CN110462704A - Drive supporting device - Google Patents
Drive supporting device Download PDFInfo
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- CN110462704A CN110462704A CN201880019444.6A CN201880019444A CN110462704A CN 110462704 A CN110462704 A CN 110462704A CN 201880019444 A CN201880019444 A CN 201880019444A CN 110462704 A CN110462704 A CN 110462704A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Drive supporting device has: map acquiring unit (S102), obtains the peripheral space map (6) of the mutual positional relationship of object in the peripheral space (4) for defining this vehicle；Traveling judging unit (S103) determines could advancing for this vehicle supported in object scene based on peripheral space map；Guide mark generation unit (S104), the guide mark (7) for guiding this vehicle is generated based on peripheral space map, and the relative position of barrier (4A, 4B) and guide mark relative to this vehicle on peripheral space map are adjusted according to reference position information (Ib)；Handling maneuver supporting unit (S105) supports passenger to the handling maneuver of this vehicle according to the guide mark of generation in the case where being determined as that this vehicle can advance；And datum renewal unit (S107, S108) updates reference position information according to the drift rate of this vehicle passes through in handling maneuver is supported actual path (8) and guide mark.
Description
Cross reference to related applications
This application claims Japanese patent application number 2017-054771 filed on March 21st, 2017, in 2017
Japanese patent application number 2017-252523 filed in December 27, Japanese patent application filed on December 27th, 2017
Japanese patent application number 2017-252525, Yi Jiyu filed in number 2017-252524, on December 27th, 2017
The priority of Japanese patent application number 2017-252526 filed on December 27th, 2017, and be hereby incorporated in its whole
Hold.
Technical field
This disclosure relates to drive supporting device.
Background technique
As disclosed in Patent Document 1, the drive supporting device that the driving of passenger is supported in this vehicle is equipped on
The vehicle of a part.
Patent document 1: Japanese Unexamined Patent Publication 2017-77829 bulletin
In addition in recent years, the restriction condition for making drive supporting device play a role well is relatively more, so passenger is not
Its function can be utilized well.In addition for example, existing in the passenger for carrying out drive routine has in scene below to this
The passenger for being bad at consciousness, terrified experience or experience of the driving of vehicle.
If either relatively narrow or thinner narrow in road width in the scene that passes through for waiting the other vehicle sides turned right
Road is staggered in scene with opposite other vehicles, although there is the interval passenger that can be passed through or be staggered not make this vehicle row
Into, then have this vehicle to other vehicles cause fascination a possibility that.Alternatively, if in such scene, although can not wear
A possibility that interval but passenger crossed or be staggered make this vehicle advance, then generate this vehicle and other vehicle collisions.
If the other vehicle sides on narrow road pass through scene, or being staggered in narrow road and opposite other vehicles
In scene, since passenger can not grasp such as electric pole, guardrail, kerbstone, side wall, pedestrian, bicycle or motorcycle
The position of the roads lateral margin such as position, road shoulder or pavement of side object, is unable to that this vehicle is made to keep to the side, then having can not wear
The worry crossed or be staggered.Alternatively, in these scenes, if the position of the side channel of the road shoulder as road lateral margin can not be grasped
Or the position of side object, and this vehicle is made excessively to keep to the side, then having causes to be detached from from road shoulder to side channel or connect with side object
A possibility that touching.
If carried out while avoiding the falling object perhaps parked vehicle on road across scene or as the progress
Being staggered in scene while avoiding with opposite other vehicles, since passenger leakage is seen or the lack of identification of vehicle width, and not into
A possibility that this avoids required handling maneuver to row, then generates this vehicle and falling object or parked vehicle collision.Alternatively, if
It is especially staggered in scene in these scenes, due to the identification of vehicle width handling maneuver that is insufficient, and too greatly being avoided,
Then there is a possibility that fascination is caused to other vehicles.
In these scenes, for passing through scene in the public technology of patent document 1, become with this vehicle across right
In such a way that target is by point, setting guides the target diversion of the vehicle to manipulate angle for the side of the barrier of elephant.But the mesh
Mark becomes the specified position for only accounting for the vehicle width of this vehicle by point, so there is the sky ensured between this vehicle and barrier
Between size a possibility that generating passenger's sensorial deviation.This is because even if ensuring this vehicle in object in barrier side
In reason can by region, actually whether can allow for according to the bulk between this vehicle and barrier across or
The feeling being staggered is also different to each passenger.Therefore, there is a possibility that such deviation felt makes passenger feel uneasiness.
Summary of the invention
The disclosure is completed in view of problem described above, and its purpose is to provide be ensured through scene and be staggered
Passenger in scene at least one party feel at ease and the drive supporting device of safety.
The drive supporting device of the driving that passenger is supported in this vehicle of one mode of the disclosure has: map obtains single
Member obtains the peripheral space for showing the object state in the peripheral space of this vehicle and defining the mutual positional relationship of object
Figure；Traveling judging unit determines passing through scene and be staggered based on the peripheral space map obtained by map acquiring unit
This vehicle in scene in the support object scene of at least one party could advance；Guide mark generation unit, based on passing through ground
The peripheral space map that figure acquiring unit obtains generates the guide mark guided in supporting object scene to this vehicle, and
According to reference position information adjust support object scene in relative to the barrier of this vehicle and the peripheral space of guide mark
Relative position in map；Handling maneuver supporting unit is being determined as the case where this vehicle can advance by traveling judging unit
Under, passenger is supported to the handling maneuver of this vehicle according to the guide mark generated by guide mark generation unit；And benchmark
Updating unit according to the actual path that this vehicle passes through in the support of the handling maneuver of handling maneuver supporting unit and passes through guiding
The drift rate for the guide mark for marking generation unit to generate updates reference position information.
According to such disclosure, is passing through scene and be staggered in scene in the support object scene of at least one party, energy
Enough traveling and handling maneuvers for supporting passenger this vehicle.Specifically, passing through the object in the peripheral space that shows this vehicle
Body state and the acquisition for defining the peripheral space map of the mutual positional relationship of object can accurately identify this in the space
The region that vehicle can travel.Therefore, the sheet by can accurately determine to support in object scene based on peripheral space map
Vehicle could advance.Also, by being followed as the guide mark guided in supporting object scene based on periphery sky
Between the guide mark that generates of map, can accurately support in the case where being determined as can advance passenger and the steering of this vehicle is grasped
It is vertical.Hereby it is possible to ensure to pass through scene and the peace for the passenger being staggered in scene at least one party as support object scene
The heart and safety.
In addition to this according to the disclosure, the support object in peripheral space map is adjusted according to the reference position information of regulation
In scene relative to the barrier of this vehicle and the relative position of guide mark.Here, according to based in handling maneuver support
The drift rate update reference position information with guide mark for the actual path that middle vehicle passes through, can make according to guide mark
And the size under the actual path for being closely sized to reflect passenger's feeling in the space ensured between this vehicle and barrier.
Therefore, scene and at least one party in scene that is staggered are being passed through as support object scene, is can be improved the peace for giving passenger
Heart sense.
Detailed description of the invention
According to the detailed description following referring to attached drawing, the above-mentioned purpose of the disclosure and other purposes, feature, advantage
It becomes more clear.The attached drawing is,
Fig. 1 is the block diagram for indicating the drive supporting device of first embodiment of the disclosure,
Fig. 2 is the schematic diagram of the surrounding enviroment identification sensor for illustrating the drive supporting device of first embodiment,
Fig. 3 is the schematic diagram of the peripheral space and peripheral space map for illustrating first embodiment,
Fig. 4 is the schematic diagram of the peripheral space and peripheral space map for illustrating first embodiment,
Fig. 5 is the schematic diagram of the peripheral space and peripheral space map for illustrating first embodiment,
Fig. 6 is the schematic diagram for the work for illustrating the drive supporting device of first embodiment,
Fig. 7 is the schematic diagram for the work for illustrating the drive supporting device of first embodiment,
Fig. 8 is the schematic diagram for the work for illustrating the drive supporting device of first embodiment,
Fig. 9 is the schematic diagram for the work for illustrating the drive supporting device of first embodiment,
Figure 10 is the flow chart for indicating the drive supporting process of the drive supporting device of first embodiment,
Figure 11 is the schematic diagram for the work for illustrating the drive supporting device of first embodiment,
Figure 12 is the schematic diagram for the work for illustrating the drive supporting device of first embodiment,
Figure 13 is the schematic diagram for the work for illustrating the drive supporting device of first embodiment,
Figure 14 is the schematic diagram for the work for illustrating the drive supporting device of first embodiment,
Figure 15 is the schematic diagram for the work for the drive supporting device for illustrating the second embodiment of the disclosure,
Figure 16 is the schematic diagram for the work for illustrating the drive supporting device of second embodiment,
Figure 17 is the flow chart for indicating the drive supporting process of the drive supporting device of second embodiment,
Figure 18 is the schematic diagram for the work for illustrating the drive supporting device of second embodiment,
Figure 19 is the schematic diagram for the work for the drive supporting device for illustrating the third embodiment of the disclosure,
Figure 20 is the flow chart for indicating the drive supporting process of the drive supporting device of third embodiment,
Figure 21 is the schematic diagram for the work for the drive supporting device for illustrating the 4th embodiment of the disclosure,
Figure 22 is the flow chart for indicating the drive supporting process of drive supporting device of the 4th embodiment,
Figure 23 is the schematic diagram of the surrounding enviroment identification sensor for illustrating the variation of the disclosure,
Figure 24 is the schematic diagram for illustrating the surrounding enviroment identification sensor of variation,
Figure 25 is the schematic diagram for illustrating the surrounding enviroment identification sensor of variation.
Specific embodiment
Hereinafter, being illustrated based on multiple embodiments of the attached drawing to the disclosure.In addition, sometimes to right in each embodiment
The repetitive description thereof will be omitted for the constituent element answered.It, should in the case where being only illustrated in various embodiments to a part of composition
It other parts of composition can be using the composition of previously described other embodiments.In addition, being not only in each embodiment party
The combination for the composition expressed in the explanation of formula can be partly not expressing as long as combination does not generate obstruction especially
Combine the composition of multiple embodiments each other.Moreover, the composition that multiple embodiments and variation are described is mutual unknown
The combination shown is disclosed also by the following description.
(first embodiment)
Drive supporting device 1 shown in FIG. 1, which passes through, in the first embodiment of the disclosure is applied to vehicle 2, Lai Zhiyuan
The driving of passenger.In addition, hereinafter, the vehicle 2 of application drive supporting device 1 is known as this vehicle 2.
In this vehicle 2, in order to identify surrounding enviroment, and equipped with surrounding enviroment identification sensor 3.Surrounding enviroment are known
Individual sensor 3 is detected this vehicle 2 in the detection range determined according to field angle θ as shown in Fig. 2 and Fig. 3~5
The state of object existing for peripheral space 4.Here, it is, for example, by the object state that surrounding enviroment identification sensor 3 detects
Refer at least one of distance, orientation, the position comprising these distances and orientation and the size of the object in peripheral space 4.
Therefore it is used as surrounding enviroment identification sensor 3, it is (such as vertical to carry LIDAR (also referred to as laser radar), camera in this vehicle 2
At least one of body camera) and electric wave radar (such as millimetre-wave radar) etc..
It is equipped on the drive supporting device 1 of this vehicle 2 as shown in Figure 1 by the ECU based on microcomputer at least
One composition.Drive supporting device 1 is by combining the detection information of above-mentioned surrounding enviroment identification sensor 3 and for example in CAN
The vehicle-related informations such as the speed handled on in-vehicle networks such as (registered trademarks) 5 and handling maneuver angle are obtained such as Fig. 3~5
With indicating the peripheral space of the object state in peripheral space 4 shown in right side like that Fig. 6.It is present in peripheral space as expression
The distance of 4 object, orientation, the two dimension or three of the position comprising these distances and orientation and at least one of size
The surveying and mapping data of dimension with obtaining peripheral space Fig. 6.Thus peripheral space Fig. 6 become define centered on this vehicle 2 (that is,
0m and 0 ° of origin in the peripheral space map of Fig. 3~5) the mutual positional relationship of various objects figure.If special here
Be not the setting position for having grasped the surrounding enviroment identification sensor 3 in this vehicle 2 in advance, then can predict to calculate with
Peripheral space the outer most edge of this vehicle 2 of movement in Fig. 6 planned orbit, so can accurately define with this vehicle 2
Centered on the relative positional relationship with object.Therefore, by based on peripheral space Fig. 6, drive supporting device 1 can be high-precision
The region that this vehicle 2 can not travel in the region and the space 4 that this vehicle 2 can travel in degree ground identification peripheral space 4.
In addition, being illustrated as the lower institute of existing probability of the object for barrier with white in the peripheral space map of Fig. 3
With the region that this vehicle 2 can travel, illustrate that the probability is higher so this vehicle 2 can not go with grey to black in contrast
The region sailed.In addition, Fig. 4,5 peripheral space map in, can relative to what is illustrated identically as the peripheral space map of Fig. 3
Running region omits the diagram of traveling-prohibited area other than barrier (aftermentioned 4A, 4B) is there are position.
The passenger of this vehicle 2 is respectively present in peripheral space in barrier 4A, 4B as shown in Fig. 4~9 for the vehicle 2
Front left side side and forward right side side in 4, and they interval D (referring to Fig. 8,9) it is narrow in the case where, whether have can be into
A possibility that judgement for passing through or being staggered of row this vehicle 2 generates fascination.In addition, even if can guarantee across or
In the case where the interval D being staggered, also there is passenger that can safely be travelled for how to carry out handling maneuver this vehicle 2
Judgement generates a possibility that fascination.Such as other vehicle sides that right-hand rotation is waited as Fig. 4,6 pass through scene, such as Fig. 5,
7~9 such roads width are relatively narrow or the scene etc. that passes through or be staggered on thinner narrow road generates the fan of these passengers judgement
It is puzzled.Here interval D refers not only to straight between barrier 4A, 4B in the vehicle width direction (that is, left and right directions or laterally) of this vehicle 2
The separating distance connect also refers to extended forwards, backwards from barrier 4A, 4B along the vehicle commander direction (that is, front-rear direction) of this vehicle 2
The separating distance in the vehicle width direction between dummy line.
For above-mentioned worry drive supporting device 1 by the drive supporting process of Fig. 6 peripheral space is utilized, according to
The relative positional relationship of this vehicle 2 and barrier 4A, 4B are based on whether there is the interval D that can be passed through or be staggered judgement that could go
Into realization is able to carry out the safe drive supporting for passing through or being staggered.Here it could advance and refer to that this vehicle 2 whether can not
Contact or collision become across or barrier 4A, 4B of object for being staggered and pass through or be staggered.
Specifically drive supporting device 1 shown in FIG. 1 is by executing the computer that memory 1a is stored by processor 1b
Program functionally realizes drive supporting process shown in Fig. 10.In addition, drive supporting process is according to being arranged in this vehicle 2
The connection operation of power switch starts, and is terminated according to the opening operation of the switch.In addition, " S " in drive supporting process is
Refer to each step.
In S101, determine whether the driving scene of this vehicle 2 is the support object scene for needing drive supporting.First is real
The support object scene for applying mode is redefined for passing through each of scene and the scene that is staggered between above-mentioned barrier 4A, 4B
It is a.Therefore in S101, by the case where the speed of this vehicle 2 is the situation of low speed (such as 10km/h or less), known by detection etc.
Chu not determine in peripheral space 4 the left and right sides for the interval D for passing through predetermined position or the predetermined position that is staggered barrier 4A,
The driving scene of 4B is judged to supporting object scene.For example electric pole, guardrail, kerbstone, side wall, other vehicles (include at this time
The opposite other vehicles being staggered in scene), pedestrian, the roads such as sides object and road shoulder or pavement such as bicycle or motorcycle
At least each one kind can be identified as each barrier 4A, 4B in trackside edge (including the lateral margin with side channel).Therefore, due to not
Identify at least one party in barrier 4A, 4B, and during S101 carries out negative judgement, S101 is executed repeatedly.In contrast,
If identifying two barrier 4A, 4B, and judgement certainly is carried out in S101, then moves to S102.
Vehicle-related information in S102, in detection information and in-vehicle network 5 based on surrounding enviroment identification sensor 3
With obtaining peripheral space Fig. 6, and it is stored in memory 1a.It at this point for peripheral space can be fixed by each processing for Fig. 6
When obtained based on independent prompting message, however based on according to time series putting aside time series data made of the prompting message
It obtains more preferable.Here, being not limited to resting in peripheral space 4 also includes moving body, so and the case where prompting message
It is higher for recognition accuracies such as the accuracy in detection of such moving body compared in the case where time series data.In addition exist
In the case where time series data, surrounding enviroment identification sensor 3 is corrected according to vehicle-related information by each processing timing
It is put aside after detection information, so that either resting or moving body can carry out same object (that is, in this implementation
Be same barrier in mode) identification.Therefore peripheral space Fig. 6 by the case where having used time series data with
Reflect that the mode of the qualification result of same object successively updates, can assure time continuity or spatial continuity.
In the then S103 of such S102, determine to be judged to supporting by S101 object scene across scene or
This vehicle 2 being staggered under scene could advance.At this point, being predicted as which barrier 4A, 4B are not contacted or collided,
And in the case where ensuring the interval D (referring to Fig. 8,9) for being able to carry out the threshold value Dth or more for passing through or being staggered of this vehicle 2,
Carry out the judgement that this vehicle 2 can advance.On the other hand, it in the case where the interval D for being predicted as ensuring is less than threshold value Dth, carries out
The judgement that this vehicle 2 can not advance.Based on the peripheral space that memory 1a is obtained and be stored in by S102 Fig. 6, week as a result,
At least one execution could go in the detection information of surrounding environment identification sensor 3 and the vehicle-related information on in-vehicle network 5
Into judgement.In addition, in the first embodiment, as the threshold value Dth become in the determinating reference that could be advanced of S103, example
Such as give the value for being pre-stored within the fixation of memory 1a when leaving the factory.
In the case where S103 has carried out the judgement that can be advanced, S104, S105 are successively executed.First in S104, it is based on
As Fig. 4,5 peripheral space map peripheral space Fig. 6 generate and guiding this vehicle 2 in the case where passing through scene or the scene that is staggered
Guide mark 7.At this point, for needing to turn in the peripheral space of memory 1a is obtained and be stored in by S102 Fig. 6
The range of steering support, to indicate pre- orbit determination that this vehicle 2 can be travelled while ensuring interval D (referring to Fig. 8,9)
The mode in road generates guide mark 7.In addition then in S105, according to the guide mark 7 generated in S104, scene is being passed through
Or the scene that is staggered supports passenger to the handling maneuver of this vehicle 2.Reminding method as the guide mark 7 to passenger at this time
(namely output method), using any one in three modes below.
In the reminding method of a mode of guide mark 7, as shown in Fig. 6~9, pass through the track such as in trail when driving
The electronics rut 70 that (rut print) plays a role like that, directly supports the handling maneuver of the passenger in this vehicle 2.In the reminding method
In, by along become this vehicle 2 from now on should by the guide mark 7 in path set electronics rut 70, and such as scheme
8,9 steering wheel reaction force F is given like that.Here especially with closer to barrier 4A or 4B, it is got in peripheral space 4
Increase, and gives reaction force F in the mode of the fixed consistent or different increase tendency in the left and right sides.If thus passenger
Handling maneuver as being detached from guide mark 7 is carried out, then by steering wheel by reaction force F, so can be not fall into danger
The mode of the situation of danger is supported.
In the reminding method of other way, as shown in figure 11, such as by being shown in 71 image of the display devices such as instrument
The steering behaviour of passenger is supported in the position of guide mark 7 and this vehicle 2 indirectly in such a way that this vehicle 2 is along the guide mark 7
It is vertical.In the reminding method, display simulation become this vehicle 2 from now on should by path guide mark 7 figure
As 7a, display simulates the relative position of the image 2a of this vehicle 2 and simulates the image of each barrier 4A, 4B in contrast
The relative position of 40A, 40B.Thus passenger can carry out handling maneuver to this vehicle 2 by way of tracking guide mark 7, with
The mode for the situation not being in jeopardy is supported.
The reminding method of other way makes to configure as shown in figure 12 in instrument 72 and carries out lamp 73 that real image is shown or such as
The lamp 73 that the virtual image is shown is carried out in the display area 74 of head-up display (HUD) shown in Figure 13 to play a role as guide mark 7.
Specifically, indicating the steering for the steering wheel that operated by using the mode lighted or flashed for carrying out lamp 73
Manipulation direction supports the handling maneuver of passenger indirectly in such a way that this vehicle 2 follows the mode.In the reminding method, multiply
Visitor by with carry out lamp 73 the mode lighted or flash ordinatedly to steering wheel progress handling maneuver, make this vehicle 2 along
As this vehicle 2 from now on should by the guide mark 7 in path advance, so being capable of situation not to be in jeopardy
Mode supported.
In addition, as the reminding method supported by S105 according to handling maneuver of the guide mark 7 to passenger, not
Three above-mentioned modes are defined in, in addition to by these modes at least other than combination of two, such as can also be exported by sound
Deng realization.In addition, to a part steering behaviour in the formation range of guide mark 7 (that is, it needs to range that handling maneuver is supported)
Until vertical support is completed, S105 is continuously carried out.
After realizing the execution of S105 of such handling maneuver support, S106 is further executed as shown in Figure 10.In
In S106, determine to support whether object scene terminates.It has carried out negating to sentence at this point, continuing past S106 in support object scene
In the case where fixed, S101 is returned to.In contrast, if supporting, object scene terminates and carries out judgement certainly by S106, moves
To S107.
In S107, determine relative to the guide mark 7 for supporting prompt by the handling maneuver in S105 in the steering
The drift rate for the actual path 8 that this vehicle 2 actually passes through as shown in Figure 14 in steering support.At this time for example, relative to guiding
The maximum of the actual path 8 of label 7 perhaps average offset width in the case where the upper limit allows width situation below or this partially
The offset ratio relative to vehicle width of width is moved in the case where the upper limit allows rate situation below etc., carries out actual path 8 and guide mark
Unanimously i.e. drift rate is substantially 0 judgement to note 7, to return to S101 as shown in Figure 10.On the other hand, such as relative to leading
To label 7 actual path 8 maximum perhaps average offset width be more than in the case that the upper limit allows width or this partially
Move width the offset ratio relative to vehicle width be more than upper limit the case where allowing rate it is inferior, carry out that there are actual paths 8 from leading
To the judgement of the offset of label 7, to move to S108.
In S108, according to the drift rate between the guide mark 7 and actual path 8 confirmed by S107, benchmark is updated
Location information Ib.Here reference position information Ib with providing peripheral space the guide mark 7 in Fig. 6 relative to pass through scene or
The relative position of each barrier 4A, 4B for being staggered under scene.Reference position information Ib is stored in defined data format
Reservoir 1a, and when the S104 of the updated next time as current S108 generates guide mark 7, it is read from memory 1a
Out.As a result, in peripheral space Fig. 6 raise it is whole for next time S104 execute the moment guide mark 7 relative to barrier 4A,
The relative position of 4B becomes the position based on updated reference position information Ib.That is, in the S104 of next time, after updating
Reference position information Ib generate guide mark 7.Therefore in current S108, to actual path 8 from the offset of guide mark 7
The relative position reduced compared with the confirmation degree in S107 or substantially disappeared is learnt, and more by reference position information Ib
New is to provide the study relative position.In addition, returning to S101 after the execution of such S108.
More than, the situation that can be advanced is prompted to passenger's in the case where S103 has carried out the judgement that can be advanced
S104~S108 is illustrated.In contrast, below in S103 execute in the case where the judgement that can not be advanced
S109 is illustrated.
In S109, stop the life of instruction and stopping guide mark 7 by executing instruction this vehicle of stopping of this vehicle 2
At guide mark generate stop at least one party, the situation that can not advance is prompted to passenger, so that the not further row of this vehicle 2
Into.Thus passenger can also be supported in a manner of the situation not being in jeopardy.In addition, being returned to after the execution of the S109
S101。
So in the first embodiment, the funtion part for executing the drive supporting device 1 of S102 is equivalent to " map acquisition
Unit ", the funtion part for executing the drive supporting device 1 of S103 are equivalent to " traveling judging unit ", execute the driving branch of S104
The funtion part of shaking apparatus 1 is equivalent to " guide mark generation unit ".In addition in the first embodiment, the driving of S105 is executed
The funtion part of assisting system 1 is equivalent to " handling maneuver supporting unit ", executes the function of the drive supporting device 1 of S107, S108
It can be partially equivalent to " datum renewal unit ", the funtion part for executing the drive supporting device 1 of S109 is equivalent to " stop unit ".
According to the first embodiment illustrated so far, the support pair across scene and the scene that is staggered is being respectively become
As the traveling and handling maneuver of this vehicle 2 can be supported passenger in scene.Specifically, the week by indicating this vehicle 2
Object state in side space 4 and define the mutual positional relationship of object peripheral space Fig. 6 acquisition, can be accurately
Identify the region that this vehicle 2 can travel in the space 4.Therefore, by based on peripheral space Fig. 6, can accurately determine
This vehicle 2 in the case where supporting object scene could advance.Also, by following the guiding that based on peripheral space Fig. 6 is generated
Label 7 can be supported accurately and be determined as the guide mark 7 guided in supporting object scene to this vehicle 2
Handling maneuver of the passenger to this vehicle 2 in the case where can advancing.
At this time in particular, passing through the passenger's prompt for being bad at consciousness, terrified experience or experience to having to driving
This vehicle 2 followed by path guide mark 7, can judgement to passenger and operation support.Therefore, can
Elimination is bad at consciousness and avoids accident, either gives reassurance to terrified experience or experience.Thus according to the first embodiment party
Formula, it can be ensured that as support object scene pass through scene and the passenger that is staggered in scene feel at ease and safety.
In addition to this according to first embodiment, adjusted and supported under object scene according to the reference position information Ib of regulation
Relative to barrier 4A, 4B of this vehicle 2 and relative position of the peripheral space ground in Fig. 6 of guide mark 7.Here, according to
The drift rate update reference position information with guide mark 7 of the actual path 8 passed through in handling maneuver support according to this vehicle 2
Ib can make space 9A, the 9B ensured between this vehicle 2 and barrier 4A, 4B as Fig. 8,9 according to guide mark 7
Be closely sized to reflect passenger feeling the actual path 8 under size.Therefore, feelings are being passed through as support object scene
It scape and is staggered under scene, can be improved the reassurance for giving passenger.
(second embodiment)
Second embodiment is the variation of first embodiment.
, whether can be for this vehicle 2 in the case where on the way there is falling object as barrier 4A as shown in figure 15
Carried out while avoiding passing through while the falling object, or whether can avoid as the progress with as barrier B's
Opposite other vehicles are staggered (not shown), have passenger to judge a possibility that generating fascination.In addition, on the way depositing as shown in figure 16
In the case where parked vehicle is as barrier 4A, whether this vehicle 2 can be passed through while avoiding the parked vehicle
(not shown), or whether can avoid as progress while, carry out and opposite other vehicles as barrier B
It is staggered, there is passenger to judge a possibility that generating fascination.
Therefore as shown in figure 17, in the S2101 of the S101 instead of drive supporting process of second embodiment, in advance will
That supports that object scene is set as avoiding above-mentioned falling object or parked vehicle passes through scene and the scene that is staggered.Therefore exist
In S2101, by the case where the speed of this vehicle 2 is the situation of low speed (such as 10km/h or less), periphery is identified by detection etc.
In barrier 4A, the 4B for passing through predetermined position or the predetermined position that is staggered in space 4, especially as the falling object of barrier 4A
Or the driving scene of parked vehicle is judged to supporting object scene.At this point, for example electric pole, guardrail, kerbstone, side wall, its
Sides object and the road shoulders such as its vehicle (including the opposite other vehicles being staggered in scene), pedestrian, bicycle or motorcycle or
At least each one kind can be identified as barrier 4B in the roads lateral margin such as pavement.
After the execution of such S2101 in S2104, the S2105 of S104, S105 for replacing drive supporting process, In
What due to the falling object of passenger's over sight (OS) road or parked vehicle etc., needs were avoided passes through scene or is staggered under scene, such as schemes
15,16 such generations for successively executing guide mark 7 and handling maneuver are supported.At this point, can be by based on peripheral space
Fig. 6, by avoid falling object or parked vehicle make across or be staggered be safely completed in a manner of realize the generation of guide mark 7
And handling maneuver is supported.Here in S2105, by using according to S105 electronics rut 70 and display at least one of,
As the reminding method of guide mark 7, passenger can also be supported in a manner of the situation not being in jeopardy.
It on the other hand, can not be in energy after the execution of S2101 in the S2109 of S109 for replacing drive supporting process
The interval D that the threshold value Dth or more that falling object or parked vehicle carry out across or be staggered ensures to predict enough is avoided, and is executed not
The situation prompt that can be advanced.As a result, executing, this vehicle stops instruction and guide mark generates at least one party in stopping, so energy
It is enough that passenger is supported in a manner of the situation not being in jeopardy.In addition, the second embodiment party of point other than described above
The drive supporting process of formula and the drive supporting process of first embodiment are substantially identical.
So in this second embodiment, the funtion part for executing the drive supporting device 1 of S2104 is equivalent to " guide mark
Remember generation unit ", the funtion part for executing the drive supporting device 1 of S2105 is equivalent to " handling maneuver supporting unit ", is executed
The funtion part of the drive supporting device 1 of S2109 is equivalent to " stop unit ".
According to the second embodiment illustrated so far, even if passing through scene avoid falling object or parked vehicle
And be staggered under scene, it can also play function and effect same as the first embodiment.
(third embodiment)
Third embodiment is the variation of first embodiment.
As Figure 18,19 the passenger that is shown be directed to be spaced apart between this vehicle 2 and each barrier 4A, 4B space 9A, 9B sense
Feel that the size needed also depends on attribute (hereinafter simply referred to as barrier attribute), this vehicle for indicating the feature of barrier 4A, 4B
Ambient condition (hereinafter simply referred to as outer environment state) outside 2 and a possibility that change.Here attribute for example refer to pedestrian,
The type of the objects such as bicycle, motorcycle, general-utility car and oversize vehicle (being barrier 4A, 4B here) and relative to this
At least one of motion states of the object such as the relative velocity of the resting of vehicle 2 or moving body.In addition, for as this
Pedestrian in the type of the attribute of sample for example refers to the difference in the ages such as children, old man and young man or height.And
Outer environment state for example refers in the periods such as the weather such as fine day, cloudy day, rainy day and snowfall and daytime and night at least
It is a kind of.
Specifically, in the case where barrier 4A or 4B as shown in Figure 18,19 are the oversize vehicles such as truck for being permitted
For more passengers, have with barrier 4A perhaps 4B be small-sized resting the case where compared with widely ensure space 9A or
The trend of 9B.In addition, in the case where barrier 4A or 4B are children or old man as pedestrian for many passengers
For, there is the trend for widely ensuring space 9A or 9B compared with the case where perhaps 4B is small-sized resting to barrier 4A.
Also, have for many passengers when perhaps snowfall compared with when fine day in the rainy day widely ensure space 9A or
The trend of 9B.Also, have the tendency that widely ensuring space 9A, 9B for many passengers at night compared with daytime.
But no matter under which kind of situation, passenger that might not be whole is identical trend, and passenger that also might not be whole wishes
Identical width, also it is conceivable that there are other trend due to combining these situations.
Therefore as shown in figure 20, in the S3108 of the S108 instead of drive supporting process of third embodiment, and most
Close S3105 (explained later) carried out handling maneuver support pass through scene or barrier attribute under the scene that is staggered and
Outer environment state establishes the offset being associatedly updated to reference position information Ib between guide mark 7 and actual path 8
Spend corresponding information.Here, based on the peripheral space for being stored in memory 1a Fig. 6 identification establishes phase with reference position information Ib
The barrier attribute of pass relationship.In addition, for example based on the external communication information, clock information, rain brush either on or off information,
And the identification of at least one of testing result of illumination etc. and reference position information Ib establish the outer environment state of correlativity.
In addition, pre-defined barrier attribute and outer environment state, and by base position under the original state such as when leaving the factory
The default information and barrier attribute of information Ib and each group of outer environment state establish correlativity and are stored in storage
Device 1a.
In addition, in the S3102 of the S102 instead of drive supporting process of third embodiment, after becoming its execution
Above-mentioned S3107, by the attribute of the object comprising barrier 4A, 4B with being appended to peripheral space Fig. 6.The attribute of object at this time
With constitute peripheral space Fig. 6 the object state (that is, at a distance from illustrating in the first embodiment, orientation, position and
Size etc.) association is established, and it is stored in memory 1a.
Also, in the S3104 of the S104 instead of drive supporting process of third embodiment, it is read from memory 1a
Execute the moment passes through base position corresponding to scene or the barrier attribute and outer environment state that are staggered in scene
Information Ib.Here, based on the peripheral space for being stored in memory 1a Fig. 6 identification is corresponding with the reference position information Ib read
Barrier attribute.In addition, for example based on the communication information, the either on or off information and illumination of clock information, rain brush with outside
At least one of testing result etc. identification outer environment state corresponding with the reference position information Ib of reading.More than, according to
The reference position information Ib associatedly updated is established by past S3108 and barrier attribute and outer environment state, is adjusted
The relative position relative to barrier 4A, 4B of the whole guide mark 7 generated in S3104.I.e. in S3104, after update
Reference position information Ib generate guide mark 7.
Then, in the S3105 of the S105 instead of drive supporting process of third embodiment, the moment is executed according to it
It is given by the use of electronics rut 70 from the disengaging of guide mark 7 across scene or the barrier Attribute tuning being staggered in scene
The reaction force F of handling maneuver.At this time especially in the S3105 of third embodiment, guide mark is followed to by this vehicle 2
Note 7 ensures that the reaction force F of the left and right sides of space 9A, 9B is variably set strong and weak power between each barrier 4A, 4B
Weight.Specifically such as schemed in the left and right sides of this vehicle 2 according to reference position information Ib corresponding with barrier attribute
The side that 18 such bulks broaden, to enhance reaction force F's compared with the side that bulk as shown in Figure 19 narrows
Mode is weighted.Thus passenger is difficult to the stronger side operation steering wheel of reaction force F, so by turning in S3105
It can ensure wider bulk in the strong reaction force side as shown in Figure 18 to steering support.In addition, in basis and obstacle
The corresponding reference position information Ib of object attribute and side that bulk narrows, weaken reaction force F as shown in Figure 19, but in order to
It avoids (being in the figure the contact or collision of 4A), giving the reaction that can limit the opereating specification of steering wheel with barrier
Power F.In addition, the drive supporting process of the point third embodiment other than described above and the driving branch of first embodiment
It is substantially identical to help process.
So in the third embodiment, the funtion part for executing the drive supporting device 1 of S3102 is equivalent to that " map obtains
Take unit ", the funtion part for executing the drive supporting device 1 of S3104 is equivalent to " guide mark generation unit ".In addition in third
In embodiment, the funtion part for executing the drive supporting device 1 of S3105 is equivalent to " handling maneuver supporting unit ", is executed
The funtion part of the drive supporting device 1 of S107, S3108 is equivalent to " datum renewal unit ".
According to the third embodiment illustrated so far, phase is established according to barrier attribute and outer environment state
The updated reference position information Ib of pass relationship adjusts the phase of barrier 4A, 4B and guide mark 7 in supporting object scene
To position.Hereby it is possible to make space 9A, 9B for ensuring between this vehicle 2 and barrier 4A, 4B according to guide mark 7
It is closely sized to reflect the ruler on the actual path 8 of the passenger for also depending on barrier attribute and outer environment state feeling
It is very little.Therefore, it is capable of providing and scene and is being staggered in scene as supporting passing through for object scene, give that passenger is higher to feel at ease
The advantageous handling maneuver of the aspect of sense is supported.
(the 4th embodiment)
4th embodiment is the variation of third embodiment.
As shown in figure 21, even if the threshold value Dth or more that can physically break the barriers between 4A, 4B in this vehicle 2
Ensure interval D, the feeling that actually whether can allow for across or be staggered is also different for each passenger, so worrying
Regardless of handling maneuver is supported, and refuse across or the case where be staggered.
Therefore as shown in figure 22, in the S4110 of the S3105 of the then drive supporting process of the 4th embodiment, determine
Whether the handling maneuver support of the S3105 is had rejected across or is staggered.At this point, turning to behaviour from upper primary S3105
The vertical beginning supported is within the set time, it is thus identified that the beginning or completion for passing through or being staggered determine to carry out negative
In the case where, in drive supporting process, move to S106 same as the first embodiment.On the other hand, from handling maneuver
The beginning of support within the set time, it is unconfirmed across or the beginning or completion that are staggered, to determine certainly
In the case of, in drive supporting process, move to the S4111 of the 4th embodiment.
In S4111, by as next time S4103 (explained later) according to determinating reference threshold value Dth with most
Close S3105 carried out handling maneuver support pass through scene or barrier attribute and external environment shape under the scene that is staggered
State establishes association, and updates.At this time in the S4111 of the 4th embodiment, and in the guide mark 7 based on nearest S3104
Under interval D as Figure 21 (that is, planned orbit) compare, set biggish threshold value Dth.As a result, into the S4103 in next time
The side for being difficult to carry out the judgement that can be advanced learns and updates storage the threshold value Dth of device 1a.Here, based on being stored in memory 1a
Peripheral space Fig. 6 identification establish the barrier attribute of correlativity with threshold value Dth.In addition, for example based on logical with outside
Letter information, clock information, the either on or off information of rain brush and illumination at least one of testing result etc. identification and threshold value
Dth establishes the outer environment state of correlativity.In addition, identical as third embodiment also fixed in advance in the fourth embodiment
Adopted barrier attribute and outer environment state, and by the default value and barrier of threshold value Dth under the original state such as when leaving the factory
Each group of object attribute and outer environment state is hindered to establish correlativity and be stored in memory 1a.In addition, such
After the execution of S4111, S101 is returned to.
In the S4103 of the S103 instead of drive supporting process of such 4th embodiment, memory 1a read from
Its execution moment passes through threshold value corresponding to scene or the barrier attribute and outer environment state that are staggered in scene
Dth.Here, based on the peripheral space for being stored in memory 1a Fig. 6 identification barrier category corresponding with the threshold value Dth read
Property.In addition, for example based on the external communication information, clock information, the either on or off information of rain brush and illumination detection knot
At least one of fruit etc. identification outer environment state corresponding with the threshold value Dth read.According to the above, based on by past
S4111 and barrier attribute and outer environment state establish the threshold value Dth associatedly updated, determine this vehicle 2 in S4103
Could advance.In addition, the drive supporting process of the 4th embodiment of point other than described above and third embodiment
Drive supporting process it is substantially identical.
So in the fourth embodiment, the funtion part for executing the drive supporting device 1 of S4103 is equivalent to that " traveling is sentenced
Order member ", the funtion part for executing the drive supporting device 1 of S107, S3108, S4110, S4111 is equivalent to " datum renewal list
Member ".
According to the 4th embodiment illustrated so far, the feelings for having rejected across or being staggered are being supported handling maneuver
Under condition, the determinating reference that could be advanced in supporting object scene is modernized into the side for being not easy to carry out the judgement that can be advanced
Threshold value Dt.Multiply hereby it is possible to become and approached for the threshold value Dth for the determinating reference that could advance for allowing across or being staggered
Visitor feels.Therefore, it across scene and is staggered in scene as support object scene, can further increase and give passenger
Reassurance.
And in the case where handling maneuver support is had rejected across or is staggered, with barrier attribute and external rings
Border state establishes the threshold value Dth for associatedly updating the 4th embodiment.Hereby it is possible to become for allowing across or being staggered
The threshold value Dth of the determinating reference that could advance feel close to the passenger for also depending on barrier attribute and outer environment state.
Therefore, it is capable of providing and scene and is being staggered in scene as supporting passing through for object scene, give that passenger is extra high to feel at ease
Advantageous handling maneuver is supported in sense.
(other embodiments)
More than, multiple embodiments are illustrated, but the disclosure is not limited to these embodiments and explains,
It can be applied to various embodiments and combination in the range of not departing from the purport of the disclosure.
It is also possible to the branch that the support object scene in the S2101 of the drive supporting process of variation 1 is appended in S101
It helps object scene (first, third and the 4th embodiment), or replaces support object scene (third and the in S101
Four embodiments).It can also be in the drive supporting process of variation 2, from the support object feelings determined by S101, S2101
Scape is excluded across scene and the side in scene that is staggered.
It can also be closed in the drive supporting process of variation 3 from by the way that S3108 is related to reference position information Ib foundation
The object of system removes barriers the side in object attribute and outer environment state.In this case in S3104, from memory 1a
Reference position information Ib corresponding with another party in barrier attribute and outer environment state is read, and is used in peripheral space
The relative position of barrier 4A, 4B and guide mark 7 in ground Fig. 6 adjust.
It can also be in the S3105 of the drive supporting process of variation 4, according to accordingly solid in advance with barrier attribute
The mode of the reaction force F enhancing for the side that fixed reference position information Ib bulk broadens, sets the anti-work of the left and right sides
The firmly weight of F.It can also be in S105, S2105 of the drive supporting process of variation 5, the case where using electronics rut 70
Under, execute the weight setting of the reaction force F according to S3105.In addition, in this case, according to corresponding with barrier attribute
The mode of the reaction force F enhancing for the side that the reference position information Ib bulk that ground is fixed in advance broadens, setting left and right two
The weight of the reaction force F of side.In addition, the concrete example as these variations 4,5, such as people or the movement of being expert at
The specific obstacles such as body side widely ensures space 9A or 9B, applies the power of enhancing reaction force F in the specific obstacle side
Again etc..
Increase tendency can also be given using according to S105, S2105 in the S3105 of the drive supporting process of variation 6
The electronics rut 70 of fixed reaction force F, the reminding method as guide mark 7.In this case, can also together using according to
Reminding method of at least one of the display of S105, S2105 as the guide mark 7 in S3105.It can also be in variation 7
In the S3105 of drive supporting process, the electronics rut 70 with the weight variable to reaction force F application is together or instead of the electronics
Rut, the reminding method using at least one of the display according to S105, S2105, as guide mark 7.
It can also be in the drive supporting process of variation 8, using the threshold value Dth by the variable input of passenger as S103's
The judgement benchmark that could be advanced.Phase can also be established from by S4111 and threshold value Dth in the drive supporting process of variation 9
The object of pass relationship removes barriers the side in object attribute and outer environment state.In this case in S4103, from storage
Device 1a reads threshold value Dth corresponding with another party in barrier attribute and outer environment state, and is used in the judgement that could advance.
Can also in the drive supporting process of variation 10, exchange S103, S4103 and S104, S2104, S3104 it is suitable
Sequence.In this case, executing S105, S2105, S3105 by the judgement for can advance in S103, S4103.It can also become
It is to return to S104, S2104, S3104 after the negative of S106 determines by drive supporting reschedualing in shape example 11.The situation
Under, from S104, S2104, the S3104 returned after the negative judgement of S106, moved according to being supported by handling maneuver
This vehicle 2 actual position, update guide mark 7.
As surrounding enviroment identification sensor 3, instantiated in first embodiment previous LIDAR, camera and
Radar, but can also surrounding enviroment identification sensor 3 to variation 12 such as additional sonar.This is because in this vehicle 2
Under the situation of proximity test object, in the test object using only the surrounding enviroment identification sensor 3 previously illustrated
In the case where becoming outside detection range relative to this vehicle 2 close to side end, by and with addition sonar etc., warning is multiplied
Visitor makes this vehicle 2 not contact or collide with test object effectively.
Specifically, the field angle θ of the detection range of regulation surrounding enviroment identification sensor 3 is restricted as shown in figure 23
(the case where figure is 180 ° of 0 ° of < θ <).Therefore, the proximity test object within distance L of this vehicle 2 in peripheral space 4
In the case where barrier 4A, 4B, there is a possibility that entirety for being unable to detect that the barrier 4A, 4B.Here, to have used this
The field angle θ of the vehicle width W and its margin widths Δ and surrounding enviroment identification sensor 3 of vehicle 2 calculating formula L=[(W+ Δ)/
2] distance L/[tan (θ/2)] is indicated.Therefore, in this vehicle 2 close to barrier 4A, 4B to can be presupposed according to calculating formula
Distance L in the case where, by variation 12 using sonar etc. made up relatively effectively.
In addition in the variation 13 for replacing variation 12, by configuring multiple weeks side by side with adjacency state shown in Figure 24
Surrounding environment identification sensor 3, and be set as respective field angle θ adds up to 180, even if within 2 distance L of this vehicle
Also the entirety of barrier 4A, 4B are able to detect.Or in the variation 14 for replacing variation 12, by with shown in Figure 25 points
It configures multiple surrounding enviroment identification sensors 3 side by side from state, and is set as the total more than 180 of respective field angle θ, even if
In the entirety for being also able to detect barrier 4A, 4B within 2 distance L of this vehicle.
Flow chart documented by the disclosure, alternatively, the processing of flow chart is made of multiple units (or referred to as step), respectively
Unit for example shows as S101.Also, each unit can be divided into multiple subelements, on the other hand, also can be by multiple units
Merge into a unit.Also, each unit constituted in this way can be known as circuit, device, module, method.
In addition, each or combined unit of above-mentioned multiple units can not only pass through (i) and hardware cell (example
Such as, computer) combination software unit realize, additionally it is possible to (ii) is as hardware (for example, integrated circuit, wired logic circuitry)
Unit is realized in a manner of the function comprising or not comprising relevant device.Also, it also can be in the inside of microcomputer
Constitute hardware cell.
The disclosure is described according to embodiment, but it is understood that the disclosure is not limited to the embodiment, structure.This
Disclosure is also comprising the deformation in various modifications example, equivalents.In addition to this, various combinations, mode and at them
In comprising an only element, its above or its other combination below, mode also in the scope of the disclosure, thought range.
Claims (9)
1. a kind of drive supporting device is the drive supporting device (1) for supporting the driving of passenger in this vehicle (2), has:
Map acquiring unit (S102, S3102) obtains the object state in the peripheral space (4) by showing above-mentioned vehicle
And define the peripheral space map (6) of the mutual positional relationship of object；
Traveling judging unit (S103, S4103) is sentenced based on the above-mentioned peripheral space map obtained by above-mentioned map acquiring unit
Fixed could advance across scene and above-mentioned vehicle being staggered in scene in the support object scene of at least one party；
Guide mark generation unit (S104, S2104, S3104), based on the above-mentioned periphery obtained by above-mentioned map acquiring unit
Space map generates the guide mark (7) guided in above-mentioned support object scene to above-mentioned vehicle, and according to benchmark
Location information (Ib) adjusts barrier (4A, 4B) relative to above-mentioned vehicle and above-mentioned guiding in above-mentioned support object scene
Relative position in the above-mentioned peripheral space map of label；
Handling maneuver supporting unit (S105, S2105, S3105) is being determined as above-mentioned vehicle by above-mentioned traveling judging unit
In the case where can advancing, above-mentioned passenger is supported to upper according to the above-mentioned guide mark generated by above-mentioned guide mark generation unit
State the handling maneuver of this vehicle；And
Datum renewal unit (S107, S108, S3108, S4110, S4111), according to turning in above-mentioned handling maneuver supporting unit
The actual path (8) that above-mentioned vehicle passes through into steering support above-mentioned is led with what is generated by above-mentioned guide mark generation unit
To the drift rate of label, said reference location information is updated.
2. drive supporting device according to claim 1, wherein
Above-mentioned guide mark generation unit (S3104) is according to corresponding with the attribute of above-mentioned barrier in above-mentioned support object scene
Said reference location information adjust the relative position of above-mentioned barrier Yu above-mentioned guide mark,
Said reference updating unit (S107, S3108, S4110, S4111) by above-mentioned guide mark generation unit according to it is upper
The attribute foundation for stating reference position information and the above-mentioned barrier in above-mentioned support object scene associatedly updates.
3. drive supporting device according to claim 2, wherein
Above-mentioned handling maneuver supporting unit (S3105) is according to corresponding with the attribute of above-mentioned barrier in above-mentioned support object scene
Said reference location information adjustment give from above-mentioned guide mark be detached from handling maneuver reaction force (F).
4. drive supporting device according to claim 1 or 2, wherein
Above-mentioned handling maneuver supporting unit (S105, S2105, S3105) is according to the above-mentioned barrier in above-mentioned support object scene
Attribute tuning give from above-mentioned guide mark be detached from handling maneuver reaction force (F).
5. drive supporting device described according to claim 1~any one of 4, wherein
Above-mentioned guide mark generation unit (S3104) is according to the external environment with above-mentioned vehicle in above-mentioned support object scene
The corresponding said reference location information of state adjusts the relative position of above-mentioned barrier Yu above-mentioned guidance,
Said reference updating unit (S107, S3108, S4110, S4111) by above-mentioned guide mark generation unit according to
Said reference location information and the outer environment state foundation of above-mentioned vehicle in above-mentioned support object scene associatedly update.
6. drive supporting device described according to claim 1~any one of 5, wherein
Above-mentioned traveling judging unit (S4103) is given the determinating reference (Dth) that could be advanced,
Said reference updating unit (S107, S3108, S4110, S4111) is to above-mentioned handling maneuver supporting unit (S3105)
In the case that handling maneuver support has rejected across or is staggered, the judgement can advance is difficult to above-mentioned traveling judging unit
Side update above-mentioned determinating reference.
7. drive supporting device according to claim 6, wherein
Above-mentioned traveling judging unit, which is given, corresponding with the attribute of above-mentioned barrier in above-mentioned support object scene above-mentioned to be sentenced
Determine benchmark,
Said reference updating unit will be in the above-mentioned determinating reference and above-mentioned support object scene in above-mentioned traveling judging unit
The attribute foundation of above-mentioned barrier associatedly updates.
8. according to drive supporting device described in claim 6 or 7, wherein
Above-mentioned traveling judging unit is given corresponding with the outer environment state of above-mentioned vehicle in above-mentioned support object scene
Above-mentioned determinating reference,
Above-mentioned determinating reference in the above-mentioned traveling judging unit of said reference updating unit with it is upper in above-mentioned support object scene
The outer environment state foundation for stating this vehicle associatedly updates.
9. drive supporting device described according to claim 1~any one of 8, wherein
It is also equipped in the case where above-mentioned traveling judging unit (S103, S4103) has carried out the judgement that can not be advanced, executes instruction
This vehicle of the stopping of above-mentioned vehicle stops instruction and stops in the guide mark generation stopping of the generation of above-mentioned guide mark
The stop unit (S109, S2109) of at least one party.
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| JP2017-252526 | 2017-12-27 | ||
| JP2017252523A JP6699647B2 (en) | 2017-03-21 | 2017-12-27 | Driving support device |
| JP2017252524A JP6699648B2 (en) | 2017-03-21 | 2017-12-27 | Driving support device |
| JP2017252526A JP6760255B2 (en) | 2017-03-21 | 2017-12-27 | Driving support device |
| JP2017252525A JP2018158711A (en) | 2017-03-21 | 2017-12-27 | Driving support device |
| JP2017-252525 | 2017-12-27 | ||
| JP2017-252524 | 2017-12-27 | ||
| PCT/JP2018/005627 WO2018173581A1 (en) | 2017-03-21 | 2018-02-19 | Driving assistance device |
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| CN110462704B CN110462704B (en) | 2021-08-31 |
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| Publication number | Publication date |
|---|---|
| JP6760255B2 (en) | 2020-09-23 |
| CN110462704B (en) | 2021-08-31 |
| JP2018158712A (en) | 2018-10-11 |
| JP2018158709A (en) | 2018-10-11 |
| JP6699647B2 (en) | 2020-05-27 |
| JP2018158711A (en) | 2018-10-11 |
| JP2018158710A (en) | 2018-10-11 |
| JP6699648B2 (en) | 2020-05-27 |
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