JP2014048205A - Driving support system and driving support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support system for improving accuracy of recognizing a feature and a driving support method.SOLUTION: A driving support system includes: a vehicle behavior policy deciding apparatus that decides a vehicle behavior policy for guiding a lateral position of a moving vehicle with respect to a road to a position where detection means of the moving vehicle detects a feature with high possibility, when it is determined that the vehicle comes close to the feature disposed forward of the vehicle on the basis of GPS information; and a driving support device for executing driving support for the vehicle on the basis of the vehicle behavior policy decided by the vehicle behavior policy deciding apparatus.

Description

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

  Conventionally, a technique for calibrating the position of the vehicle based on features (for example, traffic lights, signs, tunnels, etc.) installed at the destination of the vehicle has been developed. For example, Patent Document 1 discloses a technique for calculating the position of a host vehicle using position information of the feature measured by a GPS receiver and a relative distance value between the host vehicle and the feature calculated using a radar or a camera. Is disclosed. Further, Patent Document 2 discloses a road sign that becomes a feature in advance so that control can be performed to increase the distance between the vehicle and the preceding vehicle in order to reduce the blocking range by the preceding vehicle when the vehicle recognizes the feature. A technique for detecting the installation position of the image at high speed from the ground image data is disclosed.

JP 2010-190647 A JP 2006-178694 A

  However, in the conventional technology, when a feature is recognized using a radar or a camera, if there is a vehicle in front or a vehicle traveling in an adjacent lane, the recognition angle of view for recognizing the feature cannot be sufficiently secured. The accuracy could be degraded. Thus, the conventional technology has room for further improvement in terms of recognition accuracy of features.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a driving support system and a driving support method capable of improving the recognition accuracy of a feature.

  When it is determined that the vehicle and a feature installed at the destination of the vehicle are approaching based on GPS information, the driving support system of the present invention is arranged in the width direction with respect to the road of the vehicle being traveled. A vehicle action policy determination device for determining a vehicle action policy for guiding a position to a position where the detection means for detecting the feature is detected by the vehicle detection means during traveling, and the vehicle action policy determination And a driving support device that performs driving support for the host vehicle based on the host vehicle action policy determined by the device.

  In the driving support system described above, the host vehicle action policy determination device may be configured such that when the feature is installed beside a travel lane of the host vehicle, the host vehicle travels closer to the feature in the same lane. It is preferable to determine the vehicle action policy to be performed.

  In the above-described driving support system, the vehicle action policy determination device is configured such that when the feature is installed in a travel lane different from the travel lane of the vehicle, the vehicle is It is preferable to determine the vehicle action policy for changing the lane to the travel lane.

  In the above-described driving support system, when the feature is installed across a plurality of travel lanes including the travel lane of the host vehicle, the host vehicle action policy determination device is configured so that the host vehicle travels the plurality of travel. It is preferable to determine the own vehicle action policy for changing the lane to a traveling lane having the lowest vehicle density of the own vehicle in the lane.

  In the above-described driving support system, the driving support is executed by the driving support device, and when the feature is detected by the detection unit after the vehicle has traveled according to the vehicle action policy, the detected vehicle is detected. It is preferable to further include a host vehicle position calibration device that calibrates the position of the host vehicle based on the GPS information based on the position of the feature.

  In the driving support system described above, the driving support includes driving support by driving control for the host vehicle and driving support by providing information for encouraging the driver of the host vehicle to travel according to the host vehicle action policy. It is preferable that at least one of them is included.

  In addition, the driving support method of the present invention, when it is determined that the own vehicle and the feature installed at the destination of the own vehicle are approaching based on the GPS information, the width of the traveling vehicle relative to the road A step of determining a vehicle action policy that guides the position of the direction to a position where the detection means of the traveling vehicle detects the feature, and the determined vehicle action policy Performing driving support for the vehicle based on the vehicle.

  The driving support system and the driving support method according to the present invention have the effect that the recognition accuracy of the feature can be improved.

FIG. 1 is a diagram illustrating an example of a configuration of a driving support system including a host vehicle action policy determination device and a driving support device according to the present embodiment. FIG. 2 is a diagram illustrating an example of the own vehicle action policy for changing the travel locus in the lane. FIG. 3 is a diagram illustrating an example of the own vehicle action policy for changing the travel lane. FIG. 4 is a diagram illustrating another example of the own vehicle action policy for changing the travel lane. FIG. 5 is a diagram illustrating an example of the own vehicle action policy for expanding the distance between the vehicle and the preceding vehicle. FIG. 6 is a diagram illustrating a situation before the inter-vehicle expansion in the example illustrated in FIG. FIG. 7 is a diagram illustrating a situation after the inter-vehicle expansion in the example illustrated in FIG. FIG. 8 is a diagram illustrating another example of the configuration of the driving support system including the own vehicle position calibration device according to the present embodiment. FIG. 9 is a diagram illustrating an example of basic processing executed by the driving support system according to the present embodiment. FIG. 10 is a diagram illustrating an example of reference feature recognition pre-processing executed by the driving support system according to the present embodiment.

  Embodiments of a driving support system and a driving support method according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

Embodiment
A configuration of a driving support system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 8. FIG. 1 is a diagram illustrating an example of a configuration of a driving support system including a host vehicle action policy determination device and a driving support device according to the present embodiment. FIG. 2 is a diagram illustrating an example of the own vehicle action policy for changing the travel locus in the lane. FIG. 3 is a diagram illustrating an example of the own vehicle action policy for changing the travel lane. FIG. 4 is a diagram illustrating another example of the own vehicle action policy for changing the travel lane. FIG. 5 is a diagram illustrating an example of the own vehicle action policy for expanding the distance between the vehicle and the preceding vehicle. FIG. 6 is a diagram illustrating a situation before the inter-vehicle expansion in the example illustrated in FIG. FIG. 7 is a diagram illustrating a situation after the inter-vehicle expansion in the example illustrated in FIG. FIG. 8 is a diagram illustrating another example of the configuration of the driving support system including the own vehicle position calibration device according to the present embodiment.

  As shown in FIG. 1, a vehicle 100 (hereinafter also referred to as “own vehicle”) includes a detection unit 1, a vehicle lane recognition unit 2, a surrounding vehicle recognition unit 3, and a road structure recognition unit 4. , Reference feature information storage unit 5, road information storage unit 6, own vehicle position acquisition unit 7, vehicle data acquisition unit 8, own vehicle action policy determination unit 9, target trajectory generation unit 10, control parameters The generator 11, the automatic operation controller 12, and the output controller 13 are included. In the vehicle 100, the host vehicle lane recognition unit 2, the surrounding vehicle recognition unit 3, the road structure recognition unit 4, the reference feature information storage unit 5, the road information storage unit 6, and the host vehicle position acquisition unit 7 The vehicle data acquisition unit 8, the host vehicle action policy determination unit 9, and the target locus generation unit 10 are included in the host vehicle action policy determination device 20. The control parameter generation unit 11, the automatic operation control unit 12, and the output control unit 13 are included in the driving support device 30. In FIG. 1, the driving support system according to the present embodiment includes a detection unit 1 (detection means), a host vehicle action policy determination device 20, and a driving support device 30.

  The detection unit 1 includes a camera 1a, a radar 1b, a vehicle-to-vehicle communication unit 1c, and a road-to-vehicle communication unit 1d, and is configured as detection means. In the present embodiment, the camera 1a and the radar 1b are provided in front of the vehicle 100 so as to be able to detect a feature installed at the destination of the vehicle 100, and image data of a target object such as a feature to be detected. And get detection information. Here, examples of the feature include a traffic signal, a sign, a tunnel, a pier, a bridge girder, a pedestrian bridge, a road surface paint, a bus stop lamp, and a reflector, but are not limited thereto. In the present embodiment, these features are used as reference features for calibrating the vehicle position. The calibration of the vehicle position based on the reference feature will be described later. The inter-vehicle communication unit 1c communicates with surrounding vehicles that travel around the vehicle 100, thereby acquiring the positions and vehicle data of the surrounding vehicles. The road-to-vehicle communication unit 1d acquires travel environment information related to the travel environment around the vehicle 100 by communicating with an infrastructure device located around the host vehicle 100. The detection unit 1 uses various information acquired from at least one of the camera 1a, the radar 1b, the vehicle-to-vehicle communication unit 1c, and the road-to-vehicle communication unit 1d as a vehicle lane recognition unit 2, a surrounding vehicle recognition unit 3, a road Output to the structure recognition unit 4.

  The own vehicle travel lane recognition unit 2 recognizes the lane in which the vehicle 100 is traveling based on the information acquired by the detection unit 1. For example, the host vehicle lane recognition unit 2 uses the vehicle 1 based on image data and detection information of features such as road surface paint and reflectors on the road on which the vehicle 100 is traveling, acquired by the camera 1a and the radar 1b. 100 recognizes the traveling lane. The own vehicle travel lane recognition unit 2 outputs the recognition result of the own vehicle travel lane to the own vehicle action policy determination unit 9.

  The surrounding vehicle recognition unit 3 recognizes surrounding vehicles that travel around the vehicle 100 based on the information acquired by the detection unit 1. For example, the surrounding vehicle recognition unit 3 recognizes the distance between the preceding vehicle and the height of the preceding vehicle based on image data and detection information in front of the vehicle 100 acquired by the camera 1a and the radar 1b. The surrounding vehicle recognition unit 3 determines the vehicle density of each traveling lane based on the position of the surrounding vehicle acquired by the inter-vehicle communication unit 1c and / or the traveling environment information acquired by the road-to-vehicle communication unit 1d. recognize. The surrounding vehicle recognition unit 3 outputs the recognition result of the surrounding vehicle to the own vehicle action policy determination unit 9.

  The road structure recognition unit 4 recognizes the road structure on which the vehicle 100 is traveling based on the information acquired by the detection unit 1. For example, the road structure recognizing unit 4 is based on the image data and detection information in front of the vehicle 100 acquired by the camera 1a and the radar 1b and / or the traveling environment information acquired by the road-to-vehicle communication unit 1d. 100 recognizes the width of a running road, the presence or absence of a structure between running lanes, and the like. The road structure recognition unit 4 outputs the recognition result of the road structure to the own vehicle action policy determination unit 9 and the target locus generation unit 10.

  The reference feature information storage unit 5 stores reference feature information indicating the characteristics of the reference feature in association with position information indicating the installation location of the reference feature. The position information is information indicating the latitude, longitude, and altitude of the reference feature. The reference feature information is, for example, information indicating the type of the reference feature, the installation state of the reference feature on the road, the size, shape, color, presence / absence of illumination of the reference feature, and the like. The type of the reference feature indicates, for example, the type of a traffic signal, a sign, a tunnel, a bridge pier, a bridge girder, a pedestrian bridge, a road surface paint, a bus stop lamp, a reflector, and the like. The installation state of the reference feature with respect to the road is, for example, the lateral position of the reference feature with respect to the driving lane, the driving lane closest to the reference feature, the installation height of the reference feature from the ground, the installation location of the reference feature and the road Indicates the width from the side. The size of the reference feature indicates the vertical and horizontal lengths of the reference feature. The reference feature information storage unit 5 stores these pieces of information in advance, and updates the stored information by periodically communicating with an external device that distributes information about the reference features. In FIG. 1, the reference feature information stored in the reference feature information storage unit 5 is referred to when the vehicle action policy determination unit 9 determines the vehicle action policy.

  The road information storage unit 6 stores road network data composed of nodes and links as road information. The road information includes information indicating the driving lane and distance of the road. The road information storage unit 6 stores road information in advance, and updates the stored information by periodically communicating with an external device that distributes the road information. The road information stored in the road information storage unit 6 is referred to when the target locus generation unit 10 generates a target locus.

  The own vehicle position acquisition unit 7 acquires the own vehicle position of the vehicle 100 calculated and calibrated based on the GPS information and the reference feature. Specifically, the own vehicle position acquisition unit 7 constantly calculates the own vehicle position from the GPS information, and calibrates (matches) the own vehicle position based on the GPS information in the vicinity of the reference feature. To get. The vehicle position acquisition unit 7 outputs the acquired corrected vehicle position to the vehicle action policy determination unit 9 and the target locus generation unit 10. The vehicle position acquired by the vehicle position acquisition unit 7 will be described later.

  The vehicle data acquisition unit 8 acquires vehicle data such as the vehicle speed, longitudinal acceleration, lateral acceleration, yaw rate, and steering angle of the vehicle 100. The vehicle data acquisition unit 8 acquires vehicle data of the vehicle 100 via a vehicle information network configured by transmission paths connected to various sensors provided in the vehicle 100. Various sensors include, for example, a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, and the like. The vehicle data acquisition unit 8 outputs the acquired vehicle data to the target locus generation unit 10.

  The own vehicle action policy determination unit 9 includes the recognition results acquired by the own vehicle lane recognition unit 2, the surrounding vehicle recognition unit 3, and the road structure recognition unit 4, and the reference location stored in the reference feature information storage unit 5. Based on the object information and the vehicle position acquired by the vehicle position acquisition unit 7, the vehicle action policy for improving the detection opportunity of the reference feature by the detection unit 1 and improving the detection accuracy is provided. decide. The own vehicle action policy determination unit 9 outputs the determined own car action policy to the target locus generation unit 10 and the control parameter generation unit 11.

  In this embodiment, the own vehicle action policy determination unit 9 determines whether or not the camera 1a and the radar 1b of the detection unit 1 can detect the reference feature when approaching the reference feature while maintaining the current state. The vehicle action policy is determined according to the results. For example, it is determined whether the reference feature can be detected by the camera 1a and the radar 1b of the detection unit 1 by determining whether the predicted detection situation of the reference feature satisfies a predetermined threshold. Specifically, the own vehicle action policy determination unit 9 can detect whether or not a full shadow of the reference feature is in the shooting angle of view of the camera 1a and the radar 1b of the detection unit 1, and / or can capture the reference position object. It is determined how much time is present, and it is determined whether the camera 1a and the radar 1b of the detection unit 1 can detect the reference feature.

  When the vehicle behavior policy determination unit 9 determines that the reference feature can be detected, for example, the vehicle behavior policy determination unit 9 determines the vehicle behavior policy for continuing the automatic driving while maintaining the current state, and the vehicle behavior policy is determined as the control parameter generation unit. 11 to output. The own vehicle action policy for continuing the automatic driving while maintaining the current state is a policy for maintaining the driving lane, maintaining the distance between the front vehicles, and continuing the automatic driving so as to maintain the vehicle speed.

  On the other hand, if the vehicle behavior policy determination unit 9 determines that the reference feature is undetectable or insufficiently detected, the vehicle behavior policy determination unit 9 sets conditions necessary for improving the detectability (for example, angle of view, time) of the reference feature. After calculating and determining whether or not to change the lane between the vehicle and the preceding vehicle required at the start of feature detection, the own vehicle action policy is determined.

  Here, with reference to FIG. 2 to FIG. 6, when it is determined that the reference feature is undetectable or insufficiently detected, the detection possibility of detecting the reference feature determined by the own vehicle action policy determination unit 9 is detected. An example of a vehicle action policy for increasing the vehicle will be described.

  As shown in FIG. 2, when the installation location of the reference feature F1 of the stop sign is on the side of the traveling lane of the own vehicle (in the case of FIG. 2, the left side of the traveling lane L), the detection possibility of detecting the reference feature F1 In order to increase the travel speed, it is desirable to reflect the travel locus t1 on the travel lane L in the automatic driving control so that the travel trajectory t1 travels closer to the feature (in the case of FIG. 2, closer to the left side of the travel lane L). Therefore, the host vehicle action policy determination unit 9 determines the host vehicle action policy for changing the travel trajectory t1 in the travel lane L in the situation as shown in FIG. Specifically, as shown in FIG. 2, the own vehicle action policy determination unit 9 recognizes the installation location of the reference feature F1 at the position of the own vehicle 100-1, and the installation location of the reference feature F1 travels. After determining which side is the lane L, the host vehicle action policy to be reflected in the automatic driving control is determined so that the travel locus t1 is shifted to the left. In the case of the situation shown in FIG. 2, the vehicle behavior policy determination unit 9 needs to generate a target locus t1 based on the determined vehicle behavior policy. To the unit 10. Here, the host vehicle action policy determination unit 9 determines the host vehicle action policy for adjusting the control amount of the steering wheel or the like so that the host vehicle runs closer to the feature in the same lane without generating the target locus. May be. In this case, the own vehicle action policy determination unit 9 outputs the determined own car action policy to the control parameter 10. In addition, the vehicle behavior policy determination unit 9 may determine a vehicle behavior policy that presents information that prompts the driver to drive closer to the feature. In this case, the own vehicle action policy determination unit 9 outputs the determined own car action policy to the output control unit 13.

  Thus, as shown in FIG. 2, when the vehicle 100-1 travels in accordance with the determined vehicle action policy in a situation where the reference feature F <b> 1 is located beside the traveling lane of the vehicle, the vehicle 100- The reference feature F1 can be accurately recognized at the position -2, and the vehicle position can be accurately calibrated based on the recognized reference feature F1. In this way, since the time during which the reference feature F1 can be photographed in front view can be increased, it is possible to suppress detection errors and a decrease in detection accuracy of the reference feature F1 due to oblique viewing.

  As shown in FIG. 3, in the case where the reference feature F2 of the sign indicating the distance to each destination is not beside the traveling lane of the own vehicle (in the case of FIG. 3, the traveling of the own vehicle 100-1 on the road R) In the case of the left side of the driving lane L3 different from the lane L1, in order to increase the possibility of detecting the reference feature F2, change the lane to the driving lane L3 closest to the installation location of the reference feature F2. It is desirable to reflect this in the automatic operation control. The same applies to the case where the reference feature F2 is installed above the travel lane L1 of the host vehicle 100-1 or when the reference feature F2 is not road surface paint on the travel lane L1 of the host vehicle 100-1. Therefore, in the situation as shown in FIG. 3, the own vehicle action policy determination unit 9 among the plurality of travel lanes L1, L2, L3 in the road R, the travel lane L3 closest to the installation location of the reference feature F2. Decide on a policy for changing your lane. Specifically, the own vehicle action policy determination unit 9 recognizes the installation location of the reference feature F2 at the position of the own vehicle 100-1, and installs the angle of view A1 of the camera 1a and the radar 1b and the reference feature F2. Based on the location, it is determined that the travel lane optimal for feature detection is the travel lane L3. Thereafter, the host vehicle action policy determination unit 9 determines the host vehicle action policy to be reflected in the automatic driving control so as to change the lane from the driving lane L1 to the driving lane L3 along the driving trajectory t2. In the case of the situation shown in FIG. 3, the vehicle behavior policy determination unit 9 needs to generate the target locus t2 based on the determined vehicle behavior policy. To the unit 10. Here, the own vehicle action policy determination unit 9 adjusts the control amount of the steering wheel or the like so that the own car changes the lane to the travel lane closest to the installation location of the reference feature without generating the target locus. A policy may be determined. In this case, the own vehicle action policy determination unit 9 outputs the determined own car action policy to the control parameter 10. In addition, the vehicle action policy determination unit 9 may determine a vehicle action policy that presents information prompting the driver to change the lane to the lane closest to the installation location of the reference feature. In this case, the own vehicle action policy determination unit 9 outputs the determined own car action policy to the output control unit 13.

  Accordingly, as shown in FIG. 3, even when the vehicle 100-1 travels according to the determined vehicle action policy, even if the installation location of the reference feature F2 is not beside the vehicle lane of the vehicle, The reference feature F2 can be accurately recognized at the position of the host vehicle 100-2, and the host vehicle position can be accurately calibrated based on the recognized reference feature F2. Further, by performing control so as to travel closer to the feature on the travel lane L3 to which the lane is changed as shown in FIG. 2 described above, the recognition accuracy and the calibration accuracy of the own vehicle position are further improved in the reference feature F2. It can also be improved. In this way, when the host vehicle 100-2 travels in the travel lane L3 that is closest to the installation location of the reference feature F2, there is no opportunity for the travel vehicle in the adjacent lane to shield the detection range of the camera 1a and the radar 1b. It becomes easier to capture the reference feature F2 in the front direction within the shooting angle of view, and the possible shooting time can be extended. As a result, the imaging of the reference feature F2 is stable, and the recognition accuracy of the reference feature F2 can be improved by repeatedly imaging.

  As shown in FIG. 4, when the installation location of the reference feature F3 of the bridge girder or pedestrian bridge does not depend on the travel lane (in the case of FIG. 4, the reference feature F3 such as a pier or a pedestrian bridge spans all the travel lanes L1 to L3 ) In order to increase the possibility of detecting the reference feature F3, it is desirable to derive a lane with the lowest vehicle density of the destination of the own vehicle and reflect it in the automatic driving control. That is, in the situation shown in FIG. 4, the vehicle density of the destination of the own vehicle is the smallest in order to avoid the influence on the following vehicle when the space between the front and rear vehicles is separated (for example, sudden approach between the vehicles due to deceleration). We think it is desirable to move to the driving lane. Therefore, in the situation shown in FIG. 4, the own vehicle action policy determination unit 9 has the lowest travel vehicle lane of the own vehicle among the plurality of travel lanes L1, L2, and L3 in the road R. The vehicle action policy for changing the lane to L3 is determined. Specifically, the host vehicle action policy determination unit 9 recognizes the installation location of the reference feature F3 at the position of the host vehicle 100-1, and uses the same condition from any of the driving lanes L1, L2, and L3. Is determined to be recognizable. And the own vehicle action policy determination part 9 judges that the vacant travel lane is the travel lane L3 from the vehicle density of each travel lane L1-L3. Thereafter, the host vehicle action policy determination unit 9 determines the host vehicle action policy to be reflected in the automatic driving control so as to change the lane from the travel lane L1 to the travel lane L3 along the travel trajectory t3. In the case of the situation as shown in FIG. 4, the vehicle behavior policy determination unit 9 needs to generate a target locus t3 based on the determined vehicle behavior policy. To the unit 10. Here, the own vehicle action policy determining unit 9 adjusts the control amount of the steering wheel or the like so as to change the lane to the travel lane with the lowest vehicle density of the destination of the own car without generating the target locus. May be determined. In this case, the own vehicle action policy determination unit 9 outputs the determined own car action policy to the control parameter 10. The own vehicle action policy determination unit 9 may also determine an own car action policy that presents information prompting the driver to change the lane to a travel lane with the lowest vehicle density of the host vehicle. In this case, the own vehicle action policy determination unit 9 outputs the determined own car action policy to the output control unit 13.

  As a result, as shown in FIG. 4, even when the vehicle 100-1 travels according to the determined vehicle action policy even when the installation location of the reference feature F3 does not depend on the travel lane, the vehicle 100-1 After the lane change to the position -2, the reference feature F3 can be accurately recognized at the position of the own vehicle 100-3, and the own vehicle position is accurately calibrated based on the recognized reference feature F3. Can do.

  As shown in FIG. 5, when the installation location of the reference feature F2 of the sign indicating the distance to each destination is above the travel lane L1 of the host vehicle 100-1, the host vehicle 100-1 is currently traveling. There is no need to change the driving lane L1, and it is desirable to derive the necessary distance so that the preceding vehicle 200-1 does not block the detection range of the camera 1a or the radar 1b and reflect it in the automatic driving control. The same applies to the case where the reference feature F2 is road surface paint on the travel lane L1 of the host vehicle 100-1. Therefore, in the situation as shown in FIG. 5, the own vehicle action policy determination unit 9 determines the own car action policy for expanding the distance from the preceding vehicle in order to recognize the reference feature F2 with high accuracy. Specifically, the host vehicle action policy determination unit 9 recognizes the installation location of the reference feature F2 at the position of the host vehicle 100-1, and determines that the lane change is unnecessary. Then, as shown in FIG. 6, the own vehicle action policy verification unit 9 is based on the inter-vehicle distance d1 between the angle of view A2 of the camera 1a and the radar 1b of the own vehicle 100-1 and the preceding vehicle 200-1. As shown in FIG. 5, when the reference feature F2 is detected, the required inter-vehicle distance d2 at which the preceding vehicle 200-2 does not block the angle of view A2 of the host vehicle 100-2 is calculated. Thereafter, the own vehicle action policy determination unit 9 determines the own car action policy to be reflected in the automatic driving control so as to expand the current inter-vehicle distance d1 to the necessary inter-vehicle distance d2. And in the situation as shown in FIG. 5, the own vehicle action policy determination unit 9 expands the current inter-vehicle distance d1 to the necessary inter-vehicle distance d2 based on the determined own vehicle action policy, and thus determines the determined own vehicle action policy. The data is output to the control parameter generation unit 11 and / or the output control unit 13. Here, the host vehicle action policy determination unit 9 may determine the host vehicle action policy that instructs the driver to expand the current inter-vehicle distance d1 to the necessary inter-vehicle distance d2. In this case, the own vehicle action policy determination unit 9 outputs the determined own car action policy to the output control unit 13.

  As a result, as shown in FIG. 5, even when the installation location of the reference feature F2 is above the traveling lane L1 of the own vehicle 100-1, the own vehicle 100-1 is in the inter-vehicle distance according to the determined own vehicle action policy. Is enlarged, the reference feature F2 can be accurately recognized at the position of the own vehicle 100-2, and the own vehicle position can be accurately calibrated based on the recognized reference feature F2. In this way, particularly when the height of the preceding vehicle is high or when the distance between the preceding vehicle and the preceding vehicle is narrowed, the distance between the vehicles can be increased, so the range of entering the reference feature F2 in the shooting angle of view increases. For this reason, it is possible to lengthen the imageable time of the reference feature F2. As a result, the imaging of the reference feature F2 is stable, and the recognition accuracy of the reference feature F2 can be improved by repeatedly imaging.

  Returning to FIG. 1, the target locus generation unit 10 is acquired by the road structure recognition result acquired by the road structure recognition unit 4, the road information stored in the road information storage unit 6, and the vehicle position acquisition unit 7. A target locus for automatic driving control is generated based on the own vehicle position, the vehicle data acquired by the vehicle data acquisition unit 8, and the own vehicle behavior policy determined by the own vehicle behavior policy determination unit 9. To do. In the present embodiment, the target trajectory generation unit 10 generates feasible target trajectories corresponding to, for example, the travel trajectory t1 in FIG. 2, the travel trajectory t2 in FIG. 3, the travel trajectory t3 in FIG. It is generated in consideration of the recognition result of the road structure, road information, own vehicle position and vehicle data. Then, the target locus generation unit 10 outputs the generated target locus to the control parameter generation unit 11 and / or the output control unit 13.

  The control parameter generation unit 11 is optimal for performing automatic driving control in accordance with the target trajectory generated by the target trajectory generation unit 10 (for example, the target trajectory corresponding to the travel trajectories t1 to t3 as shown in FIGS. 2 to 4). Control parameters are generated. Here, the control parameter generation unit 11 determines the own vehicle action policy determined by the own vehicle action policy decision unit 9 (for example, as shown in FIG. 5, a policy for expanding from the current inter-vehicle distance d1 to the necessary inter-vehicle distance d2, The optimal control parameters for performing the automatic driving control may be generated in accordance with a policy of maintaining the lane, maintaining the distance between the preceding vehicles, and continuing the automatic driving so as to maintain the vehicle speed. Examples of the control parameter include parameters such as lateral deviation, direction deviation, curvature, and inter-vehicle distance.

  The automatic operation control unit 12 performs automatic operation control based on the control parameter generated by the control parameter generation unit 11. Specifically, the automatic driving control unit 12 performs automatic driving control by operating a brake, an engine, a steering, and the like based on the control parameters in order to perform driving control on the host vehicle as driving assistance.

  The output control unit 13 executes output control in accordance with the target locus generated by the target locus generating unit 10. Here, the output control unit 13 may execute output control according to the own vehicle action policy determined by the own vehicle action policy determination unit 9. Specifically, the output control unit 13 displays an appropriate driving instruction on a display or outputs a sound from a speaker in order to provide information that encourages driving according to the vehicle action policy as driving assistance. Execute output control.

  In the present embodiment, as described above, automatic operation control and output control are executed so as to improve the recognition accuracy of the reference feature used for calibration of the vehicle position. Therefore, the reference feature detected after these controls is used. Based on this, it becomes possible to calibrate the own vehicle position with high accuracy. Hereinafter, the vehicle position acquired by the vehicle position acquisition unit 7 will be described with reference to FIG.

  As shown in FIG. 8, the vehicle 100 includes a detection unit 1, a reference feature information storage unit 5, a vehicle position acquisition unit 7, a GPS receiver 14, a GPS positioning unit 15, and an image processing unit 16. The reference feature positioning unit 17 and the own vehicle position matching unit 18 are provided. In the vehicle 100, the reference feature information storage unit 5, the GPS receiver 14, the GPS positioning unit 15, the image processing unit 16, the reference feature positioning unit 17, and the own vehicle position matching unit 18 are It is included in the position calibration device 40. In FIG. 8, the driving support system according to the present embodiment includes a detection unit 1 (detection means) and a vehicle position calibration device 40. In FIG. 8, the camera 1a and radar 1b of the detection unit 1, the reference feature information storage unit 5, the vehicle position acquisition unit 7, and the vehicle data acquisition unit 8 are the same as those in FIG. To do.

  The GPS receiver 14 receives GPS information transmitted from GPS satellites. The GPS receiver 14 outputs GPS information to the GPS positioning unit 15.

  The GPS positioning unit 15 includes a dead reckoning unit 15a. The dead reckoning unit 15a performs dead reckoning by an autonomous sensor. In the present embodiment, the GPS positioning unit 15 performs dead reckoning based on the GPS information acquired by the GPS receiver 14 and the vehicle data acquired by the vehicle data acquisition unit 8, and the current position of the host vehicle. Measure the position. The GPS positioning unit 15 outputs the own vehicle position measured using GPS to the own vehicle position matching unit 18.

  The image processing unit 16 performs image processing on the image data acquired by the camera 1a and the radar 1b of the detection unit 1. In the present embodiment, the image processing unit 16 detects a reference feature in the image data by performing image processing on the image data obtained by imaging the front of the host vehicle. The image processing unit 16 outputs image data including the detected reference feature to the reference feature positioning unit 17.

  The reference feature positioning unit 17 includes a matching unit 17a. The collating unit 17a determines the detected reference feature based on the image data including the reference feature detected by the image processing unit 16 and the reference feature information stored in the reference feature information storage unit 5. Collate. In this embodiment, the reference | standard feature positioning part 17 measures the present position of the own vehicle using the relative distance value with the own vehicle with the collated reference | standard feature. The reference feature positioning unit 17 outputs the own vehicle position measured using the reference feature to the own vehicle position matching unit 18.

  The own vehicle position matching unit 18 includes a calibration unit 18a. The calibration unit 18a determines the vehicle position using the vehicle position measured by the GPS positioning unit 15 using the GPS and the vehicle position measured by the reference feature positioning unit 17 using the reference feature. Calibrate. Then, the vehicle position matching unit 18 outputs the corrected vehicle position to the vehicle position acquisition unit 7.

  Next, with reference to FIG. 9 and FIG. 10, processing in the present embodiment performed in the driving support system having the above-described configuration will be described in detail. FIG. 9 is a diagram illustrating an example of basic processing executed by the driving support system according to the present embodiment. FIG. 10 is a diagram illustrating an example of reference feature recognition pre-processing executed by the driving support system according to the present embodiment.

  As shown in FIG. 9, when the driving support system is activated in response to a predetermined operation (step S101), the vehicle position detection function is activated (step S102), and the reference feature calibration function is also activated. (Step S103). Here, the predetermined operation is, for example, an operation of turning on the start switch of the driving support system by the driver. Here, the vehicle position detection function corresponds to the vehicle position acquisition unit 7 of the vehicle action policy determination device 20 described above, and the reference feature calibration function corresponds to the vehicle position calibration device 40 described above.

  Then, the own vehicle action policy determination unit 9 of the driving support system, based on the own vehicle position acquired by the own vehicle position acquisition unit 7, determines the reference feature information of the destination of the own vehicle as the reference feature information storage unit 5. (Step S104). Next, the vehicle action policy determination unit 9 of the driving support system includes the vehicle position acquired by the vehicle position acquisition unit 7 and the reference features included in the reference feature information acquired from the reference feature information storage unit 5. Based on the position information, it is determined whether or not the own vehicle is approaching the reference feature installation point (step S105).

  In step S105, when the own vehicle action policy determination unit 9 of the driving support system determines that the own vehicle is not approaching the installation location of the reference feature (step S105: No), the process proceeds to step S109. On the other hand, when it is determined by the own vehicle action policy determination unit 9 of the driving support system that the own vehicle is approaching the installation location of the reference feature (step S105: Yes), it is executed before recognizing the reference feature. The process proceeds to step S200 where processing is performed.

  Here, details of the processing in step S200 will be described with reference to FIG. As shown in FIG. 10, the own vehicle action policy determination unit 9 of the driving support system acquires the own vehicle travel lane from the recognition result of the own vehicle travel lane acquired by the own vehicle travel lane recognition unit 2, and further, the reference location The installation location of the reference feature is acquired from the reference feature information stored in the object information storage unit 5 (step S201).

  And the own vehicle action policy determination unit 9 of the driving support system increases the possibility of detecting the reference feature from the mutual positional relationship between the own vehicle traveling lane and the installation location of the reference feature acquired in step S201. It is determined whether or not a lane change is necessary to do this (step S202). Here, the situation where the lane change is necessary is, for example, a situation where the installation location of the reference feature as shown in FIG. 3 is not beside the traveling lane of the own vehicle, or a reference feature as shown in FIG. Including the situation where the installation location is not dependent on the driving lane. The situation where the lane change is unnecessary is, for example, a situation where the installation location of the reference feature as shown in FIG. 2 is beside the traveling lane of the own vehicle, or a reference feature such as that shown in FIG. This includes situations where the installation location is above the traveling lane of the vehicle.

  In step S202, if the own vehicle action policy determination unit 9 of the driving support system determines that the lane change is necessary (step S202: Yes), the driving lane is changed by the automatic driving control or the lane to the driver. Determine the vehicle action policy that presents information that prompts changes. In the driving support system, the automatic driving control unit 12 or the output control unit 13 performs the automatic driving control for changing the traveling lane according to the own vehicle action policy, or the output control for presenting information prompting the driver to change the lane. Is performed (step S203). Thereafter, the process proceeds to step S204.

  For example, in step S203, the own vehicle action policy determination unit 9 of the driving support system determines the own car action policy for changing the lane to the driving lane closest to the installation location of the reference feature among the plurality of driving lanes on the road. (See FIG. 3). In addition, the own vehicle action policy determination unit 9 of the driving support system determines the own car action policy for changing the lane to the driving lane having the lowest vehicle density of the own vehicle among the plurality of driving lanes in the road. It is also possible (see FIG. 4). Then, the target locus generation unit 10 of the driving support system generates a target locus for automatic driving control based on the own vehicle action policy determined by the own vehicle action policy determination unit 9. Next, the control parameter generation unit 11 of the driving support system generates optimal control parameters for performing automatic driving control in accordance with the target locus generated by the target locus generation unit 10. Next, the automatic driving control unit 12 of the driving support system executes the automatic driving control so as to change the traveling lane based on the control parameter generated by the control parameter generating unit 11. Alternatively, the output control unit 13 of the driving support system executes output control that presents information prompting the driver to change lanes.

  On the other hand, in step S202, the vehicle action policy determination unit 9 of the driving support system determines that the lane change is not necessary (step S202: No), or after the processing of step S203, the vehicle lane recognition is performed. Based on the own vehicle travel lane recognized again by the unit 2, the reference feature information stored in the reference feature information storage unit 5, and the own vehicle position acquired by the own vehicle position acquisition unit 7, It is determined whether or not the vehicle is traveling in a lane where the reference feature can be recognized (step S204). Here, the situation in which the host vehicle is traveling in a travel lane in which the reference feature can be recognized is, for example, a situation in which the host vehicle 100-2 is in a position after the lane change as shown in FIG. The situation etc. which are the positions of the own vehicle 100-3 after a lane change as shown in the above-mentioned FIG. 4 are included. In addition, the situation in which the host vehicle is traveling in a travel lane where the reference feature can be recognized is, for example, a situation in which the installation location of the reference feature as shown in FIG. 2 is adjacent to the travel lane of the host vehicle. In addition, it includes a situation where the installation location of the reference feature as shown in FIG. 5 is above the traveling lane of the own vehicle.

  In step S204, when the own vehicle action policy determination unit 9 of the driving support system determines that the own vehicle is not traveling in a lane where the reference feature can be recognized (step S204: No), the process proceeds to step S202. Return.

  On the other hand, if the own vehicle action policy determination unit 9 of the driving support system determines in step S204 that the own vehicle is traveling in a driving lane in which the reference feature can be recognized (step S204: Yes), the own vehicle position The camera 1a necessary for recognizing the reference feature based on the vehicle position acquired by the acquisition unit 7 and the installation state of the reference feature included in the reference feature information acquired from the reference feature information storage unit 5. And the angle of view of the radar 1b is calculated (step S205). Then, the own vehicle action policy determination unit 9 of the driving support system performs the preceding vehicle based on the own vehicle position acquired by the own vehicle position acquisition unit 7 and the recognition result of the surrounding vehicles acquired by the surrounding vehicle recognition unit 3. Is measured (step S206).

  And the own vehicle action policy determination unit 9 of the driving support system is based on the angle of view necessary for recognizing the reference feature calculated in step S205 and the distance between the preceding vehicle measured in step S206, It is determined whether or not adjustment of the distance from the preceding vehicle is necessary (step S207). Here, the situation where the distance between the vehicle and the preceding vehicle is necessary is, for example, the situation where the preceding vehicle 200-1 as shown in FIG. 6 is shielded from the angle of view A2 of the own vehicle 100-1. Etc. On the other hand, the situation where it is not necessary to adjust the distance from the preceding vehicle includes a situation where the preceding vehicle 200-2 is not shielded from the angle of view A2 of the own vehicle 100-2 as shown in FIG. .

  In step S207, if the own vehicle action policy determination unit 9 of the driving support system determines that the inter-vehicle distance adjustment with the preceding vehicle is not necessary (step S207: No), the process proceeds to step S209.

  On the other hand, when the own vehicle action policy determination unit 9 of the driving support system determines in step S207 that the inter-vehicle distance adjustment with the preceding vehicle is necessary (step S207: Yes), the inter-vehicle distance with the front vehicle is determined by the automatic operation control. Or the vehicle action policy for presenting information indicating the amount of inter-vehicle securing to the driver is determined. And a driving assistance system performs the automatic driving control which ensures the clearance between the front vehicles according to the own vehicle action policy by the automatic driving control part 12 or the output control part 13, or the information which shows the amount of securing distances to a driver is shown. The output control to be presented is performed (step S208). Thereafter, the process proceeds to step S209.

  For example, in step S208, the own vehicle action policy determination unit 9 of the driving support system determines the own car action policy for expanding the distance from the preceding vehicle in order to recognize the reference feature with high accuracy (FIG. 5). (See FIG. 7). Then, the control parameter generation unit 11 of the driving support system changes from the current inter-vehicle distance d1 to the necessary inter-vehicle distance d2 as shown in FIGS. 6 and 7 according to the own vehicle action policy determined by the own vehicle action policy determination unit 9. The optimal control parameters for performing automatic operation control that expands are generated. Next, the automatic driving control unit 12 of the driving support system executes automatic driving control so as to increase the distance between the vehicles based on the control parameter generated by the control parameter generating unit 11. Alternatively, the output control unit 13 of the driving support system indicates information indicating the amount of inter-vehicle securing (for example, the necessary inter-vehicle distance d2 as shown in FIG. 7) to the driver according to the own vehicle action policy determined by the own vehicle action policy determination unit 9. The output control for presenting is executed.

  Then, the vehicle action policy determination unit 9 of the driving support system includes the vehicle position acquired by the vehicle position acquisition unit 7 and the reference feature information included in the reference feature information acquired from the reference feature information storage unit 5. Based on the installation position and the installation state, it is determined whether or not the travel locus needs to be corrected in the travel lane (step S209). Here, the situation in which the travel locus needs to be corrected in the travel lane includes, for example, a situation where the reference feature is located on the side of the travel lane of the vehicle as shown in FIG.

  In step S209, when the own vehicle action policy determination unit 9 of the driving support system determines that it is not necessary to correct the travel locus in the travel lane (step S209: No), the process shown in FIG. 10 is performed thereafter. Then, the process proceeds to step S106 in FIG.

  On the other hand, in step S209, when the vehicle action policy determination unit 9 of the driving support system determines that the travel locus needs to be corrected in the travel lane (step S209: Yes), the travel locus is corrected by automatic driving control. Or determine a vehicle action policy that presents information prompting the driver to correct the driving trajectory. Then, the driving support system performs automatic driving control for correcting the driving locus according to the own vehicle action policy by the automatic driving control unit 12 or the output control unit 13, or presents information prompting the driver to correct the driving locus. Output control is performed (step S210). Thereafter, the process shown in FIG. 10 is terminated, and the process proceeds to step S106 in FIG.

  For example, in step S210, the own vehicle action policy determination unit 9 of the driving support system determines the own car action policy for changing the travel locus in the travel lane (see FIG. 2). Then, the target locus generation unit 10 of the driving support system generates a target locus for automatic driving control based on the own vehicle action policy determined by the own vehicle action policy determination unit 9. Next, the control parameter generation unit 11 of the driving support system generates optimal control parameters for performing automatic driving control in accordance with the target locus generated by the target locus generation unit 10. Next, the automatic driving control unit 12 of the driving support system executes automatic driving control based on the control parameter generated by the control parameter generating unit 11 so as to correct the traveling locus in the traveling lane. Alternatively, the output control unit 13 of the driving support system executes output control that presents information prompting the driver to correct the travel locus.

  Returning to FIG. 9, the description will be continued from the process of step S106. The own vehicle position calibration device 40 of the driving support system determines whether or not the own vehicle position can be calibrated with the reference feature (step S106). For example, the own vehicle position calibration device 40 of the driving support system includes image data including reference features detected by the image processing unit 16 by the matching unit 17a of the reference feature positioning unit 17, and a reference feature information storage unit 5 If the reference feature can be collated based on the reference feature information stored in, it is determined that the position of the vehicle on the reference feature can be calibrated.

  In step S106, when it determines with the driving | operation assistance system not being able to calibrate the own vehicle position in a reference | standard feature (step S106: No), it transfers to the process of step S109.

  On the other hand, when it is determined in step S106 that the vehicle position calibration device 40 of the driving support system can calibrate the vehicle position on the reference feature (step S106: Yes), the vehicle position calibration process is executed. To do. Specifically, the own vehicle position calibration device 40 of the driving support system includes the own vehicle position measured by the GPS positioning unit 15 using the GPS by the calibration unit 18a and the reference feature positioning unit 17 by the reference feature positioning unit 17. The own vehicle position is calibrated using the own vehicle position measured by using the own vehicle position, thereby executing the own vehicle position calibration procedure (step S107).

  Then, the own vehicle action policy determination unit 9 of the driving support system includes the own vehicle position acquired by the own vehicle position acquisition unit 7 and the reference features included in the reference feature information acquired from the reference feature information storage unit 5. Based on the position information, it is determined whether or not the camera 1a and the radar 1b have passed through a reference feature area that is an area where the reference feature can be recognized (step S108).

  In step S108, if the vehicle action policy determination unit 9 of the driving support system determines that the vehicle has not passed the reference feature area (step S108: No), the process returns to step S104. On the other hand, when it is determined in step S108 that the driving support system has passed the reference feature area (step S108: Yes), it is determined whether or not the driver has performed an operation of turning off the start switch of the driving support system. Thus, it is determined whether or not the end of the driving support system has been instructed (step S109).

  In step S109, when the driving support system determines that the end of the driving support system is not instructed (step S109: No), the process returns to the process of step S104. On the other hand, if the driving support system determines in step S109 that the end of the driving support system has been instructed (step S109: Yes), the process illustrated in FIG. 9 ends.

  As described above, the driving support system according to the above-described embodiment is running when it is determined that the own vehicle and a feature installed at the destination of the own vehicle are approaching based on the GPS information. An own vehicle action policy determining device 20 for determining an own car action policy for guiding the position of the own vehicle in the width direction to a position where the detection means of the running car detects a feature is likely to be detected; By providing the driving support device 30 that performs driving support for the host vehicle based on the host vehicle action policy generated by the host vehicle action policy determination device 20, the recognition accuracy of the feature can be improved.

  For example, the own vehicle action policy determination device 20 according to the above-described embodiment is configured such that when the feature is installed beside the traveling lane of the own vehicle, the own vehicle travels closer to the feature in the same lane. Since the policy is determined, when driving assistance is executed by the driving assistance device 30 and the vehicle travels on the target locus, the chance of detecting the feature in front view can be increased. Furthermore, the camera angle of view can be utilized to the maximum when detecting the feature, and the feature can be imaged as large as possible. In addition, the own vehicle action policy determining device 20 may change the own car action policy for changing the lane to another travel lane when the feature is installed in a travel lane different from the travel lane of the own vehicle. If the feature is installed across multiple driving lanes including the driving lane of the own vehicle, the driving lane with the lowest vehicle density of the destination of the own vehicle among the multiple driving lanes Decide on a policy for changing your lane. As a result, when driving assistance is executed by the driving assistance device 30 and the feature is detected by the detection means after the vehicle has traveled in accordance with the vehicle action policy, the surrounding other vehicles are detected by the detection means of the vehicle by changing the lane. Opportunities for shielding the area can be reduced, and as a result, detection errors and detection interruptions of features can be suppressed.

  Furthermore, in the driving support system according to the above-described embodiment, when driving support is executed by the driving support device 30 and a feature is detected by the detecting unit after the vehicle has traveled according to the own vehicle action policy, the driving unit is detected by the detecting unit. The vehicle position calibration device 40 that calibrates the position of the vehicle based on the GPS information based on the position of the feature that has been added further provides driving assistance so that the possibility of detecting the feature is increased. Can be executed. As a result, the detection means can detect the feature with high accuracy, and further, the vehicle position can be calibrated with high accuracy based on the detected feature.

1 Detection part (detection means)
DESCRIPTION OF SYMBOLS 1a Camera 1b Radar 1c Inter-vehicle communication part 1d Road-to-vehicle communication part 2 Own vehicle travel lane recognition part 3 Surrounding vehicle recognition part 4 Road structure recognition part 5 Reference | standard feature information storage part 6 Road information storage part 7 Own vehicle position acquisition part 8 Vehicle data acquisition unit 9 Vehicle action policy determination unit 10 Target locus generation unit 11 Control parameter generation unit 12 Automatic operation control unit 13 Output control unit 14 GPS receiver 15 GPS positioning unit 15a Dead reckoning unit 16 Image processing unit 17 Reference feature Positioning unit 17a Collation unit 18 Vehicle position matching unit 18a Calibration unit 20 Vehicle action policy determination device 30 Driving support device 40 Vehicle position calibration device 100 Vehicle (vehicle)
200 Advance car

Claims (8)

When it is determined based on the GPS information that the vehicle and the feature installed at the destination of the vehicle are approaching, the position of the vehicle in the width direction with respect to the road of the vehicle is A vehicle action policy determination device for determining a vehicle action policy to be guided to a position where detection possibility of detecting the feature by the vehicle detection means is high;
A driving support device that performs driving support for the host vehicle based on the host vehicle behavior policy determined by the host vehicle behavior policy determination device;
A driving support system characterized by comprising:   The own vehicle action policy determining device determines the own car action policy that the own vehicle travels closer to the feature in the same lane when the feature is installed beside the traveling lane of the own vehicle. The driving support system according to claim 1, wherein:   The own vehicle action policy determination device is configured to change the lane of the host vehicle to the different travel lane when the feature is installed in a travel lane different from the travel lane of the host vehicle. The driving support system according to claim 1, wherein an action policy is determined.   When the feature is installed across a plurality of traveling lanes including the traveling lane of the own vehicle, the own vehicle action policy determining device is configured to advance the own vehicle out of the plurality of traveling lanes. The driving support system according to claim 1, wherein the self-vehicle action policy for changing a lane to a traveling lane with the lowest vehicle density is determined. When the driving support is executed by the driving support device and the feature is detected by the detection means after the vehicle has traveled according to the vehicle action policy, based on the detected position of the feature, A vehicle position calibration device for calibrating the position of the vehicle based on the GPS information;
The driving support system according to claim 1, further comprising:   The driving assistance includes at least one of driving assistance by driving control for the own vehicle and driving assistance by providing information for encouraging the driver of the own vehicle to run according to the own vehicle action policy. The driving support system according to any one of claims 1 to 5, wherein the driving support system is characterized.   7. The feature according to claim 1, wherein the feature includes at least one of a traffic signal, a sign, a tunnel, a pier, a bridge girder, a pedestrian bridge, a road surface paint, a bus stoplight, and a reflector. The described driving assistance system. When it is determined based on the GPS information that the vehicle and the feature installed at the destination of the vehicle are approaching, the position of the vehicle in the width direction with respect to the road of the vehicle is Determining a vehicle action policy for guiding the vehicle to a position where the detection possibility of detecting the feature is high;
Performing driving support for the vehicle based on the determined vehicle action policy;
A driving support method comprising:

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