JP2017068760A - Travel support system and travel support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To use behavior of a second vehicle detected by a first vehicle for travel support of the second vehicle.SOLUTION: In a travel support system 1, a first device 100 on a first vehicle includes a control device 110 that performs an identification function to identify a second vehicle by using a photographic image obtained with a camera 131, an extraction function to extract behavior of the second vehicle, and an output function to output object information associating the behavior of the second vehicle with identification information on the second vehicle; and a second device 200 on the second vehicle has a travel support function to support travel of the second vehicle by using the received object information.SELECTED DRAWING: Figure 1

Description

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

  With respect to this type of device, a technology is known in which one device transmits its own or obstacle detection information to another terminal so that the position of the one device or obstacle is notified to the other device ( Patent Document 1).

JP 10-79100 A

  In the conventional technique, other devices can recognize the presence of the obstacle based on the detection information of the obstacle detected by one device, but conversely, one device uses the detection information of the other device. There is a problem that can not be.

  The problem to be solved by the present invention is that detection information detected by one device is used for driving support of another device, and detection information detected by another device is used for driving support of one device. Is to be able to do that.

  The present invention identifies a second vehicle detected using a captured image of a camera of the first device, and outputs target information that associates the identification information of the second vehicle with the behavior of the second vehicle to a server. Then, the server transmits the behavior of the second vehicle to the second vehicle, and the second device uses the behavior of the second vehicle to support the traveling of the second vehicle, thereby solving the above problem.

  According to the present invention, not only detection information detected by one device is used for driving support of another device, but also detection information detected by another device can be used for driving support of one device. . As a result, it is possible to provide a driving support system that can mutually use detection information detected by a plurality of devices.

It is a block block diagram of the driving assistance system concerning this embodiment. It is a figure which shows an example of the target information of this embodiment. It is a 1st figure for demonstrating operation | movement of the driving assistance system of this embodiment. It is a 1st figure for demonstrating operation | movement of the driving assistance system of this embodiment. It is a flowchart for demonstrating the control procedure of the driving assistance system which concerns on this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the present invention is applied to the driving support system 1 will be described as an example.

FIG. 1 is a diagram showing a block configuration of a driving support system 1 of the present embodiment.
The travel support system 1 according to the present embodiment includes a first device 100 and a second device 200. The driving support system 1 may include a server 300. The first device 100 is mounted on the first vehicle. Second device 200 is mounted on a second vehicle different from the first vehicle. The server 300 exchanges information with the first device 100 and the second device 200. The first device 100 includes a communication device 120, and the second device 200 includes a communication device 220. The communication device 120 of the first device 100 and the communication device 220 of the second device 200 can exchange information directly by inter-vehicle communication. The first device 100 and the second device 200 may exchange information via the server 300.

  Hereinafter, each device will be described. First, the first device 100 will be described. The first device 100 of the present embodiment includes at least an information acquisition function for acquiring information on the second vehicle around the first vehicle. The first device 100 includes a control device 110, a communication device 120, a detection device 130, and a navigation device 160. When the first vehicle is the host vehicle, the second vehicle is another vehicle.

  The control device 110 generates target information in which the behavior of the second vehicle and the identification information of the second vehicle are associated with each other, and a ROM (Read Only Memory) 112 storing a program to be output, and a program stored in the ROM Is a computer including a CPU (Central Processing Unit) 111 as an operation circuit that functions as the first device 100 and a RAM (Random Access Memory) 113 that functions as an accessible storage device.

  The control device 110 of the present embodiment is mounted on the first vehicle. The control device 110 outputs target information in which an identification function for identifying an object including another vehicle, an extraction function for extracting the behavior of the target object, and the behavior of the second vehicle and the identification information of the second vehicle are associated with each other. Output function. The first device 100 of the present embodiment can also have the same configuration as the second device 200 described later.

The control device 110 according to the present embodiment detects an object using the detection device 130.
The detection device 130 includes a camera 131 and detects an object using a captured image of the camera 131. The installation location of the camera 131 is not limited, and the camera 131 may be disposed in front of the vehicle or may be disposed in the rear. The camera 131 may image the front or front left and right sides of the host vehicle (first vehicle), or may capture the rear or front left and right sides of the host vehicle (first vehicle). You may image the left-right side of the own vehicle (1st vehicle).

  The “object” in the present embodiment includes objects such as other vehicles, pedestrians, motorcycles, road structures such as traffic signs. The detection apparatus 130 according to the present embodiment identifies a detected object using a captured image, and extracts the behavior of the identified object.

  The detection device 130 extracts features such as edges from the captured image, refers to information associating the features of the image with the attributes of the object, and captures images based on the direction, length, and position of the extracted edges. An object included in the image is detected. The detection device 130 identifies the attribute of the object detected using the captured image. The detection device 130 identifies the attribute of the target object from the appearance characteristic of the detected target object. The detection device 130 identifies the attributes of a vehicle such as an ambulance, a fire engine, a police vehicle, a truck, a trailer, a bus, or a construction vehicle from the appearance, color, and size of the vehicle.

  Furthermore, the control device 110 according to the embodiment identifies an object detected using the detection device 130. When the target object is a stationary object, the detection device 130 identifies each target object based on the position information of the target object. When the object is a moving body such as another vehicle, the detection device 130 recognizes a symbol written on a license plate attached to the other vehicle, and identifies the other vehicle based on the recognized symbol. Since the symbol written on the license plate attached to the vehicle is a unique value for each vehicle, the vehicle can be specified by the symbol of the license plate.

  The control device 110 of the present embodiment extracts the behavior of the object using the detection device 130. The detection device 130 extracts the behavior of the identified object using the captured image. The detection device 130 extracts the speed, acceleration, and moving direction of the target object as the behavior of the target object using changes over time of the captured image. The detection device 130 according to the present embodiment extracts the speed, acceleration, and moving direction (right turn or left turn) of the other vehicle as the behavior of the other vehicle using the temporal change of the captured image. The detection device 130 extracts the operation of the side mirror of the other vehicle, the lighting of the brake lamp, the lighting of the blinker lamp, and the lighting of the headlight as behaviors of the other vehicle, using changes with time of the captured image. Other vehicles that turn on the blinker lamp are predicted to turn right or left. Other vehicles operating to fold the side mirror are expected to pass through a narrow passage. Other vehicles that operate to turn on the brake lamp are expected to pause and slow down.

  The control device 110 according to the present embodiment detects the current position of the first vehicle (own vehicle) using the position detection device 161 provided in the navigation device 160. Control device 110 calculates the position of the second vehicle detected using the current position of the first vehicle. Based on the position of the first vehicle that is the host vehicle and the position of the image of the second vehicle in the captured image, the position of the other vehicle relative to the first vehicle is calculated. A method for calculating the position of the other vehicle with respect to the host vehicle using the captured image is not particularly limited, and a method known at the time of filing can be used.

The control device 110 according to the present embodiment acquires the identification result of the object and the extraction result of the identified object from the detection device 130. The control device 110 acquires the position information of the object from the navigation device 160.
The control device 110 outputs the target information in which the behavior of the target object is associated with the identification information to the server 300. When the target object is another vehicle (second vehicle), target information in which the behavior of the second vehicle is associated with the identification information of the second vehicle is output to the server 300.

FIG. 2 is a diagram illustrating an example of the target information.
As shown in FIG. 2, the identification information and the behavior information are associated with each other. In this example, position information is further associated with identification information and behavior information.

  The identification information includes an identifier for identifying an object (including another vehicle / second vehicle), attribute information indicating an attribute of the object, and specific information for identifying the object. The attribute information includes other vehicles (second vehicle), pedestrians, obstacles, and the like as attributes of the object. The identification information is information that specifically identifies the attribute of the object. The specific information in a case where the target object is another vehicle is vehicle registration information displayed on the license plate of the other vehicle. The specific information in the case where the object is a pedestrian is information that limits the pedestrian such that the pedestrian is a child. Whether or not the user is a pedestrian is determined based on the size (height) of the image corresponding to the pedestrian. The specific information when the object is an obstacle is information for limiting the obstacle such as the obstacle being a construction site.

  The behavior information is information indicating the operation of the object. The behavior information when the target object is another vehicle is “the other vehicle decelerates”, “the other vehicle avoids an obstacle and moves right or left”, “the other vehicle “Proceed without change”, “Other vehicle folds side mirror”, “Other vehicle turns back”, “Other vehicle temporarily stops”, “Other vehicle stops and reverses”. The behavior information includes the movement amount of the other vehicle, the movement speed of the other vehicle, and the movement acceleration of the other vehicle. The behavior information includes the position of the other vehicle with respect to the lane marker (beyond the lane marker), the position of the other vehicle with respect to the oncoming vehicle, and the like. The behavior information includes the positional relationship between the obstacle and the other vehicle through which the other vehicle is passing. A camera that images the front of the vehicle can image an obstacle in front of the vehicle, but cannot capture an image when avoidance of the obstacle is started. On the other hand, the camera of the other vehicle behind the vehicle can image the state in which the vehicle ahead avoids the obstacle.

  These pieces of behavior information are extracted from temporal changes in imaging information that is continuously captured. A plurality of pieces of behavior information may be associated with one object. The behavior information may be a combination of these information. Different behavior information may be defined by the combined behavior information. For example, by combining the behavior information “the object decelerates” and “fold the side mirror”, new behavior information “other vehicle passes through the narrow road” is derived, and this is associated with the identification information. Good. Similarly, by combining the behavior information “stop / reverse” and “avoidance, progress”, new behavior information “the passage is narrow and the other vehicle passes the oncoming vehicle after passing the oncoming vehicle”. It may be associated with identification information.

  The “other vehicle” that is the object is not limited to the second vehicle. The second device of the second vehicle uses behavior information of vehicles other than the second vehicle for driving support of the second vehicle. For example, in a situation where a vehicle other than the second vehicle folds the side mirror, the second vehicle can be predicted to require the same movement, so the operation of folding the side mirror without waiting for the driver's operation. To support the operation of the driver.

  These pieces of behavior information are associated with the position information of the place where the behavior information is extracted. By associating the behavior information with the position information, it is possible to obtain information about where and what action the object has taken. According to such target information, it is possible to predict where and what action the specified other vehicle will take. For this reason, driving | running | working of another vehicle can be supported efficiently. By the way, when behavior information is transmitted in real time from the first vehicle to the second vehicle (other vehicle) using a narrow area communication network like inter-vehicle communication, the second vehicle immediately transmits the behavior information. May be available. As described above, the driving support can be realized even when the position information is not included in the target information.

  The behavior information when the object is a pedestrian is “jumping out”, “crossing”, and the like. These pieces of behavior information are extracted from temporal changes in imaging information that is continuously captured. From the detection result that a pedestrian suddenly appears and the speed is high, “jump” is extracted as behavior information. When the jumping behavior information is acquired, the second device 200 of the host vehicle can execute control for decelerating the host vehicle using the vehicle controller 270.

  The control device 110 of the first device 100 sends the target information to the second device 200 of the second vehicle using the communication device 120. The control device 110 of the first device 100 of the present embodiment transmits the target information to the server 300, and sends the target information to the second device 200 of the second vehicle via the server. The target information is information that associates the behavior of the second vehicle with the identification information of the second vehicle. The target information may be information in which the behavior of the second vehicle, the identification information of the second vehicle, and the position of the second vehicle are associated with each other.

  Next, the server 300 will be described. The server 300 includes an information acquisition device 310 and a database 320. The information acquisition device 310 includes a communication device 311. The information acquisition device 310 acquires target information from the first device 100 using the communication device 311. The database 320 stores the acquired target information. As shown in FIG. 2, the database 320 stores target information that associates the behavior of the second vehicle with the identification information of the second vehicle. The database 320 may store target information in which the behavior of the second vehicle, the identification information of the second vehicle, and the position information are associated with each other.

  The information acquisition device 310 of the server 300 uses the communication device 311 to transmit the behavior of the second vehicle associated with the identification information of the second vehicle to the second vehicle. The information acquisition device 310 stores the addresses of the first device 100 and the second device 200 in association with each piece of identification information. The information acquisition device 310 transmits the behavior of the second vehicle to the address of the second device 200.

Next, the second device 200 will be described.
The second device 200 of this embodiment includes at least a travel support function that supports the travel of the second vehicle. The second device 200 supports traveling of the second vehicle using the target information acquired from the first device 100. When the second vehicle is the host vehicle, the first vehicle is another vehicle.

  The second device 200 includes a control device 210, a communication device 220, a detection device 230, a travel support device 240, an output device 250, a navigation device 260, a vehicle controller 270, a vehicle sensor 280, and vehicle equipment. 290.

  Since the communication device 220, the detection device 230, and the navigation device 260 have the same functions as the communication device 120 and the detection device 130 included in the first device 100 described above, the description thereof is cited.

  The control device 210 includes a ROM (Read Only Memory) 212 in which a program for supporting the traveling of the second vehicle using target information that associates the behavior of the second vehicle with the identification information of the second vehicle, and the ROM A CPU (Central Processing Unit) 211 as an operation circuit that functions as the second device 200 and a RAM (Random Access Memory) 213 that functions as an accessible storage device are provided. It is a computer.

  The control device 210 of this embodiment is mounted on the second vehicle. The control device 210 includes an acquisition function for acquiring the behavior of the second vehicle from the server 300, and a travel support function for supporting the travel of the second vehicle using the acquired behavior of the second vehicle.

  The control device 210 uses the travel support device 240, the vehicle controller 270, the vehicle sensor 280, the vehicle equipment 290, and the navigation device 260 to support the travel of the second vehicle.

The content of the driving assistance for the second vehicle is not particularly limited.
Although it is an example, the following traveling control can be performed.
(1) When target information including the behavior that “the second vehicle performs a deceleration operation” is acquired, the second vehicle is suggested to perform a deceleration operation or travels at a reduced speed at a point associated with the target information. Can be executed to automatically execute. To suggest a deceleration operation to the second vehicle is a control to display that the deceleration control is performed on the display 251 of the output device 250 or to announce that the deceleration control is performed via the speaker 252. Similarly, in the following (2) and after, “suggest” refers to transmitting the control to be performed to the driver in advance through visual or auditory senses.
(2) When target information including a behavior that “the second vehicle performs an operation of avoiding an obstacle to the right or left” is acquired, at the point associated with the target information, Control which suggests avoidance operation to 2 vehicles or performs avoidance driving automatically can be performed.
(3) When target information including a behavior that “the second vehicle travels without changing its direction” is acquired, the second vehicle is suggested to travel straight at the point associated with the target information. Alternatively, it is possible to execute a control of automatically executing a straight traveling operation.
(4) When the target information including the behavior “the second vehicle folds the side mirror” is acquired, it is suggested that the side mirror is folded at the point associated with the target information or the side mirror is The control of automatically executing the operation of folding can be executed. Since driving support using the behavior of the vehicle equipment of the own vehicle acquired by the other vehicle is executed, the driver of the own vehicle can concentrate on driving without paying attention to the operation of the vehicle equipment. Even if the vehicle is not damaged, it is possible to prevent an accident such as damage to the side mirror.
(5) When target information including a behavior that “the second vehicle makes a turnover” is acquired, an operation of suggesting or making a turnover at a point associated with the target information Can be executed to automatically execute.
(6) When the target information including the behavior “the second vehicle is temporarily stopped” is acquired, it is suggested that the vehicle is temporarily stopped or paused at the point associated with the target information. It is possible to execute a control of automatically executing the operation.
(7) When the target information including the behavior that “the second vehicle stops and moves backward” is acquired, it is suggested that the vehicle stops and moves backward at the point associated with the target information. In addition, it is possible to execute control for automatically executing the operation of moving backward.
(8) When target information including a behavior that “the speed of the second vehicle is equal to or higher than a predetermined value” is acquired, a control that suggests decelerating or automatically executes a decelerating operation is executed. it can.
(9) When target information including the behavior that “the second vehicle protrudes from the lane marker” is acquired, it is suggested that the vehicle is steered in the direction of the own lane or automatically travels in the own lane. Control of steering can be executed.

These travel controls may be executed at the timing when the target information is generated, or may be executed when the vehicle travels again at the position where the target information is generated.
Thus, since the behavior of the 2nd vehicle produced | generated by the 1st vehicle is used, the information which cannot be acquired only by the 2nd vehicle can be complemented. As a result, traveling support for the second vehicle can be accurately performed.

  The vehicle sensor 280 of the present embodiment includes a rudder angle sensor 281, a vehicle speed sensor 282, and an attitude sensor 283. The steering angle detected by the rudder angle sensor 281, the speed or acceleration detected by the vehicle speed sensor 282, and the vehicle attitude detected by the attitude sensor 283 are used for driving support of the second vehicle. The driving support device 240 controls the driving of the second vehicle using the behavior of the second vehicle detected by the vehicle sensor 280 and the behavior of the second vehicle acquired from the server 300.

  The vehicle equipment 290 of this embodiment includes a door mirror 291 and a light 292. The control device 210 acquires the open / closed state of the door mirror 291. The control device 210 acquires the lighting state of the light 292. The vehicle controller 270 can close the door mirror 291 in the open state, and can open the door mirror 291 in the closed state. The light 292 includes a blinker lamp and a brake lamp. The vehicle controller 270 can turn off the light 292 that is turned on. The vehicle controller 270 can turn on the light 292 that is turned off.

  The vehicle controller 270 of this embodiment is an in-vehicle computer such as an engine control unit (Engine Control Unit, ECU), and electronically controls the driving state of the vehicle. Examples of the vehicle of the present embodiment include an electric vehicle including an electric motor as a travel drive source, an engine vehicle including an internal combustion engine as a travel drive source, and a hybrid vehicle including both the electric motor and the internal combustion engine as a travel drive source. Note that electric vehicles and hybrid vehicles using an electric motor as a driving source include a type using a secondary battery as a power source for the electric motor and a type using a fuel cell as a power source for the electric motor.

  The drive device 271 of this embodiment includes a drive mechanism for the host vehicle. The drive mechanism includes an electric motor and / or an internal combustion engine that are the above-described travel drive sources, a power transmission device including a drive shaft and an automatic transmission that transmits output from these travel drive sources to the drive wheels, and brakes the wheels. A braking device 272 is included. The drive device 271 generates each control signal of these drive mechanisms based on the input signal by the accelerator operation and the brake operation, the control signal acquired from the vehicle controller 270 or the travel support device 240, and performs the travel control including acceleration / deceleration of the vehicle. Run. By sending control information to the drive device 271, traveling control including acceleration / deceleration of the vehicle can be automatically performed. In the case of a hybrid vehicle, torque distribution output to each of the electric motor and the internal combustion engine corresponding to the traveling state of the vehicle is also sent to the drive device 271.

  The steering device 273 of this embodiment includes a steering actuator. The steering actuator includes a motor and the like attached to the column shaft of the steering. The steering device 273 executes change control of the traveling direction of the vehicle based on a control signal acquired from the vehicle controller 270 or an input signal by a steering operation. The vehicle controller 270 executes control for changing the traveling direction by sending control information including the steering amount to the steering device 273. Further, the vehicle controller 270 may execute change control of the traveling direction of the vehicle by controlling the braking amount of each wheel of the vehicle. In this case, the vehicle controller 270 executes control for changing the traveling direction of the vehicle by sending control information including the braking amount of each wheel to the braking device 272. The control of the driving device 271, the control of the braking device 272, and the control of the steering device 273 may be performed completely automatically, or may be performed in a manner that supports the driving operation (progression operation) of the driver. . The control of the driving device 271, the control of the braking device 272, and the control of the steering device 273 can be interrupted / stopped by the driver's intervention operation. The vehicle controller 270 controls or supports driving of the host vehicle in accordance with instructions from the control device 210. The control device 210 may control the vehicle controller 270 via the driving support device 240.

  In this example, the first device 100 includes the control device 110 having the information acquisition function, and the second device 200 includes the control device 210 having the travel support function. The two devices 200 may be the same device. That is, the first device 100 may include the control device 110 that includes both the information acquisition function and the travel support function, and the second device 200 may include the control device 210 that includes both the information acquisition function and the travel support function.

  The content of the driving assistance of the second vehicle may be displayed on the display 251 of the output device 250, or may be read out by voice through the speaker 252.

  Based on FIG. 3A and FIG. 3B, the driving | running | working assistance method of this embodiment is demonstrated. In the situation shown in FIGS. 3A and 3B, the first vehicle V1 and the second vehicle V2 move along a narrow road along the arrow B direction. There is an obstacle Q on the shoulder of this narrow road. FIG. 3A is a diagram illustrating a state at timing T1, and FIG. 3B illustrates a state at timing T2 after timing T1.

  As shown in FIG. 3A, the first vehicle V1 acquires information on the second vehicle V2 existing in the vicinity. The first device 100 of the first vehicle V1 uses the camera 131 to acquire a captured image in front of the first vehicle V1. In this example, the captured image includes another vehicle (V2) as the second vehicle V2 and an obstacle Q. Obstacles include road defects, construction sites, and parked vehicles.

  The second device 200 of the second vehicle V2 uses the camera 231 to acquire a V2 forward image of the second vehicle. The second device 200 detects the front obstacle Q and transmits the target information in which the identification information and the behavior information are associated with each other to the first vehicle V1 that is the other vehicle behind. The traveling directions of the first vehicle V1 and the second vehicle V2 are the same. The second vehicle V2 acquires information on the obstacle Q, which is an obstacle ahead, and transmits the information to the first vehicle V1 behind. The first vehicle V1 uses the acquired information for driving support.

On the other hand, even if the first vehicle behind the vehicle obtains information on the obstacle Q, the information is not useful for the second vehicle V2. This is because the information about the obstacle Q can be acquired more accurately at an earlier timing in the preceding second vehicle V2 than in the rear first vehicle V1.
That is, even if the information of the front obstacle Q acquired by the preceding second vehicle V2 is useful for the first vehicle V1 behind, the obstacle Q information acquired by the rear first vehicle V1 is the preceding obstacle V information. It is not useful for the second vehicle V2. In other words, the preceding second vehicle V2 cannot use the information acquired by the rear first vehicle V1 for driving support.

Next, FIG. 3B shows a situation at timing T2 after timing T1.
As shown in FIG. 3B, the second vehicle V2 moves forward while avoiding the obstacle Q. The second vehicle V2 decelerates in front of the obstacle Q, performs an operation of folding the side mirror to avoid contact with the obstacle Q and / or the roadside, and performs a steering operation to turn right.

  The first device 100 of the first vehicle V1 detects the presence position of the second vehicle V2 from the captured image and identifies the number plate symbol of the second vehicle V2. The first device 100 extracts the behavior of the second vehicle V2 that travels while avoiding the obstacle Q. Specifically, the first device 100 extracts behavior information that the second vehicle V2 decelerates, the side mirror is folded, and the vehicle is steered to the right. The first device 100 transmits target information in which behavior information and identification information are associated with each other to the server 300. The target information may include position information of the second vehicle V2. The first device 100 calculates the position information of the second vehicle V2 based on the position of the first vehicle V1 detected by the position detection device 161 and the position of the second vehicle V2 in the captured image.

  The second device 200 of the second vehicle V2 acquires behavior information of the second vehicle V2 from the target information generated by the first device 100 via the server 300. The server 300 stores the target information generated by the first device 100 in a database, and when there is a request from the second device 200, or the position associated with the position of the second vehicle V2 and the target information The behavior information of the second vehicle V2 may be sent out when the two match. Of course, the second device 200 of the second vehicle V2 may directly acquire the target information from the first device 100 using inter-vehicle communication. In addition, when the 1st apparatus 100 and the 2nd apparatus 200 utilize narrow area communication, you may utilize the object information which the 1st apparatus 100 produces | generates for driving assistance as real-time information. Thereby, although the 2nd vehicle V2 cannot be recognized, the information recognized by the 1st vehicle V1 can be utilized for the driving assistance of the 2nd vehicle V2.

  The second device 200 of the second vehicle V2 supports traveling of the second vehicle V2 using the target information generated by the first device 100 of the first vehicle V1.

  In the present embodiment, the first device 100 that acquires the target information is mounted on the first vehicle V1, and the second device 200 that supports the travel using the target information is mounted on the second vehicle V2. However, the reverse may be possible. In the present embodiment, an example in which the first device 100 of the rear first vehicle V1 generates the target information of the front second vehicle V2 will be described, but the reverse may be possible. That is, the second device 200 of the second vehicle V2 traveling ahead uses the camera that captures the rear, and the first device 100 of the rear first vehicle V1 generates the target information of the second vehicle V2 ahead. May be.

  Then, the control procedure of the driving assistance system 1 of this embodiment is demonstrated based on the flowchart of FIG.

  First, the control procedure of the first device 100 will be described. In step S <b> 110, the control device 110 of the first device 100 images the surroundings of the first vehicle using the camera 131.

  In step S120, control device 110 identifies the second vehicle using the image captured by camera 131. When the object is a vehicle (second vehicle), the other vehicle (object) is specified by the registration number of the vehicle.

  In step S <b> 130, control device 110 detects the position of the first vehicle using position detection device 161.

  In step S140, control device 110 calculates the position of the second vehicle using the position of the first vehicle.

  In step S150, control device 110 extracts the behavior of the second vehicle using the image captured by camera 131.

  In step S160, control device 110 outputs target information in which the behavior of the second vehicle is associated with the identification information of the second vehicle. Control device 110 may include position information of the second vehicle in the target information. The control device 110 may send the target information to the server 300 or may send it to the second device 200.

A control procedure of the server 300 will be described.
In step S <b> 210, the information acquisition device 310 of the server 300 acquires target information from the first device 100.

  In step S <b> 220, the server 300 stores the acquired target information 321 in the database 320.

  In step S230, the server 300 determines whether it is the transmission timing of the target information. The transmission timing may be defined by the timing of a predetermined cycle, may be defined by the timing when the information provision request is made from the second device 200, or the position where the position of the second device 200 is stored in the target information And may be defined by the timing when the distance is less than the predetermined distance. When the transmission timing is reached, the process proceeds to step S240.

  In step S240, the server 300 transmits the behavior information of the target information to the second device 200 at the transmission timing.

A control procedure of the second device 200 will be described.
In step S310, the second device 200 acquires target information. The second device 200 may acquire via the server 300, or may acquire target information directly from the first device 100.

  In step S310, the second device 200 supports traveling of the second vehicle using the behavior of the second vehicle included in the target information.

  According to the driving support system 1 of the present embodiment, the following effects are obtained.

  [1] According to the driving support system 1 of the present embodiment, the first device 100 outputs target information in which the behavior of the second vehicle is associated with the identification information of the second vehicle, and the second device 200 The travel of the second vehicle is supported using the behavior of the second vehicle output by the device 100. In this way, since the behavior of the second vehicle generated by the first device 100 of the first vehicle is used, information that cannot be acquired only by the second vehicle can be supplemented. As a result, traveling support for the second vehicle can be accurately performed.

  [2] According to the travel support system 1 of the present embodiment, by including the position information of the second device 200 in the target information, the travel control based on the position can be executed. Specifically, since the traveling at the position A can be controlled by the behavior performed at the position A, it is possible to execute appropriate traveling support based on the past behavior.

  [3] According to the driving support system 1 of the present embodiment, the target information is stored in the database 320 of the server 300, and the server 300 transmits the target information to the second device 200. Therefore, the same effect as the above effect is obtained. be able to.

  [4] According to the driving support system 1 of the present embodiment, since the detection result of the vehicle sensor mounted on the second vehicle is used, accurate driving support using the detection results of the host vehicle and other vehicles can be executed.

  [5] According to the driving support system 1 of the present embodiment, since object information about objects other than other vehicles is also used, it is possible to execute accurate driving support in consideration of obstacles such as road signs and construction sites.

  [6] According to the driving support method using the driving support system of the present embodiment, the above-described effects can be obtained.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in this specification, the driving support system of the present invention will be described using the driving support system 1 including the first device 100, the second device 200, and the server 300 as an example, but the present invention is not limited to this. It is not something. The driving support system of the present invention can be configured as the driving support system 1 including the first device 100 and the second device 200 without providing the server 300.

  In this specification, the first device 100 including the control device 110, the communication device 120, the detection device 130, and the navigation device 160 will be described as an example of the first device according to the present invention. However, the present invention is not limited to this. It is not something.

  In the present specification, as the second device according to the present invention, a control device 210, a communication device 220, a detection device 230, a travel support device 240, an output device 250, a navigation device 260, a vehicle controller 270, Although the 2nd apparatus 200 provided with the vehicle sensor 280 and the vehicle accessory 290 is demonstrated as an example, it is not limited to this.

  In this specification, the server 300 including the information acquisition device 310 and the database 320 is described as an example of the server according to the present invention, but the present invention is not limited to this.

In the present specification, a first device 100 including a control device 110 that executes an identification function, an extraction function, and an output function will be described as an example of a first device including an identification unit, an extraction unit, and an output unit. However, the present invention is not limited to this.
In this specification, the second device 200 including the control device 210 that executes the information acquisition function and the travel support function will be described as an example of the second device including the travel support means. However, the present invention is not limited to this. Absent.
In this specification, the server 300 including the information acquisition device 310 and the database 320 is described as an example of a server including a database and a transmission unit, but the present invention is not limited to this.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance system 100 ... 1st apparatus 110 ... Control apparatus 111 ... CPU
112 ... ROM
113 ... RAM
DESCRIPTION OF SYMBOLS 120 ... Communication apparatus 130 ... Detection apparatus 131 ... Camera 160 ... Navigation apparatus 161 ... Position detection apparatus 162 ... Map information 200 ... Second apparatus 210 ... Control apparatus 211 ... CPU
212 ... ROM
213 ... RAM
DESCRIPTION OF SYMBOLS 220 ... Communication apparatus 230 ... Detection apparatus 231 ... Camera 240 ... Driving assistance apparatus 250 ... Output apparatus 260 ... Navigation apparatus 261 ... Position detection apparatus 262 ... Map information 270 ... Vehicle controller 271 ... Drive apparatus 271 ... Braking apparatus 273 ... Steering apparatus 280 ... Vehicle sensor 281 ... Rudder angle sensor 282 ... Vehicle speed sensor 283 ... Attitude sensor 290 ... Vehicle equipment 291 ... Door mirror 292 ... Light

Claims (6)

A first device for obtaining information of a second vehicle around the first vehicle;
A second device for supporting the traveling of the second vehicle;
A driving support system comprising:
The first device includes:
A camera,
Identification means for identifying the second vehicle detected using a captured image of the camera;
Extraction means for extracting the behavior of the identified second vehicle using the captured image;
Output means for outputting target information in which the behavior of the second vehicle is associated with the identification information of the second vehicle;
The second device includes:
A travel support system comprising travel support means for receiving the target information output by the first device and supporting the travel of the second vehicle using the target information. The first device includes:
A position detecting means for detecting a current position of the first vehicle;
The identification means calculates a position of the detected second vehicle using a current position of the first vehicle;
The driving support system according to claim 1, wherein the output unit outputs target information that associates the behavior of the identified second vehicle, the identification information of the second vehicle, and the position of the second vehicle. The driving support system includes:
A server for exchanging information with the first device and the second device;
The server
A database for storing the target information;
Transmission means for transmitting the target information to the second vehicle,
The second device includes:
The travel support system according to claim 1, further comprising a travel support unit that supports travel of the second vehicle by using the target information acquired via the server. The second device includes:
A vehicle sensor for detecting the behavior of the second vehicle;
The travel support means includes a behavior of the second vehicle detected by the vehicle sensor and assists the travel of the second vehicle using the target information. The driving support system described. In the first device,
The identification means identifies an object detected using a captured image of the camera;
The extraction means extracts the behavior of the identified object using the captured image,
The driving support system according to any one of claims 1 to 4, wherein the output means outputs target information in which the behavior of the target object is associated with identification information of the target object. A driving support method used in a driving support system including a first device that acquires information on a second vehicle around the first vehicle and a second device that supports driving of the second vehicle,
Identifying the second vehicle detected using an image captured by the camera of the first device;
Using the captured image, extract the behavior of the identified second vehicle,
Outputting target information associating the behavior of the second vehicle with the identification information of the second vehicle;
A travel support method for supporting travel of the second vehicle using the behavior of the second vehicle using the second device.

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