CN114872692A - Driving support device - Google Patents

Abstract

The present invention is directed to a driving assistance device that can avoid a collision with a vehicle traveling on an opposite lane when entering the opposite lane. In order to solve the above problem, the driving assistance device 11 includes: a lane determination unit 201 that determines whether the vehicle 1 is traveling in a lane that allows entry into the oncoming lane, based on the surrounding information; an entry determination unit 202 that determines whether the vehicle 1 has started entering the oncoming lane based on the surrounding information, when the lane determination unit 201 determines that the vehicle 1 is traveling in a lane in which the oncoming lane can be entered; a different vehicle determination unit 203 that, when the entry determination unit 202 determines that the vehicle 1 has started entering the oncoming lane, detects a different vehicle traveling in the oncoming lane based on the different vehicle information, and determines whether the different vehicle gives way to the vehicle 1; and a notification control unit 204 that notifies the vehicle 1 of entering the oncoming lane when the other-vehicle determination unit 203 determines that the other vehicle is not giving way.

Description

Driving support device

Technical Field

The present invention relates to a driving assistance device.

Background

Conventionally, there is known a driving assistance device capable of determining whether or not a vehicle makes a U-turn while traveling (for example, see patent document 1).

[ Prior art documents ]

(patent document)

Patent document 1: japanese patent laid-open No. 2012 and 64121

Disclosure of Invention

[ problems to be solved by the invention ]

For the vehicle to make a U-turn or the like, there are the following roads: there is a lane that can enter the oncoming lane from a gap or the like of the center isolation belt. In such a lane that can enter the oncoming lane, the vehicle is required to safely enter the oncoming lane while avoiding a collision with another vehicle traveling on the oncoming lane.

Therefore, an object of the present invention is to provide a driving assistance device that can avoid a collision with a vehicle traveling on an opposite lane when entering the opposite lane.

[ means for solving problems ]

A driving assistance device according to an aspect of the present invention (for example, a driving assistance device 11 described later) includes: a peripheral information acquisition unit (for example, a peripheral information acquisition unit 40 described later) that acquires peripheral information of a vehicle (for example, a vehicle 1 described later) and other vehicle information related to another vehicle (for example, another vehicle 100 described later); a lane determination unit (e.g., a lane determination unit 201 described later) that determines whether or not the vehicle is traveling in a lane in which the vehicle can enter an oncoming lane, based on the surrounding information acquired by the surrounding information acquisition unit; an entry determination unit (e.g., an entry determination unit 202 described later) that determines whether or not the vehicle has started entering the oncoming lane based on the peripheral information when the lane determination unit determines that the vehicle is traveling in a lane in which the oncoming lane can be entered; a vehicle information determination unit (for example, another vehicle determination unit 203 described later) that, when the entry determination unit determines that the vehicle has started entering the oncoming lane, detects the other vehicle traveling in the oncoming lane based on the other vehicle information, and determines whether or not the other vehicle gives way to the vehicle; and a notification control unit (for example, a notification control unit 204 described later) that notifies the vehicle of entering the oncoming lane when the other-vehicle determination unit determines that the other vehicle is not making the concessional route.

In addition, the lane that can enter the opposite lane includes a lane that the vehicle can U-turn into the opposite lane.

In addition, the other-vehicle determination unit determines that the other vehicle does not give way to the vehicle when the other-vehicle information includes passage of the other vehicle.

Further, the other-vehicle determination unit determines that the other vehicle does not give way to the vehicle when the other-vehicle information includes acceleration of the other vehicle.

The driving assistance device further includes a brake control unit (e.g., a brake control unit 205 described later) that brakes the vehicle when the vehicle performs an operation related to acceleration after the notification by the notification control unit.

(Effect of the invention)

According to the present invention, there is provided a driving assistance device capable of avoiding a collision with a vehicle traveling on an opposite lane when entering the opposite lane.

Drawings

Fig. 1 is a diagram showing an example of the running condition of the vehicle of the present embodiment.

Fig. 2 is a block diagram showing the configuration of the vehicle of the embodiment.

Fig. 3 is a diagram showing a functional structure of the driving assistance device of the present embodiment.

Fig. 4 is a flowchart showing the processing of the driving assistance apparatus of the present embodiment.

Fig. 5 is a flowchart showing the processing of the driving assistance apparatus of the present embodiment.

Detailed Description

Hereinafter, embodiments of the driving assistance device according to the present invention will be described with reference to the drawings. Fig. 1 is a diagram showing an example of a running condition of a vehicle 1 according to the present embodiment. As shown in fig. 1, the vehicle 1 is, for example, a four-wheeled passenger car that travels on a road a. On the road a, the other vehicle 100 travels on the opposite lane of the vehicle 1.

The road a has a lane a1 that can enter the oncoming lane. Further, a road sign C, which indicates a lane that can enter the opposite lane, is provided on the road surface of the lane a 1. Then, the vehicle 1 attempts to enter the opposite lane from the gap of the center barrier B.

In this case, it is necessary to avoid the collision of the vehicle 1 with another vehicle 100 traveling on the oncoming lane. The vehicle 1 of the present embodiment executes the processing described below, and thereby can avoid a collision with another vehicle traveling on the oncoming lane when entering the oncoming lane, and can enter the oncoming lane safely.

Fig. 2 is a block diagram showing the structure of the vehicle 1 of the embodiment. Fig. 2 shows a schematic structure of the vehicle 1 in combination of a plan view and a side view. The vehicle 1 is, for example, a sedan-type four-wheeled passenger vehicle.

The vehicle 1 includes a control device 2. The Control device 2 includes a plurality of Electronic Control Units (ECUs) (the automatic driving ECU 20 to the stop Control ECU 29) that can be connected in communication via an in-vehicle network. Each ECU functions as a computer including a processor typified by a CPU, a storage device such as a semiconductor memory, an interface to an external device, and the like. The storage device stores therein a program executed by the processor, data used for processing by the processor, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like.

The functions and the like of the individual drive ECU 20 to the stop control ECU29 will be described below. The number of ECUs and the functions in charge of the ECUs may be appropriately designed, or the ECUs described in the present embodiment may be refined or integrated.

The automated driving ECU 20 executes control related to automated driving of the vehicle 1. In the automatic driving, the automatic driving ECU 20 automatically controls at least any one of steering and acceleration and deceleration of the vehicle 1.

The steering ECU 21 controls the electric power steering device 3. The electric power steering apparatus 3 includes a mechanism for steering the front wheels in accordance with a driving operation (steering operation) of the steering wheel 31 by the driver. Further, the electric power steering apparatus 3 includes: a motor for assisting a steering operation or applying a driving force required for automatically steering the front wheels, a sensor for detecting a steering angle, and the like. When the driving state of the vehicle 1 is the automated driving, the steering ECU 21 automatically controls the electric power steering apparatus 3 in response to an instruction from the automated driving ECU 20 to control the traveling direction of the vehicle 1.

The travel assist ECUs 22 and 23 control the camera 41, the LIDAR 42, and the millimeter wave radar 43 that detect the conditions around the vehicle, and perform information processing of the detection results. The camera 41 captures images of the front, side, and rear of the vehicle 1. In the present embodiment, two cameras 41 are provided at the front portion of the vehicle 1, and one camera 41 is provided at each of the side portion and the rear portion. The driving assist ECUs 22 and 23 can extract the target contour and the lane marks (white lines, etc.) on the road by analyzing the image captured by the camera 41.

The LIDAR 42 is a Light Detection and Ranging (LIDAR) for detecting a target around the vehicle 1 and measuring a distance to the target. In the case of the present embodiment, five LIDAR 42 are provided, one at each corner of the front portion of the vehicle 1, one at the center of the rear portion, and one at each side of the rear portion.

The millimeter wave radar 43 detects a target around the vehicle 1 and measures a distance to the target. In the case of the present embodiment, five millimeter wave radars 43 are provided, one at the center of the front portion of the vehicle 1, one at each corner of the front portion, and one at each corner of the rear portion.

The travel assist ECU 22 controls one camera 41 and each LIDAR 42 in the front portion of the vehicle 1 and performs information processing of detection results. The travel assist ECU 23 performs control of the other camera 41 and each millimeter wave radar 43 on the front portion of the vehicle 1 and information processing of the detection results. By providing two sets of ECUs for detecting the surrounding conditions of the vehicle 1, the reliability of the detection results can be improved, and by providing different types of detection means such as the camera 41, the LIDAR 42, and the millimeter wave radar 43, the surrounding environment of the vehicle 1 can be analyzed in many ways.

The position recognition ECU 24 performs control and information processing of the detection result or the communication result on the gyro sensor 5, the GPS sensor 24b, and the communication device 24 c. The gyro sensor 5 detects a rotational motion of the vehicle 1. The position recognition ECU 24 can determine the course of the vehicle 1 from the detection result of the gyro sensor 5, the wheel speed, and the like.

The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c performs wireless communication with a server that provides map information, traffic information, and the like to acquire these pieces of information. The position recognition ECU 24 can access the database 24a of map information constructed in the storage device, and the position recognition ECU 24 can search for a route or the like from the current position to the destination.

The communication control ECU 25 is provided with a communication device 25a for vehicle-to-vehicle communication. The communication device 25a performs wireless communication with another vehicle in the vicinity to exchange information between the vehicles.

The drive control ECU 26 controls the power unit 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The drive control ECU 26 controls the output of the engine, for example, in response to a driving operation (an accelerator operation or an acceleration operation) by the driver detected by an operation detection sensor 7D provided on an accelerator pedal 7A. The drive control ECU 26 switches the gear position of the transmission based on information such as the vehicle speed detected by the vehicle speed sensor 7C. When the driving state of the vehicle 1 is the automated driving, the drive control ECU 26 automatically controls the power unit 6 to control acceleration and deceleration of the vehicle 1 in response to an instruction from the automated driving ECU 20.

The vehicle exterior notification control ECU 27 controls the lighting devices 8 (see fig. 3 described later) such as the direction indicator (turn signal lamp) 8a, the headlight 8b, and the tail lamp 8 c. In the example of fig. 1, the direction indicators 8a are provided at the front, door mirrors, and rear of the vehicle 1. The headlight 8b is disposed at the front of the vehicle 1, and the taillight 8c is disposed at the rear of the vehicle 1. The vehicle exterior notification control ECU 27 also controls the acoustic device 12 that emits sound to the outside of the vehicle. The acoustic device 12 includes, for example, a horn 12a (see fig. 3 described later) for whistling.

The vehicle interior report control ECU 28 controls the input/output device 9. The input/output device 9 outputs information to the driver and accepts input of information from the driver. The input/output device 9 includes a voice output device 91, a display device 92, and an input device 93.

The voice output device 91 reports information to the driver by voice.

The display device 92 reports information to the driver by displaying an image. The display device 92 is disposed on the front surface of the driver's seat, for example, and constitutes an instrument panel or the like. Further, here, although voice and display are exemplified, information may be notified using vibration and light. The input/output device 9 may also report by combining a plurality of voice, display, vibration, or light. Further, the input/output device 9 may have different combinations, or different reporting manners, according to the level of information to be reported (e.g., the degree of urgency).

The input device 93 is a switch group that is disposed at a position where the driver can operate and instructs the vehicle 1, but may include a voice input device.

The stop control ECU29 controls the brake device 10, a parking brake (not shown), and the like. The brake device 10 is, for example, a disc brake device that is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by applying resistance to rotation of the wheel.

The stop control ECU29 controls the operation of the brake device 10, for example, in response to a driver's driving operation (braking operation) detected by an operation detection sensor 7E provided on the brake pedal 7B. When the driving state of the vehicle 1 is the automated driving, the stop control ECU29 automatically controls the brake device 10 in response to an instruction from the ECU 20 to control the deceleration and stop of the vehicle 1. The brake device 10 and the parking brake may also be operated to maintain the stopped state of the vehicle 1. When the transmission of the power unit 6 includes a parking lock mechanism, the parking lock mechanism may be operated to maintain the stopped state of the vehicle 1.

The vehicle 1 further includes a vehicle interior detection sensor 50 that detects a vehicle interior state. Here, the vehicle interior detection sensor 50 is configured by a camera as an imaging unit, a weight sensor, a temperature detection sensor, and the like, and the type thereof is not particularly limited. The vehicle interior detection sensor 50 may be provided for each seat provided in the vehicle 1, and may be provided in a single configuration so as to look over and monitor the entire vehicle interior.

[ examples of control functions ]

The control function of the vehicle 1 of the present embodiment includes: travel-related functions related to control of driving, braking, and steering of the vehicle 1; and a notification function relating to notification of information to the driver. For example, the collision-reduction braking control is control of: in the event that the possibility of collision with an obstacle in front of the vehicle increases, automatic braking is performed to assist in avoiding the collision.

The following describes the processing of the driving assistance device 11 according to the present embodiment.

Fig. 3 is a diagram showing the functional configuration of the driving assistance device 11 of the present embodiment. As shown in fig. 3, the driving assistance device 11 includes: a control device 2; an illumination device 8; an acoustic device 12; and a peripheral information acquisition unit 40.

The control device 2 includes: a lane determination unit 201; an entry determination unit 202; other vehicle determination unit 203; a notification control unit 204; and a brake control unit 205. The peripheral information acquisition unit 40 includes the camera 41, the LIDAR 42, and the millimeter wave radar 43 described above.

The surrounding information acquisition unit 40 acquires surrounding information of the vehicle 1. For example, the periphery information acquiring unit 40 acquires periphery information in front of the vehicle 1. The periphery information is, for example, an image of the front periphery of the vehicle 1 acquired by the camera 41. The periphery information may be data of the front periphery of the vehicle 1 acquired by the LIDAR 42 or the millimeter wave radar 43, for example.

In addition, the peripheral information acquisition unit 40 acquires other vehicle information relating to other vehicles traveling on the opposite lane. The other vehicle information is, for example, an image including the other vehicle acquired by the camera 41. The other vehicle information may be other data of the vehicle surroundings acquired by the LIDAR 42 or the millimeter wave radar 43, for example.

The lane determination unit 201 determines whether or not the vehicle 1 is traveling in a lane that allows entry into the oncoming lane, based on the peripheral information acquired by the peripheral information acquisition unit 40. Here, the lane that can enter the opposite lane includes, for example, a lane in which the vehicle can enter the opposite lane in a U-turn. The U-turn-enabled lane includes, for example, a U-turn lane, a lane with a gap in the center isolation zone, and the like. In such a U-turn capable lane, the vehicle 1 makes a right turn and a right turn (or a left turn and a left turn) from the lane currently traveling, thereby being capable of changing lanes to the opposite lane.

Further, in the case where the surrounding information acquired by the surrounding information acquiring unit 40 includes road information indicating a lane that can enter the oncoming lane, the lane determining unit 201 determines that the vehicle 1 is traveling in the lane that can enter the oncoming lane.

Here, the road information includes, for example, a road sign and a road sign indicating a lane capable of U-turn. The road sign indicating the U-turn enabled lane is, for example, a road sign on which a figure, a character, a symbol, or the like indicating the U-turn enabled lane is drawn, and is disposed in the vicinity of the lane or in the center isolation zone. The road sign indicating the U-turn enabled lane is, for example, a road sign in which a figure, a character, a symbol, or the like indicating the U-turn enabled lane is drawn on the lane.

Further, when the peripheral information includes road information indicating a lane that can enter the opposite lane, the lane determination unit 201 may determine whether the vehicle 1 is traveling in a lane near the center barrier based on the peripheral information. Further, when the surrounding information includes road information indicating a lane in which the vehicle can enter the opposite lane, the lane determination unit 201 may determine whether or not a road sign indicating a lane in which the vehicle 1 can U-turn exists in the lane in which the vehicle is traveling, based on the surrounding information. Further, when the peripheral information includes road information indicating a lane that can enter the opposite lane, the lane determination unit 201 may determine whether or not a road sign indicating a lane that can be U-turned is present in the center isolation zone based on the peripheral information.

The lane determination unit 201 may determine whether or not the vehicle 1 is traveling on a lane that can enter the opposite lane, based on the surrounding information and the map information and the position information of the vehicle 1.

Specifically, the lane determining unit 201 may determine whether or not the vehicle 1 is traveling in the U-turn capable lane based on both the surrounding information of the vehicle 1, the map information indicating that the U-turn capable lane exists, and the position information indicating the position of the vehicle. Here, the map information is stored in the database 24a, and the position information is obtained by the GPS sensor 24 b.

The lane determination unit 201 may determine whether or not the vehicle 1 is traveling on a lane that can enter the opposite lane based on the map information and the position information of the vehicle 1, for example, instead of the peripheral information of the vehicle 1.

In the case where it is determined by the lane determination portion 201 that the vehicle 1 is traveling in a lane in which the oncoming lane can be entered, the entry determination portion 202 determines whether the vehicle 1 has already started entering the oncoming lane.

Specifically, when the lane determination unit 201 determines that there is a point where the vehicle can enter the oncoming lane, the entry determination unit 202 determines whether the vehicle 1 makes a right turn or a left turn after being temporarily decelerated, thereby determining whether the vehicle 1 has started entering the oncoming lane.

More specifically, in the case where the stop control ECU29 controls the vehicle 1 to decelerate in the U-turn capable lane, the entry determination unit 202 determines that the vehicle 1 is temporarily decelerating. Then, in the case where the steering angle of the vehicle 1 detected by the sensor that detects the steering angle is an angle indicating a right turn or a left turn, the entry determination portion 202 determines that the vehicle 1 has made a right turn or a left turn. Further, when the road on which the vehicle 1 travels is a left-hand traffic, the entry determination unit 202 determines whether or not the vehicle 1 has accelerated and turned right after being temporarily decelerated. Further, when the road on which the vehicle 1 travels is a right-hand traffic, the entry determination unit 202 determines whether or not the vehicle 1 has accelerated and turned left after being temporarily decelerated.

Thus, the entry determination unit 202 can determine that the vehicle 1 is temporarily decelerated in a lane capable of U-turn, and then U-turn and tries to enter the opposite lane.

When the entry determination unit 202 determines that the vehicle 1 has started entering the oncoming lane, the other-vehicle determination unit 203 detects the other vehicle traveling in the oncoming lane based on the other-vehicle information acquired by the surrounding information acquisition unit 40, and determines whether or not the other vehicle gives way to the vehicle 1.

Specifically, when the other vehicle information includes the passage of another vehicle, the other vehicle determination unit 203 may determine that the other vehicle does not give way to the vehicle 1. In addition, when the other vehicle information includes acceleration of the other vehicle, the other vehicle determination unit 203 may determine that the other vehicle does not give way to the vehicle 1.

In addition, when the other vehicle information includes the horn sound of the other vehicle, the other vehicle determination unit 203 may determine that the other vehicle does not give way to the vehicle 1. In this case, the vehicle 1 serves as the surrounding information acquiring unit 40, and acquires other vehicle information including the horn sound of the other vehicle by using the voice input device of the input device 93 or the like.

When the other-vehicle determination unit 203 determines that the other vehicle does not make a concession, the notification control unit 204 notifies the vehicle 1 of the entrance into the oncoming lane.

Specifically, when the other-vehicle determination unit 203 determines that the other vehicle is not giving way, the notification control unit 204 displays warning information indicating that there is a risk of the vehicle 1 entering the oncoming lane on the display device 92. Thereby, the notification control unit 204 notifies the driver of the vehicle 1 of the entry into the oncoming lane. In this case, the display device 92 displays warning information at a position that is easily within the line of sight of the driver.

When the vehicle 1 performs an operation related to acceleration after the notification by the notification control unit 204, the braking control unit 205 determines that the driver of the vehicle 1 has an intention to enter the oncoming lane, and brakes the vehicle 1.

Specifically, after the notification by the notification control unit 204, when the driving operation (accelerator operation or accelerator operation) by the driver is detected by the operation detection sensor 7D provided at the accelerator pedal 7A, the brake control unit 205 performs the collision reduction brake control by the stop control ECU 29.

After the notification by the notification control unit 204, the brake control unit 205 may perform collision reduction brake control by the stop control ECU29 when the acceleration of the vehicle 1 is detected by the vehicle speed sensor 7C.

Fig. 4 and 5 are flowcharts showing the processing of the driving assistance device 11 of the present embodiment. In the processing shown in fig. 4 and 5, the road on which the vehicle 1 travels is left-hand traffic.

In step S1, the periphery information acquiring unit 40 acquires the periphery information in front of the vehicle 1.

In step S2, the lane determination unit 201 determines whether the surrounding information includes road information such as a road sign or a road sign. If the road information including the road sign, and the like (yes), the process proceeds to step S3. On the other hand, if the road information of the road sign, and the like is not included (no), the process returns to step S1.

In step S3, the lane determination unit 201 determines whether the vehicle 1 is traveling in a lane near the center isolation zone based on the peripheral information. If the vehicle is traveling on the lane near the center barrier (yes), the process proceeds to step S4. On the other hand, if the vehicle is not traveling on the lane near the center barrier (no), the process returns to step S1.

In step S4, the lane determination unit 201 determines whether or not a road sign indicating a U-turn capable lane is present in the lane in which the vehicle 1 is traveling, based on the surrounding information. If there is a road sign in the lane (yes), the process proceeds to step S6. On the other hand, if there is no road marking in the lane (no), the process proceeds to step S5.

In step S5, the lane determination unit 201 determines whether or not a road sign indicating a U-turn enabled lane is present in the center barrier based on the peripheral information. If the road sign is present in the center isolation zone (yes), the process proceeds to step S6. On the other hand, if there is no road sign in the center isolation zone (no), the process returns to step S1.

In step S6, the lane determination unit 201 determines that the vehicle 1 is traveling in a lane in which the oncoming lane can be entered (U-turn capable) when the condition of step S4 or step S5 is satisfied, and proceeds to step S7.

In step S7, the entry determination unit 202 determines whether the vehicle 1 is temporarily decelerating. If the vehicle 1 has decelerated (yes), the process proceeds to step S8. On the other hand, if the vehicle 1 is not decelerating (no), the process returns to step S6.

In step S8, the entry determination unit 202 determines whether or not the vehicle 1 makes a right turn. If the vehicle 1 makes a right turn (yes), the process proceeds to step S9. On the other hand, if the vehicle 1 is not making a right turn (no), the process returns to step S6.

In step S9, when the vehicle 1 has decelerated temporarily and turned right, the entry determination unit 202 determines that the vehicle 1 has started entering the oncoming lane. That is, when the vehicle 1 is decelerated temporarily and turns right, the entry determination unit 202 determines that the driver of the vehicle 1 has the intention to turn U, and proceeds to step S10 of fig. 5.

In step S10, the peripheral information acquisition unit 40 acquires other vehicle information relating to other vehicles traveling on the oncoming lane.

In step S11, the other-vehicle determination unit 203 detects another vehicle traveling in the oncoming lane based on the other-vehicle information acquired by the surrounding information acquisition unit 40.

In step S12, the other-vehicle determination unit 203 determines whether or not the other-vehicle information includes the passage of another vehicle. If the other vehicle information includes the passage of the other vehicle (yes), the process proceeds to step S14. On the other hand, if the other-vehicle information does not include the passage of the other vehicle (no), the process proceeds to step S13.

In step S13, the other-vehicle determination unit 203 determines whether or not the other-vehicle information includes acceleration of the other vehicle. If the other vehicle information includes acceleration of the other vehicle (YES), the process proceeds to step S14. On the other hand, if the other vehicle information does not include acceleration of the other vehicle (no), the process proceeds to step S12.

In step S14, the other-vehicle determination unit 203 determines that the other vehicle is not giving way to the vehicle 1 based on the determination result in step S12 or step S13.

In step S15, if it is determined in step S14 that the other vehicle is not giving way, the notification control unit 204 notifies the vehicle 1 of entering the oncoming lane.

In step S16, after the notification in step S15, the brake control unit 205 determines whether or not the vehicle 1 has performed an operation related to acceleration. If the vehicle 1 performs an action related to acceleration (yes), the process proceeds to step S17. On the other hand, if the vehicle 1 does not perform the action related to acceleration (no), the process thereafter ends.

In step S17, when the vehicle 1 performs the operation related to acceleration in step S16, the brake control unit 205 determines that the driver of the vehicle 1 has an intention to enter the oncoming lane.

In step S18, the brake control unit 205 performs collision-reduction braking control by the stop control ECU 29. Thus, the driving assistance device 11 can avoid a collision of the vehicle 1 with another vehicle when entering the oncoming lane.

According to the present embodiment, for example, the following effects are obtained.

The driving assistance device 11 includes: a peripheral information acquisition unit 40 that acquires peripheral information of the vehicle 1 and other vehicle information related to another vehicle; a lane determining unit 201 that determines whether the vehicle 1 is traveling in a lane in which the vehicle can enter the opposite lane, based on the peripheral information acquired by the peripheral information acquiring unit 40; an entry determination unit 202 that determines whether the vehicle 1 has started entering the oncoming lane based on the surrounding information, when the lane determination unit 201 determines that the vehicle 1 is traveling in a lane in which the oncoming lane can be entered; a different vehicle determination unit 203 that, when the entry determination unit 202 determines that the vehicle 1 has started entering the oncoming lane, detects a different vehicle traveling in the oncoming lane based on the different vehicle information, and determines whether the different vehicle gives way to the vehicle 1; and a notification control unit 204 that notifies the vehicle 1 of entering the oncoming lane when the other-vehicle determination unit 203 determines that the other vehicle is not giving way.

Thereby, the driving assist device 11 can prompt the driver of the vehicle 1, which has been notified, to control entry into the oncoming lane. Therefore, when the vehicle 1 enters the oncoming lane with a U-turn or the like, the drive assist device 11 can avoid a collision with another vehicle traveling on the oncoming lane.

In addition, the lane that can enter the opposite lane includes a lane in which the vehicle 1 can U-turn to enter the opposite lane. Thus, when the vehicle 1 enters the oncoming lane by turning around in the lane in which the U-turn is possible, the driving assistance device 11 can avoid collision with another vehicle traveling in the oncoming lane.

In addition, the other-vehicle determination unit 203 may determine that the other vehicle does not give way to the vehicle 1 when the other vehicle information includes passage of the other vehicle. In addition, when the other vehicle information includes acceleration of the other vehicle, the other vehicle determination unit 203 may determine that the other vehicle does not give way to the vehicle 1. Thus, the driving assistance device 11 determines that the other vehicle does not have the intention to give way to the vehicle 1, and can avoid the vehicle 1 colliding with the other vehicle.

The driving support apparatus 11 further includes a brake control unit 205, and the brake control unit 205 brakes the vehicle 1 when the vehicle 1 performs the operation related to acceleration after the notification is performed by the notification control unit 204. Thus, when the driving assistance device 11 determines that the other vehicle has no intention to make an concession for the vehicle 1, the vehicle 1 is braked, thereby avoiding the collision of the vehicle 1 with the other vehicle 1.

In the above-described embodiment, the vehicle 1 having the driving assistance device 11 has been described by taking a four-wheel vehicle as an example, but the driving assistance device 11 of the present embodiment can be applied to a two-wheel vehicle or the like, for example.

In place of the above-described processing, the other-vehicle determination unit 203 may determine that the other vehicle is not giving way to the vehicle 1 by receiving information indicating that the other vehicle is not giving way from the other vehicle using inter-vehicle communication between the vehicle 1 and the other vehicle.

In addition, when the other vehicle information includes information indicating that the vehicle is a two-wheeled vehicle, the other vehicle determination unit 203 may determine that the vehicle 1 should conceive of another vehicle because the other vehicle is a two-wheeled vehicle. In this case, the notification control portion 204 may notify the vehicle 1 that the concessional to another vehicle should be performed.

As described above, the embodiment of the present invention is explained, and the driving assistance device 11 can be realized by hardware, software, or a combination thereof. The control method by the driving assistance device 11 may be implemented by hardware, software, or a combination thereof. Here, the software implementation means an implementation in which a program is read and executed by a computer.

Various types of non-transitory computer readable media (non-transitory computer readable media) may be used to store the program and provide it to the computer. The non-transitory computer readable medium includes various types of tangible storage media. Examples of the non-transitory computer readable medium include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (read Only memories), CD-R, CD-R/W, semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (erasable PROMs), flash ROMs, and RAMs (random access memories)).

While one embodiment of the present invention has been described above, the present invention is not limited to this. The detailed configuration may be appropriately modified within the scope of the present invention.

Reference numerals

1: vehicle with a steering wheel

10: control device

11: driving support device

201: lane determination unit

202: entry determination unit

203: other vehicle determination unit

204: notification control section

205: brake control unit

Claims (5)

1. A driving assistance device is provided with:

a peripheral information acquisition unit that acquires peripheral information of the vehicle and other vehicle information related to other vehicles;

a lane determination unit that determines whether or not the vehicle is traveling on a lane that allows the vehicle to enter an opposite lane, based on the peripheral information acquired by the peripheral information acquisition unit;

an entry determination unit that determines whether or not the vehicle has started entering the oncoming lane based on the peripheral information when the lane determination unit determines that the vehicle is traveling in a lane in which the oncoming lane can be entered;

a vehicle lane detection unit that detects a vehicle lane on which the vehicle is traveling, based on the vehicle lane information, and detects a vehicle lane on which the vehicle is traveling, when the vehicle lane detection unit detects that the vehicle has started to enter the oncoming lane, and determines whether or not the vehicle lane is to be cleared; and

and a notification control unit that notifies the vehicle of entering the oncoming lane when the other-vehicle determination unit determines that the other vehicle is not making the concessional.

2. The driving assist device according to claim 1, wherein the lane that can enter the opposing lane includes a lane that the vehicle can U-turn into the opposing lane.

3. The driving assistance apparatus according to claim 1 or 2, wherein the other-vehicle determination unit determines that the other vehicle does not give way to the vehicle when the other-vehicle information includes passage of the other vehicle.

4. The driving assistance apparatus according to claim 1 or 2, wherein the other-vehicle determination unit determines that the other vehicle does not give way to the vehicle when the other-vehicle information includes acceleration of the other vehicle.

5. The driving assistance apparatus according to any one of claims 1 to 4, further comprising a brake control unit that brakes the vehicle when the vehicle performs an operation related to acceleration after the notification by the notification control unit.

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