JP4985388B2 - Driving support device and driving support system - Google Patents

Description

  The present invention relates to a driving support device and a driving support system.

2. Description of the Related Art Conventionally, as an apparatus that assists in driving a vehicle, a device that notifies the behavior of another vehicle that automatically travels is known (see, for example, Patent Document 1). The device of Patent Literature 1 is a device that receives a travel plan of another vehicle that automatically travels by inter-vehicle communication and notifies the driver of the next action that the other vehicle takes.
Japanese Patent Laid-Open No. 10-105885

  However, in the conventional driving support device, it is assumed that the other vehicle is a vehicle that automatically travels and communicates. Therefore, for example, when the other vehicle is a manually traveling vehicle, However, if the vehicle cannot communicate, the action plan of the other vehicle cannot be acquired. For this reason, it is unclear whether the other vehicle recognizes the host vehicle or whether the other vehicles recognize each other, and for example, it is difficult to appropriately perform driving support that improves safety.

  Therefore, the present invention has been made to solve such a technical problem, and estimates the vehicle recognition state of other surrounding vehicles, and driving support that can appropriately perform driving support based on the estimated vehicle recognition state An object is to provide a device and a driving support system.

  In other words, the driving support device according to the present invention is a driving support device that supports driving of the own vehicle based on information of other vehicles existing around the own vehicle, and assumes that the own vehicle does not exist. A first traveling prediction unit that predicts one traveling locus; and / or a second traveling prediction unit that predicts a second traveling locus of another vehicle on the assumption that the host vehicle is present; and a first traveling locus and another vehicle A comparison / determination unit that compares the actual traveling locus or / and compares the second traveling locus and the actual traveling locus of the other vehicle, and the other vehicle is present based on the comparison result of the comparison / determination unit. And a recognition estimation unit that estimates whether or not it is recognized.

  According to the present invention, it is assumed that there is no host vehicle when viewed from other vehicles around the host vehicle, and that the first traveling locus of the other vehicle is predicted and / or that the host vehicle exists. The second traveling locus of the other vehicle is predicted, the first traveling locus is compared with the actual traveling locus, and / or the second traveling locus is compared with the actual traveling locus, and the other vehicle is based on the comparison result. It is estimated whether or not the vehicle recognizes the existence of the own vehicle. Therefore, even if the other vehicle is a vehicle that cannot perform manual driving or communication, it is possible to estimate whether the other vehicle recognizes the own vehicle. Can be performed.

  Here, in the driving support device, when the recognition determination unit estimates that the other vehicle does not recognize the existence of the own vehicle, the other vehicle and the own vehicle estimated not to recognize the existence of the own vehicle It is preferable to include a first travel plan unit that generates a travel plan for the host vehicle so as to travel with a greater distance.

  It can be said that the other vehicle that does not recognize the presence of the host vehicle is more likely to travel less safe for the host vehicle than the other vehicle that recognizes the presence of the host vehicle. For this reason, by providing driving assistance to increase the distance between the vehicle and the other vehicle that does not recognize the presence of the vehicle by the generated travel plan, it is possible to avoid dangers such as collisions and to provide safer driving assistance. It can be carried out.

  In addition, in the case where the driving support device includes the first travel prediction unit and the second travel prediction unit, if there is no significant difference between the first travel locus and the second travel locus, the difference becomes large. Thus, it is preferable to include a second travel plan unit that generates a travel plan for the host vehicle.

  With this configuration, there is no significant difference in the predicted travel trajectory of other vehicles regardless of the presence or absence of the own vehicle, and it is impossible to estimate whether or not the existence of the own vehicle is recognized. However, for example, when it can be expected that the behavior of the other vehicle will change due to the steering or acceleration / deceleration of the own vehicle, the own vehicle is intentionally executed by executing the steering or acceleration / deceleration of the own vehicle according to the generated travel plan. It is possible to intentionally create a situation in which it can be determined whether or not it is recognized. For this reason, it is possible to positively confirm whether or not the other vehicle recognizes the presence of the host vehicle, and to further appropriately support driving of the vehicle.

  Further, in the driving support device, a third travel plan unit that generates a travel plan of the host vehicle so as to travel preferentially around other vehicles estimated to be recognized by the recognition determination unit. It is suitable to provide.

  It can be said that the other vehicle that recognizes the presence of the host vehicle is less likely to travel less safe for the host vehicle than the other vehicle that does not recognize the presence of the host vehicle. For this reason, safer driving assistance can be performed by traveling around other vehicles that recognize the presence of the host vehicle in the generated travel plan.

  The driving support device according to the present invention includes a third travel prediction unit that predicts the third travel locus of the first other vehicle on the assumption that the second other vehicle does not exist when viewed from the first other vehicle. And / or assuming that a second other vehicle exists when viewed from the first other vehicle, a fourth travel prediction unit that predicts a fourth travel locus of the first other vehicle, and a travel plan of the host vehicle. A fourth travel plan unit to be generated, and the comparison / determination unit compares the third travel track with the actual travel track of the first other vehicle, and / or the fourth travel track and the first other track. The recognition estimation unit estimates whether or not the first other vehicle and the second other vehicle recognize each other based on the comparison result of the comparison determination unit. The recognition estimation unit and the fourth travel planning unit estimate that the first other vehicle and the second other vehicle recognize each other. Is that the periphery of the first other vehicle and the second of the other vehicle to generate a travel plan of the vehicle so that the vehicle travels preferentially suitable.

  By configuring in this way, it is possible to travel around other vehicles that recognize each other rather than other vehicles that do not recognize each other by the generated travel plan. It is possible to avoid dangers such as being caught in the vehicle and to provide safer driving support.

  Further, the driving support system according to the present invention is a driving support system that supports driving of an arbitrary vehicle based on information of other vehicles existing around the arbitrary vehicle, and it is assumed that there is no arbitrary vehicle. A first travel prediction unit that predicts a first travel locus of another vehicle, and / or second travel prediction means that predicts a second travel locus of another vehicle on the assumption that an arbitrary vehicle exists, and a first travel Comparison determination means for comparing the trajectory with the actual travel trajectory of the other vehicle, or / and comparing the second travel trajectory with the actual travel trajectory of the other vehicle, and the other vehicle based on the comparison result of the comparison determination unit Is configured to include a recognition estimation unit that estimates whether or not the presence of an arbitrary vehicle is recognized, and a behavior prediction unit that predicts the behavior of another vehicle based on the estimation result of the recognition estimation unit.

  Here, when it is estimated by the recognition determination means that the other vehicle has not recognized the existence of the own vehicle, the driving support system includes the other vehicle and the own vehicle that are estimated not to recognize the existence of the own vehicle. It is preferable to include first travel plan means for generating a travel plan for the host vehicle so that the vehicle travels with a greater distance.

  Further, in the case where the driving support system includes the first travel prediction unit and the second travel prediction unit, if there is no significant difference between the first travel locus and the second travel locus, the difference becomes large. In this way, it is preferable to include a second travel plan means for generating a travel plan for the host vehicle.

  Further, the driving support system further includes third travel plan means for generating a travel plan for the own vehicle so that the vehicle travels preferentially around the other vehicle estimated to have recognized the presence of the own vehicle by the recognition determination means. It is suitable to provide.

Further, the driving support system according to the present invention includes third travel prediction means for predicting the third travel locus of the first other vehicle on the assumption that the second other vehicle does not exist when viewed from the first other vehicle. And / or assuming that a second other vehicle exists when viewed from the first other vehicle, a fourth travel prediction means for predicting a fourth travel locus of the first other vehicle, and a travel plan of the host vehicle. Fourth travel plan means to generate,
The comparison determination means compares the third travel locus with the actual travel locus of the first other vehicle, and / or compares the fourth travel locus with the actual travel locus of the first other vehicle. And a recognition estimation means for estimating whether or not the first other vehicle and the second other vehicle recognize each other based on the comparison result of the comparison determination means; The planning means preferentially travels around the first other vehicle and the second other vehicle when it is estimated that the first other vehicle and the second other vehicle recognize each other. Thus, it is preferable to generate a travel plan for the host vehicle.

  In each driving support system, the same operational effects as those of the driving support apparatuses described above can be obtained even in a relationship between arbitrary vehicles.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle recognition state of other surrounding vehicles is estimated and driving assistance can be performed appropriately based on the estimated vehicle recognition state.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.

(First embodiment)
The driving support device according to the first embodiment is a device that supports driving of a vehicle. For example, the driving support device is a vehicle equipped with an automatic driving function or a vehicle equipped with a driver support system such as follow-up driving or lane keeping driving. It is preferably adopted.

  Initially, the structure of the driving assistance device (driving assistance part) which concerns on this embodiment is demonstrated. FIG. 1 is a block diagram illustrating a configuration of a vehicle including a driving support apparatus according to an embodiment of the present invention.

  A vehicle 5 shown in FIG. 1 is a vehicle having an automatic driving function or a driver assistance system, and includes a GPS receiver 30, a sensor 31, an operation unit 32, a navigation system 33, an ECU 2, a steering actuator 40, a throttle actuator 41, and the like. A brake actuator 42 is provided. Here, the ECU (Electronic Control Unit) is a computer of an automobile device that is electronically controlled, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output interface, and the like. It is configured.

  For example, the GPS receiver 30 has a function of receiving driver position information. Here, the GPS (Global Positioning System) is a measurement system using a satellite and is preferably used for grasping the current position of the host vehicle. The GPS receiver 30 has a function of outputting position information to the ECU 2.

  The sensor 31 has a function of acquiring information related to other vehicles around the vehicle 5, information related to the traveling environment, and information related to the traveling state of the vehicle 5. As the sensor 31, for example, a lane recognition sensor or an image sensor for recognizing a lane of a road on which the vehicle 5 travels, an electromagnetic wave sensor or a millimeter wave sensor that detects an obstacle around the vehicle 5 and acquires distance information, a vehicle A yaw rate sensor that measures the yaw rate of 5, a steering angle sensor that detects the steering angle and tire angle of the vehicle 5, an acceleration sensor that detects the acceleration of the vehicle 5, a wheel speed sensor that measures the wheel speed of the vehicle 5, and the like are used. . The sensor 31 has a function of outputting the acquired information to the ECU 2.

  The operation unit 32 has a function of inputting driver's vehicle operation information. As the operation unit 32, for example, a handle, an accelerator pedal, a brake pedal, or the like is used. The operation unit 32 has a function of outputting the input information to the ECU 2.

  The navigation system 33 mainly has a function of performing route guidance to a destination. In addition, the navigation system 33 has a function of reading shape information of a road that is currently running from, for example, a map database, and outputting the road shape information to the ECU 2 as a navigation signal. The vehicle 5 may include a database storing road shape information instead of the navigation system, and may have a function of outputting the road shape information stored in the database to the ECU 2. Moreover, it is good also as a structure which has a function which refers road shape information via communication and outputs the referred road shape information to ECU2.

  The ECU 2 includes a first travel prediction unit (first travel prediction unit) 10, a second travel prediction unit (second travel prediction unit) 11, a comparison determination unit (comparison determination unit) 12, and a recognition estimation unit (recognition estimation unit) 13. , A first travel planning unit (first travel planning means) 14, a vehicle motion control unit 27, a steering control unit 28, and an acceleration / deceleration control unit 29.

  The first travel prediction unit 10 has a function of predicting a travel locus for other vehicles existing around the vehicle 5 detected by the sensor 31. In particular, the first travel prediction unit 10 has a function of predicting a travel locus (first travel locus) of another vehicle on the assumption that the vehicle 5 that is the host vehicle does not exist when viewed from the other vehicle. Here, the predicted traveling locus includes, for example, at least position information, and may include parameters necessary for traveling of the vehicle such as a speed pattern, an acceleration pattern, a yaw angle, and a yaw rate in addition to the position information. Further, the first travel prediction unit 10 has a function of outputting the predicted first travel locus to the comparison determination unit 12.

  The second traveling prediction unit 11 has a function of predicting a traveling locus for other vehicles existing around the vehicle 5 detected by the sensor 31. In particular, the second travel prediction unit 11 has a function of predicting a travel locus (second travel locus) of another vehicle on the assumption that the vehicle 5 that is the host vehicle is present when viewed from the other vehicle. The travel locus to be predicted includes the same information as the first travel prediction unit 10. In addition, the second travel prediction unit 11 has a function of outputting the predicted second travel locus to the comparison determination unit 12.

  The comparison determination unit 12 acquires an actual travel locus (actual travel locus) from the information related to the other vehicle output from the sensor 31, and the first travel locus output from the first travel prediction unit 10 and the second travel prediction unit. 11 has a function of comparing the second traveling locus output by 11 and the actual traveling locus, respectively. Specifically, the comparison determination unit 12 determines the distance between each point on the actual travel locus and each point on the first travel locus, and between each point on the actual travel locus and each point on the second travel locus. It has a function of calculating the distance and comparing based on the calculated distance. The comparison determination unit 12 has a function of outputting the calculated comparison result to the recognition estimation unit 13.

  The recognition estimation unit 13 has a function of estimating whether another vehicle recognizes the host vehicle based on the determination result output by the comparison determination unit 12. The recognition estimation unit 13 has a function of outputting the estimation result to the first travel planning unit 14.

  The first travel plan unit 14 has a function of generating a travel plan for the vehicle 5 based on the estimation result output by the recognition estimation unit 13. For example, the first travel plan unit 14 distinguishes between another vehicle that recognizes the vehicle 5 that is the host vehicle and another vehicle that does not recognize the vehicle 5 that is the host vehicle based on the estimation result. It has the function to generate. Specifically, a travel plan for the host vehicle is generated so that, for example, a safer travel is performed in relation to other vehicles while considering the position information and road information output by the GPS receiver 30 and the navigation system 33. It has a function. The first travel plan unit 14 has a function of outputting the generated travel plan to the vehicle motion control unit 27.

  The vehicle motion control unit 27 is based on the travel plan output by the first travel plan unit 14, the surrounding travel environment acquired by the sensor 31, the travel state of the vehicle 5, the operation information output by the operation unit 32, and the like. It has a function of calculating steering control information and acceleration / deceleration control information. The vehicle motion control unit 27 has a function of outputting the calculated steering control information to the steering control unit 28 and the calculated acceleration / deceleration control information to the acceleration / deceleration control unit 29.

  The steering control unit 28 has a function of generating a signal for controlling the steering actuator 40 based on the steering control information output by the vehicle motion control unit 27 and outputting the generated control signal to the steering actuator 40. . The steering actuator 40 is a mechanical component that controls the traveling of the vehicle, and is, for example, a steering angle control motor.

  The acceleration / deceleration control unit 29 generates a signal for controlling the throttle actuator 41 and the brake actuator 42 based on the acceleration / deceleration control information output by the vehicle motion control unit 27, and uses the generated control signal as the throttle actuator 41 and the brake actuator. 42. The throttle actuator 41 is a mechanical component that controls traveling of the vehicle, and is, for example, an electronic throttle. The brake actuator 42 is, for example, a valve that adjusts the brake hydraulic pressure of each wheel in the case of a hydraulic brake.

  The driving support unit 1 is configured by the first travel prediction unit 10, the second travel prediction unit 11, the comparison determination unit 12, the recognition estimation unit 13, and the first travel plan unit 14 described above. The first travel prediction unit 10 and the second travel prediction unit 11 may be provided with either one according to the performance required for each vehicle. In this way, when only one traveling locus is predicted with either one, the comparison determination unit 12 is based on the distance between each point of the actual traveling locus and each point of the predicted traveling locus. What is necessary is just to have the function to determine how close it is to the predicted traveling locus.

  Next, the operation of the driving support unit 1 according to the first embodiment will be described. FIG. 2 is a flowchart showing the operation of the driving support unit 1 according to the first embodiment. FIG. 3 is a schematic diagram for explaining the operation of the driving support unit 1 according to the first embodiment. FIG. 3 is a scene in which the host vehicle 5 is about to change lane 3 to lane 2 and blinks the direction indicator. In the following description, it is assumed that the other vehicle is manually operated and the own vehicle cannot acquire a travel plan for the other vehicle via communication.

  The control process shown in FIG. 2 is repeatedly executed at a predetermined timing after the ignition is turned on, for example.

When the control process shown in FIG. 2 is started, the driving support unit 1 starts from the travel locus prediction process (S10). The process of S10 is a process which the 2nd driving | running | working prediction part 11 performs, assumes that the own vehicle 5 exists in view of other vehicles, and predicts the driving plan of other vehicles, and produces | generates a 2nd driving locus. For example, as illustrated in FIG. 3, the second travel prediction unit 11 recognizes other vehicles A ₁ and A ₂ existing around the host vehicle 5 based on information output from the sensor 31. Then, when it is assumed that the host vehicle 5 exists, the behavior of the other vehicles A ₁ and A ₂ is predicted. In the following description the vehicle A ₁ as an example. First, second running prediction unit 11, in the past certain time (e.g. 10 seconds), speed, acceleration, and running state of the vehicle A ₁ such as the road lane, the vehicle 5 to the right front there are vehicle A ₂ forward The vehicle 5 detects and acquires the surrounding conditions of the vehicle A ₁ such as the presence of the vehicle and the road shape being a straight line by the sensor 31 and the navigation system 33. Then, to grasp the vehicle A ₁ specified by these traveling conditions and ambient conditions situation. Second traveling prediction unit 11, for example, previously learned in conjunction with what the frequency events may occur in some circumstances, generation of the situation learned the situation in which the vehicle A ₁ is placed to predict the behavior of the vehicle a ₁ by the use of the frequency. In the following, taking into account the ease of explanation understanding, the vehicle A ₂ is a leading vehicle of the vehicle A ₁ is the rate is slower than that of the vehicle A _1, the vehicle A ₁ is lane change lanes 1 to lane 2 be described as being behavioral prediction that overtake the vehicle a ₂ and.

Second traveling prediction unit 11, when the vehicle A ₁ is predicted behavior to lane change, generates a running locus vehicle A ₁ is lane change. For example, as illustrated in FIG. 3, the second traveling locus R ₂ that changes the lane at a distance from the own vehicle 5 in consideration of the presence of the own vehicle 5 is generated as the predicted traveling locus. This running locus can be generated at a speed of the vehicle A _1, acceleration, yaw rate, road shape and road conditions, in consideration of the positional relationship between the vehicle 5 and the other vehicles A _2, general optimization technique . Second traveling prediction unit 11 and generates a second traveling locus _{R 2,} the processing of S10 ends, the process proceeds to the running locus prediction process (S12).

The process of S12 is a process which the 1st driving | running | working prediction part 10 performs, the driving | running plan of another vehicle is estimated and a 1st driving | running | working locus | trajectory is produced | generated assuming that the own vehicle does not exist seeing from another vehicle. The first travel prediction unit 10 recognizes the other vehicles A ₁ and A ₂ existing around the host vehicle 5 based on the information output from the sensor 31 as in the process of S10. Then, it predicted assuming that the vehicle 5 is not present, whether another vehicle A _1, A ₂ is what actions. Similarly to the processing in S10, will be described a vehicle _{A 1} as an example. First running prediction unit 10 at a constant time (e.g. 10 seconds) past, speed, acceleration, and running state of the vehicle A ₁ such as the road lane, around the vehicle A ₁ such that there is a vehicle A ₂ forward The host vehicle 5 acquires the conditions from the sensor 31 and the navigation system 33. Then, to understand the situation of the vehicle A ₁ that is identified by the running condition and surrounding condition. At this time, the vehicle 5 is to grasp the situation of the vehicle A ₁ as not exist when viewed from the vehicle A _1. Then, similarly to the processing in S10, using a frequency of occurrence of any event in conjunction with the frequency or may occur in advance learning, the situation learned the situation of the vehicle A ₁ in certain circumstances to predict the behavior of the vehicle a ₁ by.

First running prediction unit 10, when the vehicle A ₁ acted predicted to lane change, it generates a running locus vehicle A ₁ is lane change. For example, as shown in FIG. 3, the travel locus is generated so as to achieve an optimum lane change without being aware of the presence of the own vehicle 5, so that the vehicle 5 is closer to the own vehicle 5 than the second travel locus R _2. first travel path R ₁ to lane change is generated as a traveling locus to be predicted. This running locus in the same way as the processing of S10, the speed of the vehicle A _1, by taking into consideration the acceleration, yaw rate, road conditions, the positional relationship between the other vehicle can be generated by the general optimization technique. First running prediction unit 10, when generating the first travel locus _{R 1,} the process in S12 is finished, the routine proceeds to actual running acquisition process (S14).

The process of S <b> 14 is a process executed by the comparison determination unit 12 and acquiring an actual travel locus (actual travel locus) on which another vehicle has traveled by the sensor 31. For example, in the situation illustrated in FIG. 3, the first travel prediction unit 10 acquires the actual travel locus of the vehicles A ₁ and A _{2 for} a certain time (for example, 10 seconds) by the sensor 31 provided in the vehicle 5. When the processing of S14 ends, the process proceeds to recognition evaluation information generation processing (S16).

The process of S16 is executed by the comparison / determination unit 12, and the distance between the actual travel path acquired in the process of S14 and the second travel path predicted in the process of S10, the actual travel path acquired in the process of S14, and S12. And calculating the distance between the first travel locus predicted by the process and how close the actual travel locus is to the first travel locus or the second travel locus based on the calculated distance. It is a process to calculate. Here, the more similar the predicted traveling locus is to the actual traveling locus, the more correct the condition (presence / absence of existence of the host vehicle) set for prediction is. Therefore, the numerical value indicating how close the actual traveling locus is to the first traveling locus or the second traveling locus can be regarded as indicating the degree to which the other vehicle A ₁ recognizes the host vehicle 5. This degree is defined as a recognition degree C _i (i: integer). For example, as shown in FIG. 3, the distance from each predetermined point i of the first travel locus R ₁ to the shortest second travel locus R ₂ is defined as L _i , and from the predetermined point i of the actual travel locus R _0. shortest first travel path R distance N _i to the point of _1, and the distance to the point of the shortest second travel locus R ₂ from a predetermined point i of the actual traveling locus R ₀ and M _i, recognition degree C _i can be expressed by the following formula (1).

C _i = N _i / L _i (1)

The recognition degree C _i is ₀ when the actual travel locus R ₀ overlaps the first travel locus R _1, and is 1 when the actual travel locus R ₀ overlaps the second travel locus R ₂ . Here, when the actual travel locus R ₀ is closer to the own vehicle 5 than the first travel locus R ₁ (when the recognition degree C _i is negative), the actual travel locus R ₀ is greater than the second travel locus R ₂ . If the distance from the vehicle (recognition degree C _i is greater than 1) and 1 to. By setting in this way, the closer the recognition degree C _i is to 0, the more the other vehicle is not recognizing the own vehicle, and the closer the recognition degree C _i is to 1, the more the other vehicle recognizes the own vehicle. You can show that Then, in order to extract highly reliable data, the degree of recognition C _i regarding points where the distance L _i is a predetermined distance (for example, 1 m) or more is extracted and averaged. This average value is assumed to be the vehicle recognition average E. If the comparison determination part 12 calculates the own vehicle recognition estimated average E as a comparison result, the process of S16 will be complete | finished and it transfers to a reliability evaluation information generation process (S18).

The process of S18 is executed by the recognition estimation unit 13, and in order to evaluate the reliability of the comparison result calculated in the process of S16, that is, the recognition degree C _i and the own vehicle recognition expected average E, the first travel locus R ₁ it is a process of integrating the distance L _i up to the point of the shortest second travel locus R ₂ from each point i of the predetermined. This integrated value is set as a recognition likelihood F. The value of the recognition likelihood reliability F show larger the first travel locus R ₁ and the difference between the second travel locus R ₂ is large. That is, as the value of the recognition likelihood reliability F is large, finding the actual traveling trace and the comparison result between the first travel locus R _1, a clear difference in comparison with the actual traveling trace and the second travel locus R ₂ Therefore, the reliability of the comparison result is high. When the process of S18 ends, the process proceeds to the all vehicle confirmation process (S20).

  The process of S20 is a process that is executed by the ECU 2 and determines whether or not the processes of S14 to S18 have been executed for all other vehicles. In the process of S20, when it determines with not having performed about all the other vehicles, it transfers to a real travel locus acquisition process (S14), and processes about the remaining other vehicles. On the other hand, when it determines with having performed about all the other vehicles, it transfers to the confirmation process of reliability (S22).

The process of S22 is a process which the recognition estimation part 13 performs and evaluates the reliability of the recognition degree C _i and the own vehicle recognition expected average E using the recognition expected reliability F calculated in the process of S18. For example, the recognition estimation unit 13 determines that the calculated recognition degree C _i is within an allowable range even if there is an error if the recognition probability reliability F is equal to or greater than a predetermined value (for example, 10 m). It is assumed that the value of E is also highly reliable. On the other hand, recognition estimation unit 13, a recognition likelihood reliability F is smaller than a predetermined value (e.g. 10 m), the measurement error or the like significantly affects the calculated recognition degree C _i, the value of the vehicle recognition estimated average E Assume that the reliability is low. In the process of S22, if it is determined that the reliability of the own vehicle recognition expected average E is low, the control process shown in FIG. Then, after the control process shown in FIG. 2 is completed, a normal travel plan is generated and driving assistance is performed. On the other hand, in the process of S22, when it determines with the reliability of the own vehicle recognition estimated average E being high, it transfers to a recognition determination process (S24).

Processing of S24, recognition estimation unit 13 executes a process of the vehicle A ₁ from the value of the calculated vehicle recognition likelihood average E estimates whether recognizes the vehicle 5 in the processing of S16. For example, if the vehicle recognized prospective average E is less than a predetermined value (e.g. 0.2), the actual vehicle travel locus of the vehicle A ₁ is the closer to the travel locus derived by assuming that the vehicle 5 is absent judgment, the vehicle a ₁ is presumed not aware vehicle 5. On the other hand, if the vehicle recognized prospective average E is greater than a predetermined value (e.g. 0.2), the actual vehicle travel locus of the vehicle A ₁ is close to the travel locus derived by assuming that the vehicle 5 is present determination The vehicle A ₁ is estimated to recognize the host vehicle 5. In the processing of S24, the vehicle A ₁ is when estimated that recognizes the vehicle 5 ends the control process shown in FIG. Then, after the control process shown in FIG. 2 is completed, a normal travel plan is generated and driving assistance is performed. On the other hand, in the processing of S24, the vehicle A ₁ in the case of estimating the unaware vehicle 5 proceeds to travel plan producing process (S26).

The process of S26 is a process which the 1st driving | running | working plan part 14 performs, and produces | generates the driving plan for making driving | running | working of the own vehicle 5 a safer driving | running | working. For example, the first travel plan unit 14 has a high possibility that the vehicle A ₁ does not recognize the host vehicle 5, and therefore, after the lane change from the lane 3 to the lane 2, the necessary inter-vehicle time with the vehicle A ₁ becomes longer. A travel plan is generated as follows. For example, a travel plan with a required inter-vehicle time of 3 seconds is generated. When the process of S26 ends, the control process shown in FIG. 2 ends.

As described above, according to the driving support unit 1 according to the first embodiment, it is assumed that the host vehicle 5 does not exist when viewed from the other vehicles A ₁ and A ₂ existing around the host vehicle 5. ₁ predicts a first travel locus _{R 1} of _{a 2,} and, assuming that the vehicle 5 is present to predict the other vehicle _{a 1,} the second travel locus _{R 2} of _{a 2,} the first travel path _{R 1} Are compared with the actual travel locus R ₀ , the second travel locus R ₂ is compared with the actual travel locus R _0, and the other vehicles A ₁ , A are based on the own vehicle recognition expected average E generated as a comparison result. It is estimated whether ₂ recognizes the presence of the own vehicle 5 or not. Therefore, even if the other vehicles A ₁ and A ₂ are vehicles that cannot perform manual operation or communication, it can be estimated whether or not the other vehicles A ₁ and A ₂ recognize the host vehicle 5. An appropriate travel plan can be generated using the estimation result.

Further, according to the driving support unit 1 according to the first embodiment, the distance between the other vehicles A ₁ , A ₂ and the own vehicle 5 that do not recognize the existence of the own vehicle 5 based on the generated travel plan is increased. By providing driving assistance, it is possible to avoid danger such as a collision and to provide safer driving assistance.

(Second Embodiment)
The driving support device (driving support unit) 6 according to the second embodiment is configured in substantially the same manner as the driving support unit 1 according to the first embodiment, and is compared with the driving support unit 1 in the second travel plan. It differs in the point provided with a part (2nd travel plan means). The driving support unit 6 according to the present embodiment generates a travel plan so that more reliable information can be acquired when the driving support unit 1 of the first embodiment has low information reliability of other vehicles. It has a function to do. The configuration of the vehicle provided with the driving support unit 6 according to the present embodiment is the same as that of the vehicle 5 provided with the driving support unit 1 according to the first embodiment. In the second embodiment, the description of the same parts as those in the first embodiment will be omitted, and the differences will be mainly described.

  Initially, the structure of the driving assistance part which concerns on this embodiment is demonstrated using FIG. FIG. 4 is a block diagram illustrating a schematic configuration of a vehicle including the driving support unit 6 according to the second embodiment. As shown in FIG. 4, the driving support unit 6 according to the present embodiment includes a second travel plan unit 15 in the ECU 2, and the vehicle 5 travels based on the recognition result output by the recognition estimation unit 13. It has a function of generating a plan (running locus). The second travel plan unit 15 has a function of determining whether or not the generated travel plan affects the travel of other surrounding vehicles. Furthermore, it has a function of outputting the generated travel plan to the vehicle motion control unit 27.

Next, the operation of the driving support unit 6 according to the second embodiment will be described. FIG. 5 is a flowchart showing the operation of the driving support unit 6 according to the second embodiment. FIG. 6 is a schematic diagram for explaining the operation of the driving support unit 6 according to the second embodiment. FIG. 6 shows a scene in which the host vehicle 5 as the host vehicle travels on the lane 2 on the two-lane road, the other vehicle A ₂ travels on the left side, and the other vehicle A ₁ travels on the left rear side. In the following description, it is assumed that the other vehicle is manually operated and the own vehicle cannot acquire a travel plan for the other vehicle via communication.

  The control process shown in FIG. 5 is repeatedly executed at a predetermined timing after, for example, the ignition is turned on.

  When the control process shown in FIG. 5 is started, the driving support unit 6 starts from the first support process (S30). The process of S30 is executed by the driving support unit 6 and is the same process as the control process of the driving support unit 1 of the first embodiment shown in FIG. When the process of S30 ends, the process proceeds to a reliability confirmation process (S32).

The process of S32 is executed by the recognition estimation unit 13, and the process of evaluating the reliability of the recognition degree C _i and the own vehicle recognition expected average E using the recognition expected reliability F generated in the process of S18 shown in FIG. It is. For example, if the recognition likelihood F is greater than or equal to a predetermined value (for example, 10 m), the recognition estimation unit 13 is within an allowable range even if there is an error in the recognition degree C _i calculated in the process of S16 shown in FIG. Assume that the values of the recognition degree C _i and the vehicle recognition expected average E are also highly reliable. In this case, the processing of S30, since it is determined already with whether reliable information other vehicle is recognized, the self so as to positively change the behavior of the other vehicle A ₁ There is no need to control the traveling of the vehicle, and the control process shown in FIG. Then, using the travel plan generated in the process of S26 of FIG. 2, or after completing the control process shown in FIG. On the other hand, if the recognition likelihood reliability F is a predetermined value (for example, 10m) smaller than, and the recognition degree C _i calculated in step S16 shown in FIG. 2 there is unacceptable errors, the vehicle recognition estimated average E The value is assumed to be unreliable. In this case, the process proceeds to a provisional travel plan generation process (S34).

The process of S34 is a process which the 2nd driving | running plan part 15 performs, and produces | generates a temporary driving | running plan. This travel plan is generated with the goal of causing the host vehicle 5 to travel such that the behavior of the other vehicle changes depending on the presence or absence of the host vehicle 5. Even if the vehicle travels based on the generated travel plan, it is unclear whether or not the behavior of the other vehicle changes depending on the presence or absence of the host vehicle 5, and therefore the second travel plan unit 15 performs provisional travel. A plan is generated, and whether or not the target can be achieved on the assumption that the vehicle has traveled based on the provisional travel plan is examined by a process described later. As the provisional travel plan to be generated, for example, a travel plan that improves the safety of traveling of the host vehicle is set as a provisional travel plan. Specifically, as shown in FIG. 6, for example, the second travel plan unit 15 determines that the other vehicle A ₂ is traveling on the left side of the host vehicle 5 and the other vehicle A ₁ is traveling on the left rear side. _{In the} case where the recognition reliability F for the recognition ₁ is low, the travel plan for expanding the distance between the vehicles ahead by deceleration is changed so that the other vehicle A ₂ can change the lane from the lane 1 to the lane 2. And When the second travel plan unit 15 generates a provisional travel plan, the process of S34 ends, and the process proceeds to a travel locus prediction process for another vehicle (S36).

The process of S36 is executed by the second travel prediction unit 11 and, like the process of S10 shown in FIG. 2, the travel plan of the other vehicle is predicted on the assumption that the own vehicle 5 exists when viewed from the other vehicle. 2 is a process of generating a travel locus. In particular, when it is assumed that the provisional travel plan generated in the process of S34 is executed, the second travel prediction unit 11 predicts a travel plan of another vehicle and generates a second travel locus. The generation method is the same as in the first embodiment. Second traveling prediction unit 11 and generates a second traveling locus R _2, the process of S36 is finished, the routine proceeds to travel locus prediction process of the other vehicle (S38).

The process of S38 is executed by the first travel prediction unit 10, and similarly to the process of S12 shown in FIG. 2, the travel plan of the other vehicle is predicted by assuming that the host vehicle 5 does not exist when viewed from the other vehicle. This is a process for generating one travel locus. First running prediction unit 10, when generating the first travel locus R _1, the process proceeds to the reliability evaluation information generating process (S40).

The process of S40 is executed by the recognition estimation unit 13, and, similarly to the process of S18 shown in FIG. 2, in order to evaluate the reliability of the own vehicle recognition expected average E, the first travel locus R generated by the process of S36. _This is a process of integrating the shortest distance L _i from _one predetermined point i to the point of the second travel locus R ₂ generated in the process of S38. When the process of S40 ends, the process proceeds to a reliability confirmation process (S42).

The process of S42 is a process which the recognition estimation part 13 performs and evaluates the reliability of the recognition degree C _i and the own vehicle recognition possibility average E using the recognition possibility reliability F calculated in the process of S40. The evaluation method is the same as the process of S32. In the process of S42, when it is determined that the reliability of the own vehicle recognition expected average E is low, no further prediction process is performed, and the control process shown in FIG. 5 is terminated. Then, after the control process shown in FIG. 5 is completed, a normal travel plan is generated and driving assistance is performed. On the other hand, in the process of S42, when it is determined that the reliability of the own vehicle recognition expected average E is high, the process proceeds to the travel plan employment process (S44).

  The process of S44 is a process executed by the second travel plan unit 15 to determine a travel plan. In the process of S42, it has been found that when the host vehicle 5 executes the provisional travel plan generated in the process of S34, the behavior of the other vehicle is changed and high reliability information can be obtained. The planning unit 15 adopts the provisional travel plan generated in the process of S <b> 34 and sets it as the travel plan of the host vehicle 5. When the process of S44 ends, the process proceeds to a recognition evaluation information generation process (S46).

  The process of S46 is executed by the comparison / determination unit 12, and the traveling locus of the other vehicle when the host vehicle 5 travels according to the travel plan determined in the process of S44 is acquired by the sensor 31, and the process of S16 shown in FIG. Similarly, the distance between the acquired actual travel locus and the second travel locus predicted in the process of S36 and the distance between the acquired actual travel locus and the first travel locus predicted in the process of S38 are calculated. Based on the calculated distance, this is a process of comparing how close the actual travel locus is to the first travel locus or the second travel locus. If the comparison determination part 12 calculates the own vehicle recognition estimated average E as a comparison result, the process of S46 will be complete | finished and it will transfer to a recognition determination process (S48).

Processing of S48 is recognized estimation unit 13 executes, in the same way as the processing of S24 shown in FIG. 2, the vehicle A ₁ from the value of the calculated vehicle recognition estimated average E in the processing of S46 recognizes the vehicle 5 This is processing for estimating whether or not there is. In the processing of S48, the vehicle A ₁ is when estimated that recognizes the vehicle 5 ends the control process shown in FIG. Then, after the control process shown in FIG. 5 is completed, a normal travel plan is generated and driving assistance is performed. On the other hand, in the processing of S48, the vehicle A ₁ in the case of estimating the unaware vehicle 5 proceeds to travel plan producing process (S50).

The process of S50 is a process which the 2nd driving | running | working plan part 15 performs, and produces | generates the driving plan for making driving | running | working of the own vehicle 5 a safer driving | running similarly to the process of S26 shown in FIG. For example, the second travel plan unit 15 has a high possibility that the vehicle A ₁ does not recognize the host vehicle 5, and therefore, after the lane change from the lane 3 to the lane 2, the necessary inter-vehicle time with the vehicle A ₁ becomes longer. A travel plan is generated as follows. For example, a travel plan with a required inter-vehicle time of 3 seconds is generated. When the process of S50 ends, the control process shown in FIG. 5 ends.

This is the end of the control process shown in FIG. By repeatedly executing the control process shown in FIG. 5, even if the information for determining whether or not the other vehicle recognizes the host vehicle 5 is low in reliability, driving with high safety in future driving If it becomes clear that highly reliable information can be acquired by adopting the plan, information can be actively collected by adopting the travel plan and controlling the host vehicle 5. For example, in FIG. 6, it is assumed that the vehicle A ₂ has a lower speed than the vehicle A ₁ and wants to change the lane. At this time, when the change in the traveling locus of the other vehicle A ₁ without the presence of the vehicle 5 is not, the vehicle 5 is dare other vehicles A ₁ drop the speed vacate a space for lane change. Then, by comparing the predicted and get the actual operation of the other vehicle A _1, when another vehicle A ₁ is able to confirm whether or not to recognize the vehicle 5, not recognized, It is possible to improve driving safety by adopting a driving plan such as increasing the inter-vehicle distance.

As described above, according to the driving support device 6 according to the second embodiment, there is a large difference between the first travel locus R ₁ and the second travel locus R ₂ of the other vehicle A ₁ regardless of the presence or absence of the host vehicle 5. expected without, even in a situation where it is impossible to estimate whether or not recognize the presence of the vehicle 5, for example, action of another vehicle a ₁ by the steering and acceleration and deceleration or the like of the vehicle 5 is changed If possible, it is possible to intentionally create a situation in which it is possible to determine whether or not the existence of the host vehicle 5 is recognized by intentionally executing steering, acceleration, and deceleration of the host vehicle 5 based on the generated travel plan. Therefore, whether actively confirm the other vehicle A ₁ is aware of the existence of the vehicle 5, it is possible to perform even more appropriate driving assistance of the vehicle.

(Third embodiment)
The driving support device (driving support unit) 7 according to the third embodiment is configured in substantially the same manner as the driving support unit 1 according to the first embodiment, and is compared with the driving support unit 1 in the first travel plan. It differs in that a third travel planning unit (third travel planning means) 16 is provided instead of the unit 14. The driving support unit 7 according to the present embodiment has a function of generating a travel plan for traveling around another vehicle that recognizes the host vehicle. The configuration of the vehicle provided with the driving support unit 7 according to the present embodiment is the same as that of the vehicle 5 provided with the driving support unit 1 according to the first embodiment. In the third embodiment, the description of the same parts as those in the first embodiment will be omitted, and the description will focus on the differences.

  Initially, the structure of the driving assistance part which concerns on this embodiment is demonstrated using FIG. FIG. 7 is a block diagram illustrating a schematic configuration of a vehicle including the driving support unit 7 according to the third embodiment. As shown in FIG. 7, the driving support unit 7 according to the present embodiment includes a third travel plan unit 16 in the ECU 2, and the vehicle 5 travels based on the recognition result output by the recognition estimation unit 13. It has a function of generating a plan (running locus). Specifically, the third travel plan unit 16 has a function of mapping the recognition result output from the recognition estimation unit 13 as a recognition result around the host vehicle and generating a travel plan based on the map (recognition map). Have. Furthermore, it has a function of outputting the generated travel plan to the vehicle motion control unit 27.

Next, the operation of the driving support unit 7 according to the third embodiment will be described. 8 and 9 are flowcharts showing the operation of the driving support unit 7 according to the third embodiment. FIG. 10 is a schematic diagram for explaining the operation of the driving support unit 7 according to the third embodiment. FIG. 10 shows a scene in which the host vehicle 5 that is the host vehicle travels in the center lane and the other vehicles A ₁ , A ₂ , A ₃ , and A ₄ travel on the left and right lanes on a three-lane road. ing. In the following description, it is assumed that the other vehicle is manually operated and the own vehicle cannot acquire a travel plan for the other vehicle via communication.

  The control process shown in FIG. 8 is repeatedly executed at a predetermined timing after the ignition is turned on, for example.

When the control process shown in FIG. 8 is started, the driving support unit 7 starts from the travel locus prediction process (S60). The process of S60 is the same as the process of S10 of FIG. 2, and is executed by the second travel prediction unit 11 to predict the travel plan of the other vehicle, assuming that the host vehicle 5 is present when viewed from the other vehicle. This is a process for generating a travel locus. For example, as shown in FIG. 10, when other vehicles A ₁ , A ₂ , A ₃ , and A ₄ are traveling around the host vehicle 5, the second travel prediction unit 11 determines that the other vehicles A ₁ , A ₂ generates _a 3, _{a 4} of the second travel locus _{R 2,} respectively. When the process of S60 ends, the process proceeds to a travel locus prediction process (S62).

The process of S62 is the same as the process of S12 of FIG. 2, and is executed by the first travel prediction unit 10, predicting the travel plan of the other vehicle, assuming that the host vehicle does not exist when viewed from the other vehicle. This is a process for generating a travel locus. For example, in the situation illustrated in FIG. 10, the first travel prediction unit 10 generates the first travel trajectory R ₁ of the other vehicles A ₁ , A ₂ , A ₃ , A ₄ . When the process of S62 ends, the process proceeds to a travel locus prediction process (S64).

  The process of S64 is the same as the process of S14 of FIG. 2, and is a process executed by the comparison determination unit 12 to acquire an actual travel locus (actual travel locus) on which another vehicle has traveled by the sensor 31. When the processing of S64 is completed, the process proceeds to recognition evaluation information generation processing (S66).

  The process of S66 is the same as the process of S16 of FIG. 2, and is a process executed by the comparison determination unit 12 to calculate how close the actual travel locus is to the first travel locus or the second travel locus. . When the comparison determination unit 12 calculates the own vehicle recognition expected average E as the comparison result, the process of S66 ends, and the process proceeds to the reliability evaluation information generation process (S68).

  The process of S68 is the same as the process of S18 of FIG. 2, and is a process executed by the recognition estimation unit 13 to generate the recognition probability reliability F. When the process of S68 ends, the process proceeds to the all vehicle confirmation process (S70).

  The process of S70 is the same as the process of S20 of FIG. 2, and is a process that is executed by the ECU 2 and determines whether or not the processes of S64 to S68 have been executed for all vehicles. In the process of S70, when it determines with not having performed about all the other vehicles, it transfers to an actual travel locus | trajectory acquisition process (S64), and processes about the remaining vehicles. On the other hand, when it determines with having performed about all the other vehicles, it transfers to a memory reservation process (S72).

  The process of S72 is a process executed by the ECU 2 to secure an area necessary for calculation and initialize it. For example, the ECU 2 divides the periphery of the host vehicle (for example, 30 m in length and 15 m in width) by a predetermined unit (for example, 10 cm), and the ECU 2 is provided with a region that can store the processing result in each of the divided regions. Secure on memory. As a result, a recognition map around the vehicle is formed on the memory. Then, the ECU 2 initializes the secured area with a predetermined value. The predetermined value is a value indicating a point where there is no vehicle, for example, 1. When the processing of S72 ends, the process proceeds to recognition map creation processing (S74).

The process of S74 is a process that is executed by the third travel planning unit 16 and creates a recognition map by reflecting the calculation result on the recognition map of the memory area secured in the process of S72. First, the third travel planning unit 16 starts from the provisional area recognition degree calculation process shown in FIG. 9 (S90). In executing the processing of S90, the third travel planning unit 16 selects one vehicle from among other vehicles as a processing target. Here will be described as another vehicle A ₁ is a first processed. The process of S90 is a mathematical conversion process for facilitating understanding of the state intuitively, and the range of the vehicle recognition expected average E calculated in the process of S66 is changed from 0 to −1 to 1. It is a process to extend to. Assuming that the expanded value is the provisional region recognition degree G, the provisional region recognition degree G is expressed using the following equation (2).

  G = 2E-1 (2)

Thereby, as the value of G approaches 1, the possibility that the own vehicle 5 is recognized by the other vehicle A ₁ is high, and conversely, as the value of G approaches −1, the own vehicle 5 recognizes the other vehicle A ₁ . The possibility that it has been reduced. Third travel planning unit 16, when generating a provisional area recognition value G for the other vehicles A _1, proceeds to the reliability of the check processing (S92).

The process of S92 is substantially the same process as the process of S22 of FIG. 2, and the recognition estimation unit 13 executes the recognition degree C _i and the vehicle recognition using the recognition likelihood confidence F calculated in the process of S68. This is a process for evaluating the reliability of the expected average E. In the process of S92, when it is determined that the reliability of the own vehicle recognition expected average E is high, the process proceeds to an integration process (S96). On the other hand, in the process of S92, when it is determined that the reliability of the own vehicle recognition expected average E is low, the process proceeds to the provisional area recognition degree G substitution process (S94).

  The process in S94 is a process for setting the provisional area recognition degree G generated in the process in S90 to 0. As a result, information with low reliability can be prevented from affecting subsequent processing. When the processing of S94 ends, the process proceeds to integration processing (S96).

The process of S96 is a process of inputting the temporary area recognition degree G calculated in the process of S90 or S94 to the memory area secured in the process of S72. More specifically, the area of the corresponding recognition map to point and around the vehicle A ₁ entered in the sensor 31 (e.g. 10 m), it integrates the interim area recognition degree G, and recognition of G ₀ of the point. Thereby, on the recognition map, the recognition degree G ₀ around the point where the other vehicle that recognizes the existence of the host vehicle 5 exists and the point corresponding to the point where the other vehicle does not exist is expressed as a positive value. by recognition of G ₀ of the portion corresponding to the periphery of the point where the other vehicle does not recognize the host vehicle is present, it is represented by a negative value. When the process of S96 ends, the process proceeds to a process for determining the provisional area recognition degree G (S98).

The process of S98 is a process of determining whether or not the host vehicle 5 is another vehicle that has not recognized it. For example, the third travel planning unit 16 determines whether or not the provisional region recognition degree G is a negative value. In the processing of S98, when the provisional area recognition value G is not a negative value, the other vehicle recognition map creation process corresponding to the other vehicle A ₁ shown in FIG. 9 as a vehicle to be aware of the vehicle 5 Exit. On the other hand, if the provisional region recognition degree G is a negative value, it is determined that the other vehicle is a vehicle that does not recognize the host vehicle, and the process proceeds to a blind spot region integration process (S100).

The process of S100 is a process of further adding the provisional area recognition degree G to a memory area corresponding to a spot that becomes a blind spot area of another vehicle that does not recognize the host vehicle 5. The blind spot area may be set in advance, for example, a rear point that cannot be confirmed with a mirror provided in the vehicle. As a result of the processing of S100, the negative provisional region recognition degree G is further accumulated at the point that becomes the blind spot of the vehicle that does not recognize the host vehicle 5, and thus the absolute value becomes large. When the process of S100 is completed, and terminates the recognition map generation process corresponding to the other vehicle A ₁ shown in FIG. As described above, the integrated value calculated in the process shown in FIG. 9 is more likely to be recognized by the other vehicle 5 as the positive value is larger. Is less likely to recognize the host vehicle 5.

  Returning to FIG. 8, when the recognition map generation process (FIG. 9) in S <b> 74 ends, the process proceeds to the all vehicle confirmation process (S <b> 76). The process of S76 is a process that is executed by the ECU 2 and determines whether or not the recognition map generation process of S74 has been completed for all other vehicles existing around the host vehicle. If it is determined in step S76 that the process has not been completed for all the vehicles, the process proceeds to the recognition map generation process again (S74), and the remaining other vehicles are processed. On the other hand, in the process of S76, when it determines with having completed with respect to all the vehicles, it transfers to the search process of a safe spot (S78).

  The process of S78 is a process that is executed by the third travel planning unit 16 and determines a safe point with reference to the recognition map stored in the memory. The third travel planning unit 16 refers to an area of a predetermined size (for example, vehicle size + 10 m) from the memory, and searches for an area where the integrated value of the area is the largest. When the process of S78 ends, the process proceeds to a travel plan generation process (S80).

  The process of S80 is executed by the third travel plan unit 16 to generate a travel plan that advances the host vehicle 5 preferentially with respect to the area searched in the process of S78. When the process of S80 ends, the control process shown in FIG. 9 ends.

As described above, by performing the control processing of FIGS. 8 and 9, it is possible to avoid traveling around other vehicles that do not recognize the host vehicle 5 and to travel around other vehicles that recognize the host vehicle 5. Therefore, the traveling safety of the host vehicle 5 can be improved. For example, in FIG. 10, when it is determined that the other vehicle A ₁ does not recognize the host vehicle 5 and it is determined that the other vehicles A ₂ , A ₃ , A ₄ recognize the host vehicle 5, the recognition is performed. because the map around the other vehicle a ₁ is represented by a negative value, the vehicle 5, by performing the travel illustrated in traveling locus R on the basis of the travel plan to avoid the area indicated by the negative value , Driving safety can be improved.

  As described above, according to the driving support device 7 according to the third embodiment, even if the surroundings of the own vehicle 5 are crowded and the moving point of the own vehicle 5 is restricted, for example, the generation is generated. By traveling around another vehicle that recognizes the existence of the host vehicle 5 in the travel plan, it is possible to avoid a collision from another vehicle that does not recognize the host vehicle and to provide safer driving assistance. .

(Fourth embodiment)
The driving support device (driving support unit) 8 according to the fourth embodiment is configured in substantially the same manner as the driving support unit 1 according to the first embodiment, and is compared with the driving support unit 1 in the first travel prediction. Instead of the unit 10, the second travel prediction unit 11 and the first travel plan unit 14, a third travel prediction unit (third travel prediction unit) 17, a fourth travel prediction unit (fourth travel prediction unit) 18, and a fourth The difference is that a travel planning unit (fourth travel planning means) 19 is provided. The driving support unit 8 according to the present embodiment has a function of generating a travel plan for traveling around other vehicles that are mutually recognized among a plurality of other vehicles. The configuration of the vehicle provided with the driving support unit 8 according to the present embodiment is the same as that of the vehicle 5 provided with the driving support unit 1 according to the first embodiment. Note that in the fourth embodiment, the description of the same parts as those in the first and third embodiments will be omitted, and the description will focus on the differences.

  Initially, the structure of the driving assistance part which concerns on this embodiment is demonstrated using FIG. FIG. 11 is a block diagram illustrating a schematic configuration of a vehicle including the driving support unit 7 according to the fourth embodiment. As shown in FIG. 11, the driving support unit 7 according to this embodiment includes a third travel prediction unit 17, a fourth travel prediction unit 18, and a fourth travel plan unit 19 in the ECU 2.

  The third travel prediction unit 17 has substantially the same function as the first travel prediction unit 10, and when the first other vehicle and the second other vehicle exist around the host vehicle, the first travel prediction unit 17 It has a function of generating a travel locus (third travel locus) of the first other vehicle on the assumption that the second other vehicle does not exist when viewed from the other vehicle. That is, the first travel prediction unit 10 has a function of generating a travel locus (first travel locus) based on the relationship between the host vehicle and another vehicle, whereas the third travel prediction unit 17 The difference is that it has a function of generating a travel locus based on the relationship with the other vehicle.

  The fourth travel prediction unit 18 has substantially the same function as the second travel prediction unit 11, and when the first other vehicle and the second other vehicle exist around the host vehicle, the first travel prediction unit 18 Assuming that the second other vehicle is present when viewed from the other vehicle, the vehicle has a function of generating a travel locus (fourth travel locus) of the first other vehicle. That is, similar to the third traveling prediction unit 17, the third embodiment is different in that it has a function of generating a traveling locus based on the relationship between the other vehicle and the other vehicle.

  The fourth travel plan unit 19 is provided in the ECU 2 and has a function of generating a travel plan (travel locus) of the host vehicle 5 based on the recognition result output by the recognition estimation unit 13. Specifically, the fourth travel plan unit 19 maps the recognition result output by the recognition estimation unit 13 as the recognition result around the host vehicle, similarly to the third travel plan unit 16 of the third embodiment, It has a function of generating a travel plan based on a map (recognition map). Furthermore, it has a function of outputting the generated travel plan to the vehicle motion control unit 27.

Next, the operation of the driving support unit 8 according to the fourth embodiment will be described. FIG. 12 is a flowchart showing the operation of the driving support unit 8 according to the fourth embodiment. FIG. 13 is a schematic diagram for explaining the operation of the driving support unit 8 according to the fourth embodiment. FIG. 13 shows a scene in which the host vehicle 5 that is the host vehicle travels in the center lane and other vehicles A ₁ , A ₂ , A ₃ , and A ₄ travel on the left and right lanes on a three-lane road. ing. In the following description, it is assumed that the other vehicle is manually operated and the own vehicle cannot acquire a travel plan for the other vehicle via communication.

  The control process illustrated in FIG. 12 is repeatedly executed at a predetermined timing after the ignition is turned on, for example.

When the control process shown in FIG. 12 is started, the driving support unit starts from the travel locus prediction process (S110). The process of S110 is executed by the fourth travel prediction unit 18, and it is assumed that there is a second other vehicle as seen from the first other vehicle, and a travel plan of the second other vehicle is predicted to obtain the second travel locus. It is a process to generate. For example, as shown in FIG. 13, when other vehicles A ₁ , A ₂ , A ₃ , A ₄ are traveling around the host vehicle 5, the fourth travel prediction unit 18 may be viewed from the other vehicle A _1. generating a fourth traveling path R ₄ on the assumption that the vehicle a ₂ is present. Thus, the fourth travel prediction unit 18, in all combinations of the other vehicle _{A 1, A 2, A 3} , A 4 existing around the vehicle, generates a fourth traveling path _{R 4.} Incidentally, the method of generating the fourth traveling path R ₄ is the same as the process of S10 shown in FIG. When the process of S110 ends, the process proceeds to a travel locus prediction process (S112).

The process of S112 is executed by the third travel prediction unit 17, and the travel plan of the second other vehicle is predicted and the third travel locus is assumed on the assumption that the second other vehicle does not exist when viewed from the first other vehicle. Is a process for generating For example, as shown in FIG. 13, when other vehicles A ₁ , A ₂ , A ₃ , A ₄ are traveling around the host vehicle 5, the third travel predicting unit 17 is viewed from the other vehicle A _1. generating a first travel locus R ₁ assuming that the vehicle a ₂ is absent. As described above, the third travel prediction unit 17 generates the third travel locus R ₃ for all combinations of the other vehicles A ₁ , A ₂ , A ₃ , A ₄ existing around the host vehicle. Incidentally, the method of generating the third travel locus R ₃ is the same as the process of S12 shown in FIG. When the process of S112 ends, the process proceeds to a travel locus prediction process (S114).

  The process of S114 is the same as the process of S64 of FIG. 8, and is a process executed by the comparison determination unit 12 and acquiring an actual travel locus (actual travel locus) on which another vehicle has traveled by the sensor 31. When the process of S114 ends, the process proceeds to a recognition evaluation information generation process (S116).

The process of S116 is substantially the same as the process of S66 of FIG. 8, and is executed by the comparison / determination unit 12 so that the actual travel locus is the third travel locus and the fourth travel locus in order to know the recognition relationship between other vehicles. This is a process of comparing how close to which one. The comparison determination unit 12 calculates the recognition expected average E ₁ as a comparison result by the same method as the calculation method of the own vehicle recognition estimated average E. When the processing of S116 ends, the process proceeds to reliability evaluation information generation processing (S118).

  The process of S118 is the same as the process of S68 of FIG. 8, and is a process executed by the recognition estimation unit 13 to generate the recognition likelihood confidence F. When the process of S118 ends, the process proceeds to the all vehicle confirmation process (S120).

  The process of S120 is the same as the process of S70 of FIG. 8, and is a process that is executed by the ECU 2 and determines whether or not the processes of S114 to S118 have been executed for all the vehicles. In the process of S120, when it is determined that the process is not executed for all other vehicles, the process proceeds to the actual travel locus acquisition process (S114), and the remaining vehicle combinations are processed. The number of processes is the square of the number of other vehicles. On the other hand, when it determines with having performed about the combination of all the other vehicles, it transfers to a memory reservation process (S122).

  The process of S122 is the same as the process of S72 of FIG. 8, and is a process that is executed by the ECU 2 to secure an area necessary for the calculation and initialize in the memory provided in the ECU 2. When the process of S122 ends, the process proceeds to a data arrangement process (S124).

Processing of S124, the fourth travel planning unit 19 executes, among the recognition likelihood average E ₁ calculated in the processing of S116, a process of excluding the unreliable data from the processing target. For example, when the distance between other vehicles is greatly separated (for example, the inter-vehicle time is 2 seconds or more), there is a possibility that the reliability may be low. Can be improved. When the process of S124 ends, the process proceeds to a recognition map creation process (S126).

  The process of S126 is the same as the process of S74 in FIG. 8, and is a process executed by the fourth travel planning unit 19 to create a recognition map. When the process of S126 is completed, the process proceeds to the all vehicle confirmation process (S128).

  The process of S128 is the same as the process of S76 of FIG. 8, and is executed by the ECU 2 to determine whether or not the recognition map generation process of S126 has been completed for all other vehicles existing around the host vehicle. It is processing to do. If it is determined in step S128 that the process has not been completed for all vehicles, the process proceeds to the recognition map generation process again (S124), and the remaining other vehicles are processed. On the other hand, in the process of S128, when it is determined that the process is completed for all the vehicles, the process proceeds to a safe spot search process (S130).

  The process of S130 is the same as the process of S78 of FIG. 8, and is a process of determining a safe spot by referring to the recognition map that is executed by the fourth travel planning unit 19 and stored in the memory. When the process of S130 ends, the process proceeds to a travel plan generation process (S132).

  The process of S132 is the same as the process of S80 of FIG. 8, and is executed by the fourth travel plan unit 19 to generate a travel plan that preferentially advances the host vehicle 5 with respect to the area searched in the process of S132. When the process of S132 ends, the control process shown in FIG. 12 ends.

As described above, by performing the control processing of FIG. 12, it is possible to avoid traveling around other unrecognized other vehicles and to travel around other recognized vehicles. Driving safety can be improved. For example, in FIG. 13, when it is determined that the other vehicles A ₁ and A ₄ are not recognizing each other and it is determined that the other vehicles A ₂ and A ₃ are recognizing each other, Since the surroundings of the other vehicles A ₁ and A ₄ are indicated by negative values, the host vehicle 5 performs the traveling indicated by the traveling locus R based on the traveling plan that avoids the area indicated by the negative values. , Driving safety can be improved.

  As described above, according to the driving support device 8 according to the fourth embodiment, the vehicle travels around other vehicles that recognize each other rather than other vehicles that do not recognize each other by the generated travel plan. Thus, for example, it is possible to avoid danger such as being involved in contact between other vehicles, and to provide safer driving assistance.

  In addition, each embodiment mentioned above shows an example of the driving assistance method or driving assistance device which concerns on this invention. The driving support method or the driving support device according to the present invention is not limited to the driving support method or the driving support device according to each embodiment, and the respective embodiments are within the scope not changing the gist described in each claim. The driving support method or the driving support device may be modified or applied to another.

  For example, in the above-described embodiment, an example in which both the first traveling locus and the second traveling locus are generated and the respective traveling locus is compared with the actual traveling locus has been described. However, the first traveling locus and the second traveling locus are compared with each other. It is good also as a structure which produces | generates either one of a driving | running | working locus | trajectory and compares with an actual traveling locus | trajectory.

  Further, in each of the above embodiments, the example in which the driving support device is mounted on the vehicle has been described. However, the driving assistance device may be disposed on the roadside or the like and the degree of recognition of each vehicle may be determined through road-to-vehicle communication.

  In each of the above embodiments, the host vehicle is a vehicle that is automatically driven, but may be a vehicle that is manually driven. In this case, the driver may be informed of the degree of recognition of the other vehicle by a display unit such as a display provided in the vehicle.

  In the above embodiments, the other vehicle is a manually operated vehicle, but may be an automatically driven vehicle. Even in such a case, the effect of the present invention can be achieved when communication cannot be performed due to some factor. The same applies to the case where the other vehicle is a mixture of an automatically operated vehicle and a manually operated vehicle.

  Furthermore, in the third embodiment, an example of creating a recognition map by paying attention to the recognition degree between the host vehicle and the other vehicle. In the fourth embodiment, the recognition map paying attention to the recognition degree between the other vehicles. Although the example which produces this is demonstrated, the case where a recognition degree map is produced based on the recognition degree of the own vehicle and other vehicles, and the recognition degree between other vehicles may be sufficient.

It is a block diagram which shows the structure outline | summary of a vehicle provided with the driving assistance part which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the driving assistance part of FIG. It is a schematic diagram explaining operation | movement of the driving assistance part of FIG. It is a block diagram which shows the structure outline | summary of a vehicle provided with the driving assistance part which concerns on 2nd Embodiment. It is a flowchart which shows operation | movement of the driving assistance part which concerns on 2nd Embodiment. It is a schematic diagram explaining operation | movement of the driving assistance part which concerns on 2nd Embodiment. It is a block diagram which shows the structure outline | summary of a vehicle provided with the driving assistance part which concerns on 3rd Embodiment. It is a flowchart which shows operation | movement of the driving assistance part which concerns on 3rd Embodiment. It is a flowchart which shows operation | movement of the driving assistance part which concerns on 3rd Embodiment. It is a schematic diagram explaining operation | movement of the driving assistance part which concerns on 3rd Embodiment. It is a block diagram which shows the structure outline | summary of a vehicle provided with the driving assistance part which concerns on 4th Embodiment. It is a flowchart which shows operation | movement of the driving assistance part which concerns on 4th Embodiment. It is a schematic diagram explaining operation | movement of the driving assistance part which concerns on 4th Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,6,7,8 ... Driving assistance part (driving assistance apparatus), 2 ... ECU, 10 ... 1st driving | running prediction part (1st driving | running prediction means), 11 ... 2nd driving | running prediction part (2nd driving | running prediction means) , 12: Comparison determination unit (comparison determination unit), 13: Recognition estimation unit (recognition estimation unit), 14: First travel plan unit (first travel plan unit), 15 ... Second travel plan unit (second travel plan) Means), 16 ... third travel planning section (third travel planning means), 17 ... third travel prediction section (third travel prediction means), 18 ... fourth travel prediction section (fourth travel prediction means), 19 ... A fourth travel planning unit (fourth travel planning means).

Claims (10)

A driving support device that supports driving of the host vehicle based on information of other vehicles existing around the host vehicle,
A first traveling prediction unit that predicts the first traveling locus of the other vehicle on the assumption that the own vehicle does not exist, and / or a second traveling locus of the other vehicle on the assumption that the own vehicle exists. A second traveling prediction unit for predicting;
A comparison / determination unit that compares the first traveling locus and the actual traveling locus of the other vehicle; or / and compares the second traveling locus and the actual traveling locus of the other vehicle;
And a recognition estimation unit configured to estimate whether or not the other vehicle recognizes the presence of the host vehicle based on a comparison result of the comparison determination unit. When the recognition estimating unit estimates that the other vehicle has not recognized the existence of the own vehicle, the distance between the other vehicle estimated to have not recognized the existence of the own vehicle and the own vehicle The driving support device according to claim 1, further comprising: a first travel plan unit that generates a travel plan for the host vehicle so that the vehicle travels with a larger value. In the case where the first travel prediction unit and the second travel prediction unit are provided,
A second travel plan unit that generates a travel plan for the host vehicle so that the difference is greater when there is no significant difference between the first travel trajectory and the second travel trajectory. The driving support apparatus according to claim 1 or 2, characterized in that And a third travel plan unit that generates a travel plan for the host vehicle so that the vehicle travels preferentially around the other vehicle estimated to recognize the presence of the host vehicle by the recognition estimation unit. The driving support device according to any one of claims 1 to 3. Assuming that the second other vehicle does not exist when viewed from the first other vehicle, the third traveling prediction unit that predicts the third traveling locus of the first other vehicle and / or the first other vehicle. A fourth travel prediction unit that predicts the fourth travel locus of the first other vehicle on the assumption that there is a second other vehicle,
A fourth travel plan unit for generating a travel plan for the host vehicle,
The comparison / determination unit compares the third traveling locus and the actual traveling locus of the first other vehicle, or / and the fourth traveling locus and the actual traveling locus of the first other vehicle. Compare
A recognition estimation unit configured to estimate whether the first other vehicle and the second other vehicle recognize each other based on a comparison result of the comparison determination unit;
When the fourth travel planning unit estimates that the first other vehicle and the second other vehicle recognize each other, the first other vehicle and the second other vehicle. The driving support device according to any one of claims 1 to 4, wherein a travel plan of the host vehicle is generated so as to travel preferentially around the vehicle. A driving support system that supports driving of the arbitrary vehicle based on information of other vehicles existing around the arbitrary vehicle,
First traveling prediction means for predicting the first traveling locus of the other vehicle on the assumption that the arbitrary vehicle does not exist, and / or second traveling on the other vehicle on the assumption that the arbitrary vehicle exists. A second travel prediction means for predicting a trajectory;
A comparison determination means for comparing the first traveling locus and the actual traveling locus of the other vehicle, or / and comparing the second traveling locus and the actual traveling locus of the other vehicle;
And a recognition estimation unit configured to estimate whether or not the other vehicle recognizes the presence of the arbitrary vehicle based on a comparison result of the comparison determination unit . When it is estimated by the recognition estimation means that the other vehicle has not recognized the existence of the own vehicle, the distance between the other vehicle estimated to have not recognized the existence of the own vehicle and the own vehicle is calculated. The driving support system according to claim 6, further comprising first travel planning means for generating a travel plan for the host vehicle so that the vehicle travels in a larger size. In the case where the first travel prediction means and the second travel prediction means are provided,
And a second travel plan means for generating a travel plan for the host vehicle so that the difference becomes large when there is no significant difference between the first travel locus and the second travel locus. The driving support system according to claim 6 or 7, characterized in that The vehicle further comprises third travel plan means for generating a travel plan for the host vehicle so as to travel preferentially around the other vehicle estimated to recognize the presence of the host vehicle by the recognition estimation unit. The driving support system according to any one of claims 6 to 8. Assuming that the second other vehicle does not exist when viewed from the first other vehicle, third traveling prediction means for predicting the third traveling locus of the first other vehicle and / or the first other vehicle. Assuming that a second other vehicle is present, a fourth travel prediction means for predicting a fourth travel locus of the first other vehicle;
A fourth travel plan means for generating a travel plan for the host vehicle,
The comparison determination means compares the third travel locus with the actual travel locus of the first other vehicle, and / or the fourth travel locus and the actual travel locus of the first other vehicle. Compare
The recognition estimation means for estimating whether or not the first other vehicle and the second other vehicle recognize each other based on a comparison result of the comparison determination means;
When the fourth travel planning means estimates that the first other vehicle and the second other vehicle recognize each other, the first other vehicle and the second other vehicle. The driving support system according to any one of claims 6 to 9, wherein a travel plan of the host vehicle is generated so as to travel preferentially around the vehicle.

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