vehicle determination unit 30, a travel control unit 40, a buzzer 51, a display 52, a throttle control 53, and a brake control 54. When an interrupted vehicle is recognized, the ACC system 1 notifies the driver that the interrupted vehicle exists, and performs follow-up control or slow acceleration / slowness that maintains the set inter-vehicle distance for the interrupted vehicle. Performs deceleration control.

  The millimeter wave sensor 10 irradiates the front of the vehicle while scanning millimeter wave radio waves in the horizontal direction, receives the radio waves reflected on the surface of an object such as the vehicle ahead, and others from radio wave intensity and frequency change of the received signal. Parameters relating to the traveling status of other vehicles such as the presence / absence of the vehicle, the distance between the other vehicle and the own vehicle, the relative speed, the lateral displacement (lateral position) from the own vehicle are obtained, and the preceding vehicle selection unit 20 and the interrupting vehicle are detected as the detection results. Output to the determination unit 30.

  The stereo camera 11 has a pair of CCD cameras that acquire an image ahead of the vehicle, and an image processing unit that detects an object such as another vehicle from the acquired image by image recognition. In this image processing unit, the traveling state of another vehicle is detected from the image captured by the CCD camera by edge extraction or pattern recognition processing. In addition, the triangulation method is used to determine the distance from the other vehicle and the lateral displacement from the host vehicle based on the difference in the position of the object (other vehicle) in the left and right acquired images, and the amount of change with respect to the distance obtained during the previous frame Find the relative speed from The detection result is output to the preceding vehicle selection unit 20 and the interrupted vehicle determination unit 30. The millimeter wave sensor 10 and the stereo camera 11 function as other vehicle status acquisition means described in the claims.

  Further, the vehicle includes an accelerator pedal 12 that indicates the throttle amount, a vehicle speed sensor 13 that detects the vehicle speed, a yaw rate sensor 14 that detects the yaw rate of the vehicle, a steering angle sensor 15 that detects the steering angle of the steering wheel, and a blinker that indicates a blinker display. SW16 is provided. These sensors detect the traveling state of the host vehicle, and function as host vehicle state acquisition means described in the claims. The detected signal is output to the preceding vehicle selection unit 20.

  Further, a face orientation sensor 17 is provided in the vehicle. The face orientation sensor 17 is for detecting the direction in which the driver's face during driving is facing, and functions as driving state acquisition means described in the claims. The detected signal is output to the preceding vehicle selection unit 20 and the interrupted vehicle determination unit 30. In addition, as a driving | running state acquisition means, you may provide the sensor which detects a driver | operator's dozing.

  The preceding vehicle selection unit 20 is stored in memory by a microprocessor that performs calculations, a ROM that stores programs for causing the microprocessor to execute each process, a RAM that stores various data such as calculation results, and a 12V battery. A backup RAM or the like. The preceding vehicle selection unit 20 is based on the throttle amount from the accelerator pedal 12, the vehicle speed signal from the vehicle speed sensor 13, the yaw rate signal from the yaw rate sensor 14, the steering angle signal from the steering angle sensor 15, the winker display from the winker SW 16, and the like. The path of the host vehicle is estimated from the travel state of the host vehicle, and the estimated result is compared with the position of the other vehicle.If it is determined that the other vehicle is ahead of the path of the host vehicle, Recognize the vehicle as a preceding vehicle. The preceding vehicle selection unit 20 also determines whether or not the preceding vehicle has been replaced with the previous frame by recognizing the preceding vehicle for each frame. Information regarding the preceding vehicle recognized by the preceding vehicle selection unit 20 is output to the interrupt vehicle determination unit 30. Note that white line information detected by the stereo camera 11 may be used when estimating the course of the host vehicle.

  The interrupted vehicle determination unit 30 also holds the stored contents by a microprocessor that performs calculations, a ROM that stores programs for causing the microprocessor to execute each process, a RAM that stores various data such as calculation results, and a 12V battery. The backup RAM etc. are comprised. The interrupting vehicle determination unit 30 includes a traveling state of another vehicle acquired by the millimeter wave sensor 10 and the stereo camera 11, a traveling state of the host vehicle acquired by the accelerator pedal 12, the vehicle speed sensor 13, and the like, and a preceding vehicle selection unit. This is for determining whether or not the other vehicle is an interrupted vehicle based on the information on the preceding vehicle from No. 20, and functions as an interrupt determining means described in the claims.

  The interrupting vehicle determination unit 30 has at least two threshold values as thresholds for determining whether or not the other vehicle is an interrupting vehicle, and the traveling status of the other vehicle and the traveling status of the host vehicle. If any of the above does not satisfy a predetermined condition described later, it is difficult to make a misjudgment, and it is determined whether or not the vehicle is an interrupted vehicle by using a lower threshold that is a more gradual criterion as a criterion. I do. On the other hand, if one of the traveling conditions of the other vehicle and the traveling condition of the host vehicle satisfies a predetermined condition to be described later, it is likely that an erroneous determination is likely to occur, or that there is a low possibility that an interrupting vehicle exists. As a thing, it is determined whether or not the vehicle is an interrupted vehicle by using a high threshold value that is a stricter criterion. Alternatively, the interval for determining the interrupted vehicle may be set longer than usual, or the determination of the interrupted vehicle may be completely stopped. As a threshold value serving as a reference for determining an interrupted vehicle, for example, a lateral position, a distance, a lateral speed, and the like of another vehicle with respect to the host vehicle can be used.

  Furthermore, when the signal from the face direction sensor 17 indicates that the driving state of the driver is not appropriate, the interrupting vehicle determination unit 30 determines whether the driving state of the other vehicle or the driving state of the own vehicle is This is a case where a predetermined condition that will be described later is satisfied, and even if it is in a situation where it is easy to make a misjudgment or in a situation where there is a low possibility that an interrupting vehicle exists, a low standard that is a gradual criterion Using a threshold value, it is easy to determine that the vehicle is an interrupted vehicle and ensures safety.

  The traveling control unit 40 also holds its storage contents by a microprocessor that performs calculations, a ROM that stores programs for causing the microprocessor to execute each process, a RAM that stores various data such as calculation results, and a 12V battery. It is composed of a backup RAM or the like. Note that the preceding vehicle selection unit 20, the interrupted vehicle determination unit 30, and the travel control unit 40 may be configured to be integrated in hardware or partially shared. The travel control unit 40 includes a buzzer 51 for notifying the driver of a predetermined alarm, a display 52 for displaying a predetermined display for the driver, a throttle control 53 for controlling the amount of air supplied to the engine, and each wheel. A brake control 54 for controlling the hydraulic pressure supplied to the wheel cylinder that operates the attached brake is connected.

  The travel control unit 40 makes a predetermined display to the driver by the buzzer 51 and the display 52 based on the presence / absence of the interrupted vehicle, the object parameter of the interrupted vehicle, etc. input from the interrupted vehicle determination unit 30. By controlling the throttle control 53, the brake control 54, and the like, the driving force and braking force applied to the vehicle are adjusted, and constant speed control, follow-up control, and slow acceleration / slow deceleration control are executed.

  Next, the operation of the ACC system 1 will be described with reference to FIG. FIG. 2 is a flowchart showing a processing procedure of driving support control by the ACC system 1. This control is repeatedly executed at a predetermined timing by the preceding vehicle selection unit 20, the interrupted vehicle determination unit 30, and the travel control unit 40 from when the vehicle power is turned on to when it is turned off.

  In step S100, parameters such as the radio wave intensity of the received wave, the presence / absence of another vehicle, the distance between the other vehicle and the host vehicle, the relative speed, and the lateral displacement from the host vehicle are read from the millimeter wave sensor 10. Similarly, parameters such as the presence / absence of another vehicle, the distance between the other vehicle and the host vehicle, the relative speed, and the lateral displacement from the host vehicle are read from the stereo camera 11.

  In the subsequent step S102, the preceding vehicle selection unit 20 fuses the detection results of the millimeter wave sensor 10 and the stereo camera 11 read in step S100 to acquire the traveling state of the other vehicle, and the accelerator pedal 12 Then, the course of the host vehicle is estimated from the traveling state of the host vehicle obtained based on the vehicle speed sensor 13 and the like, the result of the estimation is compared with the position of the other vehicle, and it is determined that the other vehicle is present ahead of the course of the host vehicle. If this happens, the other vehicle is recognized as a preceding vehicle.

  In step S104, the preceding vehicle selection unit 20 determines whether the preceding vehicle recognized in step S102 has been replaced with that in the previous frame. If the preceding vehicle has been changed, the process proceeds to the next step S106. If the preceding vehicle has not been replaced, the process proceeds to step S108.

  For example, as shown in FIG. 3, when the preceding vehicle is switched, the other vehicle 200 that has been the preceding vehicle has changed lanes with respect to the own vehicle 100, and the other vehicle 300 that has been the preceding vehicle is the preceding vehicle. This is the case. In addition, when the preceding vehicle is switched, as shown in FIG. 4, when the own vehicle 100 changes lanes, the other vehicle 200 that has been the preceding vehicle is no longer the preceding vehicle and travels in the lane of the change destination. This is a case where the other vehicle 300 that has been used becomes a preceding vehicle. In any case, since it is easy to erroneously determine that the other vehicle 200 that has been the preceding vehicle is an interrupted vehicle, processing for increasing the threshold for determining the interrupted vehicle is performed in this case. In the present embodiment, the process of increasing the threshold for determining the interrupted vehicle by determining the blinker of the preceding vehicle in the captured image of the stereo camera 11 without strictly determining the replacement of the preceding vehicle. You may decide whether to do it.

  In step S106, the preceding vehicle selection unit 20 determines whether or not the distance between the new preceding vehicle and the host vehicle is greater than the distance + α between the preceding vehicle and the host vehicle in the previous frame. If the distance between the new preceding vehicle and the host vehicle is greater than the distance between the preceding vehicle and the host vehicle in the previous frame + α, there is a high possibility that the situation shown in FIG. To avoid this, go to step S110.

  In step S107, the interrupting vehicle determination unit 30 determines whether the host vehicle is turning at a predetermined turning radius or less, or whether the relative speed between the other vehicle and the host vehicle is equal to or higher than a predetermined relative speed. The predetermined turning radius used for the determination may be a relatively small turning radius, for example, the predetermined turning radius may be 30 m. If the vehicle is traveling on a relatively steep curve, it is unlikely that another vehicle in the vicinity of the host vehicle is an interrupted vehicle, so the process proceeds to step S110 to avoid erroneous determination. In addition, a relatively large relative speed may be set as the predetermined relative speed used for the determination. For example, the predetermined relative speed may be set to 40 km / h. If the vehicle is traveling at a relatively high relative speed, there is a low possibility that another vehicle in the vicinity of the host vehicle is an interrupted vehicle, and thus the process proceeds to step S110 to avoid erroneous determination.

  On the other hand, even if the preceding vehicle has not been replaced in step S104, or even if the turning radius is not more than 30 m or the relative speed is not more than 40 km / h in step S107, the accelerator pedal 12 or the blinker SW16 is ON in step S108. In some cases, the host vehicle has changed lanes, and it is easy to make a misjudgment as another nearby vehicle as an interrupted vehicle. Therefore, the process proceeds to step S110 in order to increase the threshold for determining the interrupted vehicle. If the accelerator pedal 12 or the blinker SW 16 is OFF, the process proceeds to step S114 so as not to change the interrupt vehicle determination threshold. Note that it is determined that the vehicle is changing lanes not only from the accelerator pedal 12 or the winker SW 16 of the host vehicle but also from information from the yaw rate sensor 14 and the steering angle sensor 15 and white line information on the road from the stereo camera 11. You may do it.

  In step S110, the driver's face direction is detected by the face direction sensor 17, and when the driver's face direction is the front direction of the own vehicle or the direction of another vehicle that is the target of the interrupt determination, Assuming that the driver is paying sufficient attention to the other vehicle, the process proceeds to step S112, and processing for increasing the threshold value of the interrupted vehicle determination is performed in order to avoid erroneous determination. On the other hand, if the driver's face direction is the front direction of the host vehicle or the direction of the other vehicle that is the target of the interrupt determination, the driver is not paying sufficient attention to the other vehicle, Since it may be dangerous to increase the threshold for determining the interrupted vehicle, the process proceeds to step S114 so that the threshold for determining the interrupted vehicle is not changed. In this case, the driver's doze may be detected, and the threshold for determining the interrupted vehicle may not be changed when the driver is dozing.

  In step S112, the interrupt vehicle determination unit 30 performs a process of narrowing the threshold for interrupt determination for the other vehicle to be high. Specifically, the parameters such as the lateral positions of the other vehicle and the host vehicle are changed so that it is more difficult to determine that the vehicle is an interrupted vehicle. Alternatively, the interval for determining the interrupted vehicle is made longer than usual, or a time for completely canceling the interrupted vehicle determination is set for a certain time. On the other hand, in step S114, the interrupted vehicle determination unit 30 does not change the threshold for determining the interrupted vehicle, and sets parameters such as the lateral positions of the other vehicle and the host vehicle as usual as the threshold for determining the interrupted vehicle.

  In step S116, the interrupt vehicle determination unit 30 determines whether or not the other vehicle is an interrupt vehicle using the threshold set in step S112 or step S114.

  According to the present embodiment, the interrupted vehicle determination unit 30 determines that the other vehicle is an interrupted vehicle depending on whether one of the traveling status of the other vehicle and the traveling status of the host vehicle satisfies a predetermined condition. The threshold value to be determined is changed to a higher threshold value. Therefore, the risk of erroneous determination can be reduced as compared with the case where it is always determined whether or not the vehicle is an interrupted vehicle under certain conditions.

  When the preceding vehicle changes, that is, when the preceding preceding vehicle is no longer the preceding vehicle, the interrupting vehicle determination unit 30 determines that the position of the other vehicle that is no longer the preceding vehicle is in the vicinity of the host vehicle and the travel locus is Since it is easy to overlap with the own vehicle, it is easy to erroneously determine the other vehicle as an interrupted vehicle. However, according to the present embodiment, in such a case, the threshold for determining that the other vehicle is an interrupted vehicle is higher. By changing the threshold value, the risk of erroneous determination can be reduced.

  Specifically, when the preceding vehicle has changed, as shown in FIG. 3, the other vehicle 200 that has been the preceding vehicle changes lanes, and the other vehicle 300 that has been the preceding vehicle becomes the preceding vehicle. Yes, or as shown in FIG. 4, when the own vehicle 100 changes lanes, the other vehicle 200 that has been the preceding vehicle is no longer the preceding vehicle, and the other vehicle 300 that has traveled in the changed lane has changed. This is a case where it becomes a new preceding vehicle. Interruption vehicle determination is often based on the lateral position, distance, lateral speed, etc. of other vehicles, but when the relative lane change speed is slow, the lateral speed can be accurately detected. It is not possible to determine whether the other vehicle is changing lanes or whether it is interrupting the traveling lane of the own vehicle, and other vehicles that are not interrupted vehicles may be erroneously determined as interrupted vehicles. In this embodiment, in such a case, the interrupted vehicle determination unit 30 increases the threshold for determining the interrupted vehicle, or makes the interval for determining the interrupted vehicle longer than usual, or cancels the interrupted vehicle determination. It is possible to reduce misjudgment by providing a certain period of time.

  Further, in the present embodiment, when there is a low possibility that an interrupting vehicle exists, the own vehicle is turning with a turning radius of 30 m or less, or the relative speed between the other vehicle and the own vehicle is 40 km / h or more. Since the interrupted vehicle determination unit 30 performs processing such as increasing the threshold for determining the interrupted vehicle, erroneous determination can be reduced.

  On the other hand, if the driver does not turn to the front of the interrupted vehicle or faces forward, it may be dangerous if the driver is not determined. Therefore, in the present embodiment, the interrupting vehicle determination unit 30 determines that the driver's face direction detected by the face direction sensor 17 is not in the front direction or the direction of another vehicle that is the target of the interrupting vehicle determination. Does not change the threshold for determining the interrupted vehicle even when processing such as increasing the threshold for determining the interrupted vehicle under other conditions is performed. Thereby, when a driver | operator's driving | running state is not appropriate, possibility that an interruption vehicle cannot be determined will be reduced and safety | security can be ensured.

  Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made. In the present embodiment, the travel support device according to the ACC system is cited as an example of the interrupted vehicle determination device, but the application field of the interrupted vehicle determination device of the present invention is not limited to this.

  Moreover, in the said embodiment, although the stereo camera was used, a monocular camera can also be used. A laser radar or the like may be used instead of the millimeter wave sensor. In the above embodiment, an example in which 30 m is used as the predetermined turning radius has been described. However, a relatively small turning radius may be set as the predetermined turning radius, and the present invention is not limited to 30 m. In the above embodiment, an example in which 40 km / h is used as the predetermined relative speed has been described. However, the predetermined relative speed may be set to a relatively large relative speed, and the present invention is not limited to 40 km / h.

It is a block diagram which shows the structure of the ACC system which concerns on embodiment. It is a flowchart which shows the process sequence of the driving assistance control by the ACC system which concerns on embodiment. It is a top view which shows the case where a preceding vehicle changes when another vehicle changes lanes. It is a top view which shows the case where a preceding vehicle changes when the own vehicle changes lanes.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... ACC system, 10 ... Millimeter wave sensor, 11 ... Stereo camera, 12 ... Accelerator pedal sensor, 13 ... Vehicle speed sensor, 14 ... Yaw rate sensor, 15 ... Steering angle sensor, 16 ... Winker SW, 17 ... Face direction sensor, 20 ... preceding vehicle selection unit, 30 ... interrupt vehicle determination unit, 40 ... travel control unit, 51 ... buzzer, 52 ... indicator, 53 ... throttle control, 54 ... brake control, 100 ... own vehicle, 200, 300 ... other vehicle .

Claims (4)

Other vehicle status acquisition means for acquiring the running status of other vehicles existing around the own vehicle;
Own vehicle status acquisition means for acquiring the running status of the own vehicle;
Based on the travel status of the other vehicle acquired by the other vehicle status acquisition means and the travel status of the host vehicle acquired by the own vehicle status acquisition means, the other vehicle is adjacent to the lane in which the host vehicle travels. Interrupt determining means for determining whether the other vehicle traveling in the lane is an interrupted vehicle;
With
The interrupt determination means is
When one of the traveling conditions of the other vehicle and the traveling condition of the own vehicle does not satisfy a predetermined condition, the other vehicle traveling in the lane adjacent to the lane in which the own vehicle travels is divided. When the possibility that the vehicle is a first vehicle is greater than or equal to a first threshold, the other vehicle that travels in a lane adjacent to the lane in which the host vehicle travels is determined to be an interrupted vehicle.
When one of the traveling conditions of the other vehicle and the traveling condition of the host vehicle satisfies a predetermined condition, the other vehicle traveling in the lane adjacent to the lane in which the host vehicle travels is divided. When the possibility that the vehicle is a second vehicle is greater than or equal to a second threshold value that is higher than the first threshold value, the other vehicle that travels in a lane adjacent to the lane in which the host vehicle travels is determined to be an interrupted vehicle. and,
When either one of the traveling state of the other vehicle and the traveling state of the host vehicle satisfies a predetermined condition, the other vehicle is at least one of the lane change of the preceding vehicle and the lane change of the host vehicle. An interrupting vehicle determination device that is when the preceding vehicle that travels ahead of the lane in which the host vehicle travels changes . The time when one of the traveling conditions of the other vehicle and the traveling condition of the host vehicle satisfies a predetermined condition is when the host vehicle is turning at a predetermined turning radius or less.
The interrupt vehicle determination device according to claim 1. When either one of the traveling conditions of the other vehicle and the traveling condition of the host vehicle satisfies a predetermined condition, the vehicle travels in a lane adjacent to the lane in which the host vehicle travels , of the host vehicle and the other vehicle. When the relative speed with the other vehicle is equal to or higher than a predetermined relative speed,
The interrupt vehicle determination device according to claim 1. The vehicle further comprises driving state acquisition means for acquiring the driving state of the driver of the host vehicle,
When the driving state of the driver detected by the driving state acquisition unit satisfies a predetermined condition, the interrupt determination unit determines whether one of the traveling state of the other vehicle and the traveling state of the host vehicle is predetermined. Even when the condition is satisfied, when the possibility that the other vehicle that travels in the lane adjacent to the lane in which the host vehicle travels among the other vehicles is an interrupt vehicle or more is the first threshold value, The other vehicle that travels in a lane adjacent to the lane in which the host vehicle travels among the other vehicles is determined to be an interrupted vehicle.
The interruption vehicle determination apparatus of any one of Claims 1-3 .

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