JP2017102839A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique capable of securing a suitable recognition range or visual field range regarding the recognition range of a periphery recognition device or the visual field of a driver of another vehicle.SOLUTION: In a driving support device 13, a behavior recognition unit 53 recognizes predicted behavior indicating a travel direction of another vehicle from now on around a host vehicle on the basis of information from at least one of a periphery recognition device to recognize the situation around the vehicle and a communication device to communicate with the outside mounted on the host vehicle. A host vehicle control unit 55 controls operation of the host vehicle so that at least one of the recognition range of a periphery recognition device mounted on the other vehicle and the visual field range of a driver of the other vehicle is expanded on the basis of the predicted behavior of the other vehicle when the host vehicle is driven automatically.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a driving support apparatus that performs driving support during automatic driving.

  Conventionally, as a device that supports driving of a vehicle, for example, Patent Literature 1 discloses a driving support device that supports driving when changing lanes. In this driving support device, when the recognition range of a surrounding recognition device such as a camera or radar that recognizes other vehicles around the host vehicle is reduced by an obstacle, the vehicle is used to widen the recognition range. Is controlling the operation.

JP 2014-180986 A

  However, in the above-described prior art, when the vehicle does not have such a control function or has the control function, it is difficult to perform control that widens the recognition range due to the relationship between the road and other vehicles. In some cases, it is not easy to secure a sufficient recognition range.

  For example, when another vehicle that does not have the above function is traveling in front of the host vehicle, a part of the recognition range behind the surrounding recognition device mounted on the other vehicle is blocked by the host vehicle. Therefore, other vehicles may not be able to fully recognize the rear.

The same applies to the field of view of drivers of other vehicles. That is, when there is another vehicle behind the vehicle, the visual field range behind the driver may not be sufficient.
If the recognition range and the visual field range are not sufficient as described above, for example, if another vehicle forcibly performs an operation such as a course change, there is a possibility that a safety problem may occur.

  The present invention has been made in view of these problems, and provides a technique capable of ensuring a suitable recognition range and visual field range for the recognition range of the surrounding recognition device of another vehicle or the visual field range of the driver. For the purpose.

(1) The driving support device according to one aspect of the present invention includes an automatic driving unit (51), a behavior recognition unit (53), and a host vehicle control unit (55).
The automatic driving unit performs automatic driving of the host vehicle (J).

  The behavior recognition unit is based on information from at least one of a surrounding recognition device (9) that recognizes a situation around the own vehicle mounted on the own vehicle and a communication device (17) that communicates with the outside. The prediction behavior indicating the future traveling direction of the other vehicle (T) around the vehicle is recognized.

  The own vehicle control unit, based on the predicted behavior of the other vehicle recognized by the behavior recognition unit during automatic driving by the automatic driving unit of the own vehicle, the recognition range of the surrounding recognition device mounted on the other vehicle and the other vehicle The operation of the host vehicle is controlled so as to widen at least one of the driver's visual field range.

  According to this configuration, in the case of automatic driving, based on the predicted behavior of the other vehicle, the recognition range of the surrounding recognition device of the other vehicle and the field of view of the driver of the other vehicle are widened from the current state. Control the behavior. Therefore, in other vehicles, since the recognition range of the surrounding recognition device and the driver's visual field range are widened, it is possible to grasp the situation around the vehicle more accurately.

  In other words, the other vehicle controls the other vehicle itself, for example, automatic driving or the driving operation by the driver based on a lot of information obtained by widening the recognition range of the surrounding recognition device and the driver's visual field range. Can improve safety.

  As a result, it is possible to prevent other vehicles around the host vehicle from performing control and driving operations on the other vehicle based on insufficient information around the other vehicle itself, so that the host vehicle is involved in an accident or the like. Can be suppressed.

(2) Moreover, the driving assistance apparatus of the other aspect of this invention is provided with the automatic driving | operation part, the state detection part (71), and the influence reduction part (73).
The automatic driving unit performs automatic driving of the host vehicle.

  The state detection unit affects the recognition ability of each other's surrounding recognition device, and thus recognizes that the operation of the surrounding recognition device that recognizes the surrounding situation of the host vehicle and the surrounding recognition device that recognizes the surrounding situation of the other vehicle influence each other. Detects a condition that affects the range.

  When the influence reducing unit detects a state that affects the recognition ability, and thus a state that affects the recognition range, the influence reducing unit controls the operation of the host vehicle so as to reduce the influence. That is, the operation of the host vehicle is controlled so as to secure a preferable recognition range by suppressing the recognition deterioration of the surrounding recognition device.

  According to this configuration, when the operations of the surrounding recognition devices influence each other, the recognition ability of each surrounding recognition device, and thus the mutual recognition range, is affected. To control the operation of the vehicle.

  Therefore, in other vehicles, a part or all of the recognition ability of the surrounding recognition device that has been reduced by the influence is restored, and the recognition range is similarly restored. Therefore, the safety of the other vehicle itself can be controlled based on a lot of information obtained from the surrounding recognition device, for example, control such as automatic driving or driving operation by the driver can be performed.

  As a result, it is possible to prevent other vehicles around the host vehicle from performing control and driving operations on the other vehicle based on insufficient information around the other vehicle itself, so that the host vehicle is involved in an accident or the like. Can be suppressed.

  In addition, the code | symbol in the parenthesis described in this column and a claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is shown. It is not limited.

It is a block diagram which shows the vehicle-mounted system containing the driving assistance device of 1st Embodiment. It is a block diagram functionally showing the driving support device of a 1st embodiment. It is a flowchart which shows the driving assistance process implemented with the driving assistance apparatus of 1st Embodiment. It is explanatory drawing which shows the driving | running | working state of the own vehicle when not implementing the driving assistance control of 1st Embodiment. It is explanatory drawing which shows the driving | running | working state of the own vehicle at the time of implementing the driving assistance control of 1st Embodiment. It is explanatory drawing which shows the change of the recognition range of the other vehicle of back before and after control which implements the driving assistance control of 1st Embodiment. It is explanatory drawing which shows the change of the recognition range of the other vehicle ahead before the control which implements driving assistance control of 1st Embodiment, and after control. It is a flowchart which shows the driving assistance process implemented with the driving assistance apparatus of 2nd Embodiment. It is explanatory drawing which shows the state at the time of implementing the driving assistance control of 2nd Embodiment when the other vehicle ahead turns right at an intersection. It is explanatory drawing which shows the state at the time of implementing the driving assistance control of 2nd Embodiment when the other vehicle of the back turns left at an intersection. It is explanatory drawing which shows the state at the time of implementing the driving assistance control of 2nd Embodiment when the other vehicle ahead turns left at an intersection. It is a block diagram functionally showing a driving support device of a third embodiment. It is a flowchart which shows the driving assistance process implemented with the driving assistance apparatus of 3rd Embodiment. It is explanatory drawing which shows the change of the state before and after control which implements the driving assistance control of 3rd Embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
[1. First Embodiment]
[1-1. Constitution]
First, the system configuration of the driving support apparatus according to the first embodiment will be described.

  As shown in FIG. 1, the in-vehicle system 1 according to the first embodiment is a system capable of automatic driving of a vehicle. As will be described later, the in-vehicle system 1 includes various devices mounted on the host vehicle J (see FIG. 4). It is configured.

  The in-vehicle system 1 has an automatic driving function for automatically driving the host vehicle J to a destination according to a travel route that is a route to the destination set by a passenger, for example. This automatic driving function is realized by a plurality of functions that support driving of the host vehicle J.

  The plurality of functions constituting the automatic driving function include, for example, a steering angle control function, a vehicle speed control function, an acceleration / deceleration control function, a lane change function, and the like. The steering angle control function mentioned here is a function for controlling the steering so as to follow the travel route. The vehicle speed control function is a function for controlling the vehicle speed of the host vehicle J to the target vehicle speed. The acceleration / deceleration control function is a function for controlling acceleration / deceleration of the host vehicle J. The lane change function is a function that changes the lane in which the host vehicle J travels.

  As the technology related to automatic driving, depending on the level of automation, for example, level 1 (that is, driving support system), level 2, 3 (that is, semi-automatic driving system), level 4 (that is, fully automatic driving system) In general, when performing automatic operation, level 2 to 4 automation is shown. This content is described in, for example, “Strategic Innovation Creation Program Automated Driving System” announced in May 2015 by the Cabinet Office.

Here, in the case of performing automatic operation at level 2 or higher, for example, the case of level 3 will be described, but it is needless to say that it can be applied to automatic operation at other levels (for example, levels 2 and 4).
As shown in FIG. 1, the above-described in-vehicle system 1 includes a navigation device 5, a host vehicle sensor 7, a surrounding recognition device 9, an output device 11, a driving support device 13, a travel control device 15, a communication connected via a LAN 3. The apparatus 17 etc. are provided.
Since the configuration of the in-vehicle system 1 is the same for the other vehicle T (for example, see FIG. 5), the description thereof is omitted. Note that the other vehicle T may or may not be in automatic operation or may be a vehicle that does not have an automatic operation function.

Each configuration will be described below.
The own vehicle sensors 7 are known devices that detect the state of the own vehicle J. Examples of the vehicle sensors 7 include a vehicle speed sensor 21 that detects the speed of the vehicle J, an acceleration sensor 23 that detects longitudinal acceleration, and the like.

  The surrounding recognition device 9 is a well-known device that recognizes the situation around the host vehicle J. Here, “recognize surrounding conditions” refers to detecting the presence or absence of an object such as an obstacle such as another vehicle T around the vehicle, or the position, direction, relative speed, and relative distance of the obstacle. It is to grasp the situation such as shape.

Examples of the surrounding recognition device 9 include a camera 25, a radar device 27, a laser device 28, and the like.
Examples of the camera 25 include a known camera (for example, a CCD camera) that recognizes the situation around the host vehicle J based on the result of imaging and processing the surroundings of the host vehicle J.

  Specifically, for example, a front camera that captures the front of the host vehicle J, a rear camera that captures the rear of the host vehicle J, a right camera that captures the right side of the host vehicle J, and a left side of the host vehicle J are captured. A left side camera is mentioned.

  An example of the radar device 27 is a millimeter wave radar. Based on the data obtained from the millimeter wave radar, the direction of the other vehicle T, the distance to the other vehicle T, and the relative speed with the other vehicle T can be obtained. The radar device 27 is disposed at the front and rear of the host vehicle J, for example, to scan the front and rear of the host vehicle J within a predetermined angle range.

  An example of the laser device 29 is LIDAR. Based on the data obtained from this LIDAR, the direction of the other vehicle T, the distance to the other vehicle T, and the relative speed with the other vehicle T can be obtained. Note that the laser devices 29 are disposed at the front portion and the rear portion of the host vehicle J, for example, in order to scan the front and rear of the host vehicle J within a predetermined angle range. LIDAR is an abbreviation for Light Detection and Ranging and Laser Imaging Detection and Ranging.

  The output device 11 is a known device that notifies information from the driving support device 13. Examples of the output device 11 include a display device (for example, a display) 29 that displays information and an audio output device (for example, a speaker) 31 that outputs information by voice or the like. Examples of the output device 11 include various external display devices (for example, stop lamps) (not shown) that perform display to the surroundings, such as a blinker 32 indicating the traveling direction of the host vehicle J.

  The navigation device 5 is a device that guides a route to a set destination according to a travel route. The navigation device 5 includes a position detector 33, an input device 35, a navigation storage device 37, and a navigation ECU 39. Note that ECU represents an electronic control device, which is an abbreviation for Electron Control Unit.

  The position detector 33 detects information necessary for detecting the current position of the host vehicle J and the direction of the traveling direction. The position detector 33 includes a receiver that receives a signal from a navigation satellite. The navigation satellite here is a satellite that realizes a well-known satellite positioning system.

The position detector 33 receives signals from the vehicle speed sensor 21, the acceleration sensor 23, a gyro sensor (not shown) that detects the angular velocity of the host vehicle J, and the like.
The input device 35 is a well-known device that receives input of information by the operation of an occupant (for example, a driver). The input device 35 includes, for example, a known switch group and a touch panel configured integrally with the display device 29. Note that the input device 35 is also used for selection of execution and cancellation of driving support control performed in driving support processing described later.

The navigation storage device 37 is a rewritable nonvolatile storage device. The navigation storage device 37 is constituted by, for example, a hard disk drive or a flash memory.
The navigation storage device 37 stores map data representing the road structure (that is, map information). The map data includes various known data such as node data, link data, cost data, terrain data, mark data, intersection data, facility data, and the like.

  The navigation ECU 39 is a known electronic control device including a ROM, a RAM, and a CPU. The navigation ECU 39 specifies the current position of the host vehicle J by a known method according to the satellite navigation realized by the satellite positioning system based on the signal received by the receiver included in the position detector 33.

  Note that the method of specifying the current position of the host vehicle J by the navigation ECU 39 is not limited to this, and it may be specified by well-known autonomous navigation according to the detection results of the vehicle speed sensor 21 and the gyro sensor, or by satellite navigation. You may specify by correct | amending the present position of the specified own vehicle J by autonomous navigation.

  The travel control device 15 is a controlled device to be controlled when the driving support device 13 performs automatic driving. Although not shown, the controlled device in the first embodiment controls a steering control device that controls the steering angle of the steering, a drive control device that controls the driving force of the host vehicle J, and a braking force of the host vehicle J. Braking control device.

  The drive control device referred to here may be an internal combustion engine control device that controls the rotational speed and torque of the internal combustion engine as long as the vehicle has an internal combustion engine as an engine that generates the driving force of the host vehicle J. If the host vehicle J is a vehicle having an internal combustion engine, the drive control device may include a mission control device that controls the transmission of the host vehicle J.

Further, the drive control device may be an electric motor control device that controls the number of revolutions of the electric motor as long as it is a vehicle having an electric motor as an engine that generates the driving force of the host vehicle J.
The communication device 17 communicates between the own vehicle J and the other vehicle T (that is, inter-vehicle communication), and communicates between the own vehicle J and a roadside machine (not shown) that is a base station disposed on the road side or the like. This is a communication device capable of performing (that is, road-to-vehicle communication).

  Here, when performing inter-vehicle communication between the own vehicle J and the other vehicle T, the own vehicle J may obtain information on the position, speed, acceleration, lane change, course change, etc. of the other vehicle T. it can. Note that the information on the lane change and the route change can be obtained, for example, when the other vehicle T is driving automatically or when the route is being guided. Even when driving by the driver's operation, when the driver operates the winker 32, information on the operation of the winker 32 can be obtained not only by recognition by the camera 25 but also by communication. .

  In addition, when performing road-to-vehicle communication between a vehicle traveling on a road, that is, a roadside machine and the own vehicle J and another vehicle T, the own vehicle J transmits the other vehicle T transmitted from the roadside machine to the roadside machine. It is possible to obtain information such as the position, speed, acceleration, lane change, and route change. The roadside machine is connected to a server (not shown) such as a center that manages road information, for example, and necessary information can be obtained from this server.

  The driving support device 13 is a known control device that is configured around a known microcomputer including a ROM 41, a RAM 43, and a CPU 45. The ROM 41 stores data and programs that need to retain the stored contents even when the power is turned off. The RAM 43 temporarily stores data. The CPU 45 executes processing according to a program or the like stored in the ROM 41 or the RAM 43.

  The ROM 41 of the driving support device 13 includes driving support control for controlling the operation of the host vehicle J according to other surrounding vehicles T, which will be described later, in addition to a processing program for performing processing necessary for realizing a normal automatic driving function. A processing program for execution (that is, a driving support processing program) is stored.

  As shown in FIG. 2, the driving support apparatus 13 includes an automatic driving unit 51, a behavior recognition unit 53, and an automatic control unit 55 as processing contents executed by the processing program, that is, functionally. The behavior recognition unit 53 includes an other vehicle detection unit 57, and the automatic control unit 55 includes a route creation unit 59. Further, a lane detection unit 61, a region detection unit 63, and an operation notification unit 65 are provided.

Among these, the automatic driving unit 51 performs automatic driving of the host vehicle J.
Based on the information from the surrounding recognition device 9 and the communication device 17 that recognizes the situation around the host vehicle J, the behavior recognition unit 53 performs a predicted behavior indicating the future traveling direction of the other vehicle T around the host vehicle J. recognize. In the behavior recognition unit 53, the other vehicle T is detected by the other vehicle detection unit 57 based on information from the surrounding recognition device 9 and the communication device 17.

  Here, the future travel direction is a future travel direction that may be changed by a lane change, a course change, or the like. Further, the predicted behavior indicating the future traveling direction of the other vehicle T is a future behavior including the future traveling direction of the other vehicle T predicted based on information obtained from the surrounding monitoring device 9 or the communication device 17. That is.

  The information obtained from the surrounding recognition device 9 and the communication device 17 is, for example, information on the operation of the turn signal 32 of the other vehicle T, information on the travel route from the navigation device 5 of the other vehicle T, that is, lane change in the travel route, It is information that makes it possible to predict the future traveling direction, such as information that indicates a change in course in advance, information on the approaching state of the other vehicle T from behind, and the like.

  The automatic control unit 55 performs at least one of the recognition range of the surrounding recognition device 9 of the other vehicle T and the visual field range of the driver of the other vehicle T based on the predicted behavior of the other vehicle T when the host vehicle J is automatically driven. The operation of the host vehicle J is controlled so as to widen.

  Here, as the recognition range of the surrounding recognition device 9, a detection range in which the surrounding recognition device 9 can detect a target such as an obstacle such as another vehicle around the vehicle can be adopted. For example, in the case of the radar device 27 and the laser device 28, a range in which surrounding obstacles and the like can be detected by radar waves and laser light can be employed. The recognition range may be a range in which not only an obstacle such as another vehicle is detected, but also the direction, relative speed, and relative distance of the obstacle can be detected.

In the host vehicle control unit 55, the route generation unit 59 generates a route K along which the host vehicle J travels, and controls the operation of the host vehicle J so that the host vehicle J travels along the route K.
The lane detector 61 detects the lane (that is, the lane) in which the host vehicle J travels.

  The area detector 63 detects an area in which the host vehicle J can travel in the lane detected by the lane detector 61. For example, when there are lines indicating the range in the width direction of the lane (hereinafter, white lines) on both sides of the lane, a travelable area in the left and right white lines is detected. Accordingly, the route generation unit 59 sets a route K on which the host vehicle J travels within this travelable region.

  The operation notification unit 65 uses the display device 29 and the audio output device 31 of the own vehicle J to perform the control by the automatic control unit 55 described above, that is, the driving support control for expanding the recognition range and the visual field range. Notify the passenger of own vehicle J.

  Further, the communication device 17 may notify the other vehicle T around the host vehicle J that the driving support control is performed. Or you may alert | report that the driving assistance control is performed to the passenger | crew of the other vehicle T using the said external output device. For example, the blinker 35, the stop lamp, etc. may be blinked for a short time.

  Various functions of the driving support device 13 are realized by the CPU 45 executing a program stored in a non-transitional tangible recording medium. In this example, the ROM 41 corresponds to a non-transitional tangible recording medium that stores a program. Further, a method corresponding to the program is executed by executing the program. Note that the number of microcomputers constituting the driving support device 13 may be one or plural.

[1-2. processing]
Next, processing for driving support control executed by the driving support device 13, that is, driving support processing will be described.

  The driving support process is a direction in which the recognition range of the surrounding recognition device 9 of the other vehicle T and the visual field range of the driver are widened when the other vehicle T is traveling ahead or behind the traveling vehicle J. This is a process for controlling the operation of the host vehicle J so that the host vehicle J is moved to the second position.

The driving support process according to the first embodiment is repeatedly activated at predetermined time intervals during a period in which the process for realizing the automatic driving function is being executed.
As shown in FIG. 3, when the driving support process is activated during automatic driving, the driving support device 13 first recognizes the surroundings of the host vehicle in step 100. In the flowchart of FIG. 3 etc., “step” is described as “S”.

  Specifically, the surrounding recognition device 25 performs processing for detecting another vehicle T around the host vehicle J. For example, as is well known, a process of analyzing the image obtained from the camera 25 and detecting the other vehicle T is performed. Alternatively, as is well known, the radar device 27 and the laser device 28 are driven to detect the other vehicle T.

  In the subsequent step 110, based on the result of the process in step 100, it is determined whether or not another vehicle T exists around the host vehicle J, for example, in front of or behind the host vehicle J. If an affirmative determination can be made here, the process proceeds to step 120. If a negative determination is made, the process proceeds to step 160.

In step 160, since there is no other vehicle T around the host vehicle J, normal automatic driving is continued, and this processing is temporarily terminated.
That is, as shown in FIG. 4, in the case of automatic driving, for example, the white line H drawn along the lane of the road on which the host vehicle J travels is recognized based on the image obtained from the camera 25. Specifically, the left and right white lines H drawn so as to indicate the width of the lane are recognized on both sides of the lane.

A route K along which the host vehicle J travels is set at the center of the left and right white lines H, and automatic driving is performed along the route K.
On the other hand, in step 120, since the other vehicle T exists around the own vehicle J, the prediction behavior indicating the future traveling direction of the other vehicle T is recognized. For example, as shown in FIG. 5, when another vehicle T exists behind the host vehicle J in the same lane, the predicted behavior of the other vehicle T behind is recognized.

Other methods for recognizing (that is, grasping) the predicted behavior of the vehicle T include the following various methods. These methods may be used alone or in combination.
-The blinking state of the turn signal 32 of the other vehicle T is detected from the image of the camera 25.

Based on information from the camera 25, the radar device 27, and the laser device 28, it is detected that another vehicle T approaches from behind the host vehicle J on the same lane.
-The communication device 17 detects information indicating the future traveling direction of the other vehicle T by communicating with the other vehicle T or the roadside machine. For example, the future operation of the other vehicle T is predicted by receiving information such as at which position of the travel route the lane change or the course change is performed from the navigation device 5 of the other vehicle T.

The future operation of the other vehicle T is predicted by receiving information indicating the operation state of the turn signal 32 by the communication device 17.
In the following step 130, it is determined whether or not the other vehicle T intends to change the lane based on the predicted behavior of the other vehicle T recognized in the step 110. If an affirmative determination is made here, the process proceeds to step 140. If a negative determination is made, the process proceeds to step 150.

Examples of the method for determining the lane change of the other vehicle T include the following various methods. These methods may be used alone or in combination.
When the left or right turn signal 32 of the other vehicle T is blinking and there is another lane (for example, an overtaking lane) in the same traveling direction on the blinking side of the turn signal 32, the other vehicle T Is determined to change lanes.

  Based on information from the camera 25, the radar device 27, and the laser device 28, when another vehicle T approaches from the rear of the host vehicle J at a predetermined speed or higher or a predetermined acceleration or higher on the same lane, When there is another lane in the same traveling direction, it is determined that the other vehicle T changes the lane for overtaking.

  Information indicating that the other vehicle T will change lanes (that is, its schedule) by direct information or indirect information (for example, information from the roadside device) from the other vehicle T that is being automatically driven or route-guided Is obtained, it is determined that the other vehicle T changes lanes.

  -When the blinking information of the turn signal 32 of the other vehicle T is obtained by communication, and there is another lane in the same traveling direction on the blinking side of the turn signal 32, the other vehicle T changes the lane. judge.

  In step 140, since it is understood that the other vehicle T is scheduled to change lanes, the lane change side of the other vehicle T in the lane where the own vehicle J currently travels is set as the route K along which the own vehicle J travels. A path K approaching the white line H on the opposite side is created. Then, automatic driving is performed along the route K.

  For example, as shown in FIG. 5, when there is another lane on the right side of the lane in which the host vehicle J and the other vehicle T are traveling, for example, an image obtained from the camera 25 or the like. Based on the left and right white lines H in the lane in which the host vehicle J travels.

  Then, as the route K on which the host vehicle J travels, the direction in which the host vehicle J is moved away from the lane on the lane change side that is the lane on the right side of FIG. , The left side) is set to a route K, and automatic operation is performed along this route K.

  In other words, the direction of expanding the recognition range of the surrounding recognition device 9 mounted on the other vehicle T, here the camera 25, the laser device 27, the radar device 28, etc. mounted on the front part of the other vehicle T and recognizing its front. Therefore, the operation of the host vehicle J is controlled so that the host vehicle J moves in the direction of expanding the field of view of the driver of the other vehicle T (that is, the left side in FIG. 5).

In the subsequent step 150, a process for notifying that the process of the step 150 is performed is performed, and the present process is temporarily terminated.
For example, the output device 29 of the host vehicle J notifies the occupant of the host vehicle J that the above-mentioned driving support control (that is, the movement of the host vehicle J) is to be performed by display or voice. Moreover, you may alert | report the same content to the other vehicle T by communication or an external display apparatus. This notification process may be omitted.

[1-3. State before and after control]
Next, the operation | movement of the own vehicle J in the case of the driving assistance process mentioned above is demonstrated.
a) Here, as shown in FIG. 6, in the same lane, there is a traveling other vehicle T before and after the host vehicle J that is being automatically driven, and the rear other vehicle T The case where the recognition range of the front periphery recognition device 9 (for example, the radar device 27) and the visual field range of the driver are widened will be described as an example.

  As shown in “Before Control” in FIG. 6, in the other vehicle T behind the host vehicle J, the recognition range of the surrounding recognition device 9 such as the camera 25 in the front portion is blocked by the host vehicle J and becomes narrower. Therefore, the other vehicle T in front cannot be fully recognized from the other vehicle T in the rear. In addition, the field of view of the driver of the other vehicle T in the rear is also narrowed.

  Here, when the driving support process described above is performed, the host vehicle J approaches the left side of FIG. Therefore, since the recognition range of the surrounding recognition device 9 of the other vehicle T behind and the visual field range of the driver are expanded, the other vehicle T behind can fully recognize the other vehicle T ahead.

In FIG. 6, the recognition range of the surrounding recognition device 9 is indicated by hatching. The same applies to other drawings.
b) Next, as shown in FIG. 7, in the same lane, there is a traveling other vehicle T before and after the host vehicle J during automatic driving, and the front other vehicle T A case where the recognition range of the rear periphery recognition device 9 and the driver's visual field range are expanded will be described as an example. Here, the visual field range of the driver is a visual field range by a rearview mirror or a side mirror.

  As shown in “Before Control” in FIG. 7, in the other vehicle T in front of the host vehicle J, the recognition range of the surrounding recognition device 9 such as the rear camera 25 is narrowed by the host vehicle J. Therefore, the other vehicle T in the rear cannot be sufficiently recognized from the other vehicle T in the front. Similarly, the field of view of the driver of the other vehicle T in front is also narrow.

  Here, when the driving support process described above is performed, as shown in “after control” in FIG. Therefore, since the recognition range of the surrounding recognition device 9 of the other vehicle T in the rear and the driver's visual field range are widened, the other vehicle T in the front can sufficiently recognize the other vehicle T in the rear.

[1-4. effect]
According to the first embodiment described in detail above, the following effects can be obtained.
(1a) According to the first embodiment, in the automatic driving, the recognition range of the surrounding recognition device 9 of the other vehicle T and the driving of the other vehicle T are based on the predicted behavior indicating the future traveling direction of the other vehicle T. A route K along which the host vehicle J travels is generated so as to extend the field of view of the user, and control is performed so that the host vehicle J travels along the route K.

  Specifically, control is performed to shift the path K on which the host vehicle J travels in a direction opposite to the direction in which the other vehicle T changes the lane in the width direction of the lane. Therefore, in the other vehicle T, since the recognition range of the surrounding recognition device 9 and the driver's visual field range are widened, it is possible to grasp the situation around the vehicle more accurately.

  In other words, the other vehicle T controls the other vehicle T itself, for example, automatic driving or driving by the driver based on a lot of information obtained by the recognition range of the surrounding recognition device 9 and the driver's visual field range being widened. Since the operation can be performed, safety is improved.

  As a result, the other vehicle T around the host vehicle J can be prevented from performing control and driving operation of the other vehicle T based on insufficient information around the other vehicle T itself. Can be prevented from being involved in an accident.

  Even if the prediction of the behavior of the other vehicle T is erroneously performed and the driving support control is performed on the own vehicle J, the own vehicle J only slightly moves in the same lane. There is also an advantage that there is no problem in the safety of the vehicle T. Therefore, it is desirable to implement the above-described driving support control when the behavior of the other vehicle J such as a lane change can be predicted.

  (1b) According to the first embodiment, the other vehicle detection unit 57 of the behavior recognition unit 53 can detect the other vehicle T based on information from at least one of the surrounding recognition device 9 and the communication device 17. .

  (1c) According to the first embodiment, the behavior recognition unit 53 can recognize the predicted behavior of the other vehicle T based on the display of the turn signal 32 of the other vehicle T. Further, the predicted behavior of the other vehicle can be recognized by communication between the host vehicle J and the other vehicle T or the roadside machine.

  (1d) According to the first embodiment, when the other vehicle T is approaching from behind the host vehicle J, the behavior recognition unit 53 determines whether the other vehicle T is based on the speed or acceleration at which the other vehicle T approaches. Predictive behavior can be recognized.

  In this case, since the driving support control of the own vehicle J can be performed before the other vehicle T actually blinks the turn signal 32 due to a lane change or the like, the actual operation of the other vehicle T can be performed in the other vehicle T. There is an advantage that the recognition ability of the surroundings can be enhanced.

  (1e) According to the first embodiment, when the own vehicle control unit 55 controls the operation of the host vehicle J, the operation notification unit 65 can notify the surroundings that the driving support control is performed. That is, it is possible to notify the passenger of the own vehicle J, the passenger of the other vehicle T, and the like.

Therefore, unlike the automatic operation in which the vehicle travels in the center of the normal lane, even if the host vehicle J slightly moves in the width direction, there is an effect that the passenger is less likely to be uneasy.
(1f) According to the first embodiment, since the driver or the like of the host vehicle J can select the execution and cancellation of the operation of the host vehicle control unit 55, the degree of freedom of driving is increased. For example, when the above-mentioned driving support control is not desired, the input device 35 or the like can be operated to prohibit the execution of the driving support control. Therefore, there is an advantage that the desired automatic driving can be realized. In this case, for example, instead of performing the driving support process, a known normal automatic driving process may be performed.

  (1g) According to the first embodiment, the lane detection unit 61 can detect the lane in which the host vehicle J travels, and the region detection unit 63 can detect a travelable region in the lane. Therefore, when driving support control is performed, a preferable route K can be easily set within the range of the detected travelable area.

[1-5. Relationship between Claims and Embodiments]
In the first embodiment, the automatic driving unit 51, the surrounding recognition device 9, the communication device 17, the behavior recognition unit 53, the own vehicle control unit 55, the other vehicle detection unit 57, the operation notification unit 65, the lane detection unit 61, and the region detection unit. 63 corresponds to an example of the automatic driving unit, surrounding recognition device, communication device, behavior recognition unit, own vehicle control unit, other vehicle detection unit, operation notification unit, lane detection unit, and region detection unit in the present invention.

[2. Second Embodiment]
Next, the second embodiment will be described, but the description of the same contents as the first embodiment will be omitted. In addition, the same number is used for the same configuration as the configuration number of the first embodiment.

Since the hardware configuration of the second embodiment is the same as that of the first embodiment and the driving support process is different, the driving support process will be described.
[2-1. Driving support processing]
Here, the driving support processing when the other vehicle T changes the course to the right or left at an intersection or the like will be described.

As shown in FIG. 8, in step 200, the surroundings of the host vehicle J are recognized.
In the following step 210, it is determined whether or not another vehicle T exists in the vicinity. If an affirmative determination is made here, the process proceeds to step 220, while if a negative determination is made, the process proceeds to step 260.

In step 260, a route K at the center of the lane is generated, and this process is temporarily terminated.
On the other hand, in step 220, the predicted behavior of the other vehicle T is recognized. Note that the processing in steps 200 to 220 and 260 is the same as the processing in steps 100 to 120 and 160 in the first embodiment.

  In the following step 230, it is determined whether or not the other vehicle T is turning at the intersection, that is, whether or not to change the course of the right turn or the left turn. If an affirmative determination is made here, the process proceeds to step 240, while if a negative determination is made, the process proceeds to step 260.

Other methods for determining the course change of the vehicle T include the following various methods.
When there is an intersection in a predetermined range in front of the other vehicle T, and the blinker 32 on the left side or the right side of the other vehicle T is blinking, and there is a course that turns to the blinking side of the blinker 32 It is determined that the other vehicle T changes the course. Information on the position of the intersection can be obtained from the navigation device 5.

-When the information from the other vehicle T to which the other vehicle T changes the course is obtained by the information from the other vehicle T that is automatically driven or route-guided, it is determined that the other vehicle T changes the course.
When there is an intersection in a predetermined range in front of the other vehicle T, and information on blinking of the blinker 32 of the other vehicle T is obtained by communication, and there is a course that turns to the blinking side of the blinker 32 Determines that the other vehicle T changes the course.

  In step 240, since it is estimated that the other vehicle T is scheduled to turn at the front intersection, the route K of the host vehicle J is extended so as to widen the recognition range of the surrounding recognition device 9 of the other vehicle T and the visual field range of the driver. Is generated. Then, automatic driving is performed along this route K.

  For example, as shown in FIG. 9, when there is an intersection in front of the host vehicle J and the other vehicle T and the other vehicle T exists in front of or behind the host vehicle J moving forward, the other vehicle T turns right. Sometimes, control is performed to bring the host vehicle J to the left side in the same lane. Although FIG. 9 illustrates the case where there is another vehicle in front of the host vehicle J, control is also performed in the same way when the other vehicle T is behind the host vehicle J.

  In addition, as shown in FIG. 10, when there is an intersection in front of the host vehicle J and the other vehicle T and the other vehicle T exists in front of or behind the host vehicle J moving forward, the other vehicle T turns left. Sometimes, control is performed to bring the host vehicle J to the right side in the same lane. In addition, although the case where the other vehicle T exists in the back of the own vehicle J is illustrated in FIG. 10, when the other vehicle T exists in front of the own vehicle J, the control which moves to the right side is performed similarly.

In the subsequent step 250, a process for notifying that the process of step 240 has been performed is performed, and the present process is temporarily terminated.
[2-3. Other examples of course changes]
Next, another specific example when the other vehicle T changes the course at the intersection will be described.

  Here, on the same lane, before the intersection, there is another vehicle T that is running or stopped in front of the self-driving vehicle J, and the side of the own vehicle J (that is, the roadside) For example, a case where there is another vehicle (for example, bicycle B) on the side).

  As shown in “before control” in FIG. 11, in the other vehicle T in front of the host vehicle J, the recognition range of the surrounding recognition device 9 such as the camera 25 on the side, that is, the camera that recognizes the rear from the side. The visual field range of the surrounding recognition device 9 such as 25 is narrowed by the own vehicle J. In addition, the visual field range of the driver seen by the side mirror is also blocked by the own vehicle J and is narrowed. Therefore, the side bicycle B cannot be sufficiently recognized from the other vehicle T in front.

  Here, when the driving support process described above is performed, the host vehicle J approaches the right side of the figure as shown in “After control” in FIG. Therefore, since the recognition range of the surrounding recognition device 9 of the other vehicle T in front and the driver's visual field range are widened, the side bicycle B can be sufficiently recognized.

[2-4. effect]
Thus, in 2nd Embodiment, when the other vehicle T changes course at an intersection by performing the drive assistance process mentioned above, the recognition range of the circumference | surroundings recognition apparatus 9 and a driver | operator's visual field range can be expanded. Therefore, as in the first embodiment, there is an effect that safety in driving is improved.

[3. Third Embodiment]
Next, a third embodiment will be described, but a description of the same content as that of the first embodiment will be omitted. In addition, the same number is used for the same configuration as the configuration number of the first embodiment.

Since the hardware configuration of the third embodiment is the same as that of the first embodiment, and the functions and driving support processing of the driving support device 13 are different, different configurations will be described.
Here, the driving support processing when interference occurs when the surrounding recognition device 9 of the host vehicle J and the surrounding recognition device 9 of the other vehicle T operate will be described.

  The interference is, for example, when the radar device 27 of the own vehicle J and the radar device 27 of the other vehicle T face each other, and the radar waves of the radar devices 27 interfere with each other. , Surrounding targets may not be detected accurately. Note that similar interference may occur with the laser light from the laser device 28. For this reason, an apparatus and a method for detecting the occurrence of interference have been developed as disclosed in, for example, Japanese Patent Application Laid-Open No. 2007-225602.

[3-1. Driving support device]
First, the driving assistance apparatus 13 of 3rd Embodiment is demonstrated functionally.
As shown in FIG. 12, the driving support device 13 includes an automatic driving unit 51, a state detection unit 71, and an influence reducing unit 73 as processing contents executed by the processing program, that is, functionally. 73 includes a route creation unit 59. Further, a lane detection unit 61, a region detection unit 63, and an operation notification unit 65 are provided.

Among these, the automatic driving unit 51, the route creation unit 59, the lane detection unit 61, the area detection unit 63, and the operation notification unit 65 are the same as those in the first embodiment.
The state detection unit 71 is influenced by the operations of the surrounding recognition device 9 that recognizes the situation around the host vehicle J and the surrounding recognition device 9 that recognizes the situation around the other vehicle T. Detects a condition that affects the recognition ability (and thus the recognition range) of the.

  Here, the operation of each surrounding recognition device 9 influences each other. For example, the outputs from the surrounding recognition devices 9 influence each other so that the mutual radar waves and laser beams interfere with each other. This shows a state where the recognition ability of the surrounding recognition device 9 is reduced (thus, the recognition range is reduced).

When the influence reducing unit 73 detects a state that affects the recognition range of the surrounding recognition devices 9, the influence reducing unit 73 controls the operation of the host vehicle J so as to reduce the influence.
Here, the effect is reduced indicates that each surrounding recognition device 9 is in a state where it can be operated with a normal ability or approaches that state, for example, that the interference disappears or decreases.

[3-2. Driving support processing]
Next, the driving assistance process implemented by the driving assistance apparatus 13 of 3rd Embodiment is demonstrated.

As shown in FIG. 13, in step 300, the periphery of the host vehicle J is recognized.
In continuing step 310, it is determined whether the other vehicle T exists in the circumference | surroundings. If an affirmative determination is made here, the process proceeds to step 320, whereas if a negative determination is made, the process proceeds to step 350.

In step 350, a route K at the center of the lane is generated, and the process is temporarily terminated.
The processes in steps 300 to 320 and 350 are the same as the processes in steps 100 to 120 and 160 in the first embodiment.

  On the other hand, in step 320, for example, interference of radar waves occurs between the surrounding recognition device 9 (for example, the radar device 27) of the own vehicle J and the surrounding recognition device 9 (for example, another radar device 27) of the other vehicle T. It is determined whether or not it has occurred. If an affirmative determination is made here, the process proceeds to step 330. If a negative determination is made, the process proceeds to step 350.

Here, when interference is detected for the surrounding recognition device 9 of the host vehicle J, it is estimated that interference has also occurred in the surrounding recognition device 9 of the other vehicle T.
In step 330, interference has occurred, and there is a possibility that sufficient recognition cannot be performed by the surrounding recognition device 9 of the other vehicle T. Therefore, the recognition of the surrounding recognition device 9 of the other vehicle T is reduced by reducing the interference. The operation of the host vehicle J is controlled so as to recover the range.

  For example, as shown in “before control” in FIG. 14, when interference occurs, as shown in “after control” in FIG. 14, the host vehicle J is placed in the same lane in the width direction (for example, left side). ), Control to widen the distance from the other vehicle T by acceleration / deceleration (that is, acceleration or deceleration) of the own vehicle J, and control to reduce or stop the output of the radar device 27 of the own vehicle J, for example. At least one kind of control is performed. When the own vehicle J is behind the other vehicle T, the own vehicle J is decelerated to widen the distance between the vehicles. Further, when the own vehicle J is in front of the other vehicle T, the own vehicle J is accelerated to widen the distance between the vehicles.

That is, at least one of the generation of the route K based on the white line and the control for widening the distance between the vehicles and the reduction of the output of the surrounding recognition device 9 is performed.
In the subsequent step 340, the process of step 330, that is, the process of notifying that the driving support control for reducing the interference has been performed is performed, and the present process is temporarily terminated.

Note that at least one of the driving support processes of the first and second embodiments described above may be performed after or before the main driving support process.
[3-3. effect]
Next, the effect by 3rd Embodiment is demonstrated.

  In 3rd Embodiment, as mentioned above, when the interference of the radar wave and laser beam of a mutual periphery recognition apparatus 9 generate | occur | produced, the influence by interference is reduced. For example, the control of shifting the route K along which the host vehicle J travels in the width direction of the lane, the control of widening the distance between the host vehicle J and the other vehicle T, or the output of the surrounding recognition device 9 of the host vehicle J is reduced or stopped. Take control.

  As a result, it is possible to suppress a decrease in the recognition ability of the surrounding recognition device 9 and ensure a sufficient recognition range, so that the safety in driving is improved as in the first embodiment. Have.

Note that, similarly to the first embodiment, the above-described driving support control may be set to be manually selectable.
[3-4. Relationship between Claims and Embodiments]
In the third embodiment, the automatic driving unit 51, the surrounding recognition device 9, the state detection unit 71, the influence reduction unit 73, the operation notification unit 65, the lane detection unit 61, and the area detection unit 63 are the automatic driving unit in the present invention, It corresponds to an example of a surrounding recognition device, a state detection unit, an influence reduction unit, an operation notification unit, a lane detection unit, and a region detection unit.

[4. Other Embodiments]
As mentioned above, although each embodiment of the present invention was described, the present invention is not limited to the above-mentioned embodiment, and can take various forms as long as it belongs to the technical scope of the present invention.

(4a) For example, it goes without saying that the present invention can be applied to a road on the right side of a vehicle.
(4b) Moreover, this invention is applicable also when the own vehicle and other vehicles are drive | working the lanes (for example, adjacent lanes) which are the same driving directions but are different. For example, if another vehicle is approaching in a different lane from the rear of the host vehicle, the host vehicle may expand the recognition range and field of view of the other vehicle in the currently traveling lane. You may control so that the path | route which runs may be shifted in the width direction.

  (4c) Furthermore, the present invention may include all the configurations of the first embodiment to the third embodiment, or at least one configuration of the first embodiment to the third embodiment. May be.

For example, when any one of the lane change and the course change of the other vehicle T is predicted, as described above, the driving support control that extends the recognition range and the visual field range may be performed.
(4d) The present invention can also be applied when a lane is branched.

  For example, when there is a branch road within a predetermined range in front of the host vehicle and the other vehicle, when a behavior indicating a lane change or a course change of the other vehicle is predicted, the recognition range is as in the first and second embodiments. Alternatively, driving support control that widens the field of view may be performed. In this case, the host vehicle is slightly moved to the side opposite to the branch road.

(4e) Furthermore, the present invention can also be applied when lanes merge.
For example, when there is a merge path within a predetermined range in front of the host vehicle and the other vehicle and the behavior indicating the lane change of the other vehicle is predicted, for example, the other vehicle changes to the lane on the opposite side of the merge path. When the operation is predicted, the driving support control as in the first embodiment may be performed. In this case, the host vehicle is slightly moved to the side opposite to the moving side of the other vehicle.

  (4f) In addition, the function of one constituent element in the embodiment may be distributed as a plurality of constituent elements, or the function of a plurality of constituent elements may be integrated into one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

  (4g) Further, in addition to the above-described driving support apparatus, a system including the driving support apparatus as a constituent element, a program for causing a computer to function as the driving support apparatus, and a non-transitional actual situation such as a semiconductor memory storing the program The present invention can also be realized in various forms such as a recording medium and a method for performing vehicle control.

  Moreover, you may comprise a part or all of the function which a driving assistance device performs by hardware by 1 or several IC.

  DESCRIPTION OF SYMBOLS 5 ... Navigation apparatus, 9 ... Ambient recognition apparatus, 13 ... Driving support apparatus, 11 ... Output apparatus, 17 ... Communication apparatus, 51 ... Automatic driving part, 53 ... Behavior recognition part, 55 ... Own vehicle control part, 57 ... Other vehicle inspection Departing part, 59 ... Route generating part, 61 ... Lane detecting part, 63 ... Area detecting part, 65 ... Motion notifying part, 71 ... State detecting part, 63 ... Influence reducing part, J ... Own vehicle, T ... Other vehicles

Claims (15)

An automatic driving part (51) for automatically driving the host vehicle (J);
Based on information from at least one of a surrounding recognition device (9) that recognizes the situation around the vehicle and a communication device (17) that communicates with the outside, mounted on the own vehicle, A behavior recognition unit (53) for recognizing a predicted behavior indicating a future traveling direction of the other vehicle (T);
During automatic driving of the host vehicle, based on the predicted behavior of the other vehicle, at least one of the recognition range of the surrounding recognition device mounted on the other vehicle and the field of view of the driver of the other vehicle is expanded. The own vehicle control unit (55) for controlling the operation of the own vehicle,
A driving assistance device comprising: The driving support device according to claim 1,
The behavior recognition unit detects the other vehicle based on information from at least one of a surrounding recognition device that recognizes a situation around the vehicle and a communication device that communicates with the outside. A driving assistance device comprising: The driving support device according to claim 1 or 2, wherein
The behavior recognition unit is a driving support device that recognizes the predicted behavior of the other vehicle based on a display of a blinker of the other vehicle. The driving support device according to any one of claims 1 to 3, wherein
The behavior recognition unit is a driving support device that recognizes the predicted behavior of the other vehicle based on a speed or acceleration at which the other vehicle approaches when the other vehicle approaches from behind the host vehicle. The driving support device according to any one of claims 1 to 4, wherein:
The behavior recognition unit is a driving support device that recognizes the predicted behavior of the other vehicle through communication between the host vehicle and the other vehicle or a base station. The driving support device according to any one of claims 1 to 5, wherein
The own vehicle control unit generates a route (K) on which the own vehicle travels so as to widen at least one of a recognition range of a surrounding recognition device mounted on the other vehicle and a visual field range of a driver of the other vehicle. A driving support device including a route generation unit (59). The driving support device according to any one of claims 1 to 6, wherein
The said automatic control part is a driving assistance device which performs control which shifts the path | route which the said own vehicle drive | works to the direction opposite to the direction which changes the course of the said other vehicle in the width direction of a lane, or the direction which changes lanes. The driving support device according to any one of claims 1 to 7,
Furthermore, when the operation of the host vehicle is controlled by the host vehicle control unit, the driving support device includes an operation notification unit (65) that notifies the surroundings that the control is performed. The driving support device according to any one of claims 1 to 8, wherein
A driving support apparatus in which execution and cancellation of the operation of the host vehicle control unit are set to be selectable. An automatic driving section for automatically driving the vehicle;
A state in which the operation of the surrounding recognition device for recognizing the surrounding situation of the host vehicle and the surrounding recognition device for recognizing the surrounding situation of another vehicle affect each other and affect the recognition ability of each surrounding recognition device. A state detection unit (71) to detect;
An influence reducing unit (73) for controlling the operation of the host vehicle so as to reduce the influence when it is detected that the situation affects the recognition ability of each surrounding recognition device;
A driving assistance device comprising: The driving support device according to claim 10,
The state detection unit detects that a radar wave or a laser beam output from each other's surrounding recognition devices is interfering, and the influence reduction unit is configured to reduce or eliminate the interference so as to reduce or eliminate the interference. A driving support device that controls operation. The driving support device according to claim 10 or 11, wherein
The influence reducing unit controls the shift of the travel route of the host vehicle in the width direction of the lane, the control of widening the distance from the other vehicle by the acceleration / deceleration of the host vehicle, and the output of the surrounding recognition device of the host vehicle. A driving support device that performs at least one type of control. The driving support device according to any one of claims 10 to 12,
Furthermore, when the operation of the host vehicle is controlled by the influence reducing unit, a driving support device including an operation notification unit that notifies the surroundings that the control is performed. The driving support device according to any one of claims 10 to 13,
The driving support device in which execution and cancellation of the operation of the influence reducing unit are set to be selectable. The driving support device according to any one of claims 1 to 14,
Furthermore, the driving assistance apparatus provided with the lane detection part (61) which detects the lane which the said own vehicle drive | works, and the area | region detection part (63) which detects the driving | running | working area | region in this lane.

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