JP2018045581A - Vehicle driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle driving support device which can smoothly support driving of a self vehicle in a relation to a preceding vehicle traveling ahead of the self vehicle.SOLUTION: A vehicle driving support comprises: a photographing unit 10 which is installed in a self vehicle and photographs a rear end part of a preceding vehicle traveling ahead of the self vehicle; an image processing unit 25 for determining the vehicle width of the preceding vehicle and presence/absence of a predetermined mark having a specific shape and a specific color in the rear end part of the preceding vehicle in accordance with an image photographed by the photographing unit 10; a vehicle type determination unit 27e for determining the vehicle type of the preceding vehicle on the basis of the vehicle width and the mark of the preceding vehicle; and a driving support unit 27f for supporting the driving of the self vehicle on the basis of the vehicle type of the preceding vehicle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle driving support device.

  2. Description of the Related Art Conventionally, there is a vehicle driving support device that captures another vehicle running in the vicinity of the host vehicle and supports driving of the host vehicle based on the captured image. For example, the vehicle driving support device captures another vehicle traveling in the overtaking lane when the own vehicle traveling in the traveling lane overtakes the front vehicle traveling in front of the own vehicle, and automatically The vehicle assists in overtaking the vehicle ahead (for example, Patent Document 1).

JP 2010-238053 A

  However, the vehicle driving support device has room for improvement in that it smoothly supports driving of the host vehicle in relation to a forward vehicle traveling in front of the host vehicle.

  Accordingly, the present invention has been made in view of the above, and provides a vehicle driving support device that can smoothly support the driving of the host vehicle in relation to a preceding vehicle traveling in front of the host vehicle. With the goal.

  In order to solve the above-described problems and achieve the object, a vehicle driving support device according to the present invention is installed in the host vehicle and shoots a rear end portion of the front vehicle traveling in front of the host vehicle. An image processing unit that determines a vehicle width of the front vehicle and presence / absence of a mark having a specific shape and a specific color that is predetermined at a rear end portion of the front vehicle from an image captured by the imaging unit; A vehicle type determination unit that determines a vehicle type of the front vehicle based on the vehicle width and the mark of the front vehicle, and a driving support unit that supports driving of the host vehicle based on the vehicle type of the front vehicle. It is characterized by.

  In the vehicle driving support device, the vehicle type determination unit determines that the vehicle type of the front vehicle is the first vehicle type regardless of the presence or absence of the mark when the vehicle width of the front vehicle is less than a vehicle width reference value. Is not less than the vehicle width reference value and the mark is not present, it is determined as a second vehicle type different from the first vehicle type, and the vehicle width of the preceding vehicle is not less than the vehicle width reference value and the mark is present The third vehicle type is preferably determined to be different from the first vehicle type and the second vehicle type.

  In the vehicle driving support apparatus, it is preferable that the driving support unit supports overtaking of the front vehicle by the host vehicle based on a vehicle type of the front vehicle.

  In the vehicle driving support device, the driving support unit can interrupt the total length of the host vehicle, the inter-vehicle distance between the host vehicle and the front vehicle, the total length of the front vehicle, and the tip of the front vehicle. The total overtaking distance obtained by adding up the distance between the two vehicles is divided by the relative speed between the own vehicle and the preceding vehicle, and an assumed overtaking time that is an estimated time for the own vehicle to overtake the preceding vehicle is calculated. It is preferable to support the driving of the host vehicle based on the overtaking time.

  In the vehicle driving support device, the image processing unit determines the size of the license plate of the front vehicle from an image captured by the imaging unit, and the vehicle type determination unit is configured to determine a vehicle width of the front vehicle, It is preferable to determine the vehicle type of the preceding vehicle based on the mark and the size of the license plate of the preceding vehicle.

  In the vehicle driving support device, the image processing unit determines the number of tires of the rear wheels of the front vehicle from an image captured by the imaging unit, and the vehicle type determination unit is configured to determine a vehicle width of the front vehicle. The vehicle type of the front vehicle is preferably determined based on the number of tires on the rear wheels of the front vehicle in addition to the mark.

  The vehicle driving support device according to the present invention determines the vehicle type of the front vehicle based on the vehicle width and mark of the front vehicle from the image captured by the imaging unit, and drives the host vehicle based on the determined vehicle type of the front vehicle. Therefore, the driving of the host vehicle can be smoothly supported in relation to the front vehicle traveling in front of the host vehicle.

FIG. 1 is a block diagram illustrating a configuration example of a vehicle driving support apparatus according to an embodiment. FIG. 2 is a diagram illustrating an example of a third vehicle type of the vehicle according to the embodiment. FIG. 3 is a diagram illustrating an example of a second vehicle type of the vehicle according to the embodiment. FIG. 4 is a diagram illustrating an example of a first vehicle type of the vehicle according to the embodiment. FIG. 5 is a diagram illustrating an example of overtaking by the host vehicle according to the embodiment. FIG. 6 is a flowchart illustrating a vehicle type determination process for a preceding vehicle of the vehicle driving support apparatus according to the embodiment. FIG. 7 is a flowchart illustrating the overtaking support process of the vehicle driving support apparatus according to the embodiment. FIG. 8 is a flowchart showing a process during overtaking of the vehicle driving support apparatus according to the embodiment. FIG. 9 is a diagram illustrating an attachment example of a triangular reflector according to a modification of the embodiment. FIG. 10 is a diagram illustrating a configuration example of a license plate according to a modification of the embodiment.

  DESCRIPTION OF EMBODIMENTS Embodiments (embodiments) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited by the contents described in the following embodiments. The constituent elements described below include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the structures described below can be combined as appropriate. Various omissions, substitutions, or changes in the configuration can be made without departing from the scope of the present invention.

Embodiment
A vehicle driving support apparatus 1 according to an embodiment will be described. The vehicle driving support device 1 is a drive recorder (digital tachograph) that is mounted on a vehicle 2 and records various information related to driving of the vehicle 2 while the vehicle 2 is traveling. The vehicle driving support device 1 is not limited to a drive recorder. The vehicle driving support device 1 also serves as a main camera 11 for recording driving, and on the basis of an image photographed by the main camera 11, the vehicle driving support device 1 of the front vehicle 2B traveling in front of the own vehicle 2A (own vehicle 2A) The vehicle type is determined (recognized), and the driving of the host vehicle 2A is supported based on the vehicle type of the preceding vehicle 2B. The vehicle driving support device 1 is configured as an on-vehicle device including various electronic components. The vehicle driving support device 1 may be capable of being retrofitted to the vehicle 2 or may be incorporated into the vehicle 2 when the vehicle 2 is manufactured. Hereinafter, the vehicle driving support apparatus 1 will be described in detail with reference to FIGS. 1, 2, 3, 4, and 5.

  In the following description, a direction along the entire length of the vehicle 2 is referred to as a full length direction, a direction along the width of the vehicle 2 is referred to as a vehicle width direction, and a direction along the height of the vehicle 2 is referred to as a vehicle height direction. The full length direction, the vehicle width direction, and the vehicle height direction are orthogonal to each other.

  As shown in FIG. 1, the vehicle driving support device 1 includes a photographing unit 10 and an in-vehicle device body 20. The photographing unit 10 is installed in the host vehicle 2A and photographs the outside of the host vehicle 2A. The photographing unit 10 includes a main camera 11 and an optional camera 12. The main camera 11 captures the front of the host vehicle 2A and captures the rear end 2a (see FIG. 5 and the like) of the front vehicle 2B traveling in front of the host vehicle 2A. For example, the main camera 11 is fixed with a predetermined depression angle in the vicinity of a room mirror (not shown) so that the front vehicle 2B can be continuously photographed. Thereby, the main camera 11 can photograph to a position far away from the host vehicle 2A by a predetermined distance. The angle of view (viewing angle) of the main camera 11 is set so that the vehicle 2 traveling in the lane adjacent to the lane in which the host vehicle 2A is traveling can be photographed. In addition, the angle of view (viewing angle) of the main camera 11 is set so that a lane marking on the traveling road surface of the lane adjacent to the lane in which the host vehicle 2A is traveling can be photographed. The main camera 11 is connected to the image processing unit 25, and outputs a color captured image (captured video) obtained by capturing the front of the host vehicle 2 </ b> A to the image processing unit 25.

  The option camera 12 captures images other than the front of the host vehicle 2A, and is, for example, a side view camera that captures the right rear of the host vehicle 2A. The option camera 12 captures the right-side vehicle that travels right behind the host vehicle 2A. For example, the option camera 12 is fixed to the right side mirror so that the right vehicle can be continuously photographed. Note that the photographing unit 10 may not include the option camera 12. The main camera 11 and the optional camera 12 may be a monocular camera or a stereo camera. The image captured by the option camera 12 may be monochrome or color.

  The in-vehicle device body 20 includes a monitor unit 21, an audio vibration output unit 22, a GPS (Global Positioning System) 23, an I / F (interface) unit 24, an image processing unit 25, a recording medium 26, and a control unit. 27. Here, as a basic function of the drive recorder, the vehicle driving support device 1 records various information related to driving of the host vehicle 2A while the host vehicle 2A is traveling. For example, the vehicle driving support device 1 photographs the front of the host vehicle 2A by the photographing unit 10, records the photographed photographed image on the recording medium 26, and drives the driver (brake operation, blinker operation, travel route, etc.). The traveling data indicating the situation is stored in the recording medium 26.

  The monitor unit 21 is a display device that displays information. The monitor unit 21 is connected to the image processing unit 25 and displays a captured image that has been subjected to image processing by the image processing unit 25. The monitor unit 21 includes an NTSC (National Television Standard Committee) encoder 21a and a monitor 21b. The NTSC encoder 21a encodes the captured image in a predetermined format and outputs the encoded captured image to the monitor 21b. The monitor 21b is provided with a display screen facing the driver, and displays the captured image output from the NTSC encoder 21a on the display screen.

  The sound vibration output unit 22 is an output device that issues various notifications to the driver of the host vehicle 2A. The audio vibration output unit 22 includes an audio output unit 22a and a vibrator 22b. The audio output unit 22a is an audio information output device that outputs auditory information (audio information, sound information), and issues various notifications by outputting the audio information. The audio output unit 22 a is connected to the control unit 27, and its driving is controlled by the control unit 27. The vibrator 22b is a vibration device that outputs vibration information, and issues various notifications by outputting the vibration information. The vibrator 22 b is connected to the control unit 27, and the driving thereof is controlled by the control unit 27.

  The GPS 23 is a receiver that receives GPS information (latitude and longitude coordinates) of the host vehicle 2A as position information of the host vehicle 2A. GPS23 receives the GPS signal showing the GPS information of the own vehicle 2A which a GPS satellite distributes. The GPS 23 is connected to the control unit 27, and outputs GPS information corresponding to the received GPS signal to the control unit 27.

  The I / F unit 24 connects the control unit 27 and an external device by wire or wireless. The I / F unit 24 connects the control unit 27 and an external device through a connector, or performs protocol conversion of various signals. The I / F unit 24 includes a vehicle signal I / F 24a, a PC (Personal Computer) setting I / F 24b, a CAN (Controller Area Network) conversion unit 24c, and a communication module 24d. The vehicle signal I / F 24 a connects a vehicle braking unit such as a brake, a winker, and an ignition switch to the control unit 27. The PC setting I / F 24b connects an external PC (not shown) and the control unit 27. The CAN conversion unit 24c connects the other device 3 and the control unit 27, and converts a signal transmitted and received between the other device 3 and the control unit 27 into a CAN communication protocol. The communication module 24d wirelessly connects the external server 4 and the control unit 27, and transmits / receives information to / from the server 4.

  The image processing unit 25 processes an image. The image processing unit 25 includes a ROM (Read Only Memory) 25a, an SDRAM (Synchronous Dynamic Access Memory) 25b, a decoder 25c, and an image determination CPU (Central Processing Unit) 25d.

  The ROM 25a is a non-volatile memory and is a storage device dedicated to reading data. The ROM 25a is connected to the image determination CPU 25d, and stores in advance a program for determining an image executed by the image determination CPU 25d. The ROM 25a stores in advance a template image used for template matching. For example, the ROM 25a stores in advance an image for identifying various types of vehicles 2, an image for identifying the triangular reflector 2b, an image for identifying a lane marking on the road surface, and the like as template images. Yes. The ROM 25a stores in advance a vehicle width reference value for calculating the vehicle width W according to the inter-vehicle distance K1 (distance from the reference position in the captured image data). The ROM 25a stores in advance a license plate reference value for calculating the size of the license plate 5 in accordance with the inter-vehicle distance K1 (distance from the reference position in the captured image data).

  The SDRAM 25b is a volatile memory and is a storage device that can read and write data. The SDRAM 25b is connected to the image determination CPU 25d and temporarily stores the calculation result by the image determination CPU 25d.

  The decoder 25c is connected to the photographing unit 10 and is a decoder that decodes a photographed image output from the photographing unit 10 into a predetermined data format. The decoder 25c decodes the captured image output from the imaging unit 10, and outputs the decoded captured image data to the image determination CPU 25d.

  The image determination CPU 25d determines a subject such as the preceding vehicle 2B or a lane marking from the captured image data. For example, the image determination CPU 25d determines the vehicle width W of the forward vehicle 2B running in the same lane as the host vehicle 2A (for example, the traveling lane Rd1) from the captured image data captured by the main camera 11. For example, the image determination CPU 25d determines whether or not the captured image data includes the forward vehicle 2B in the travel lane Rd1 by well-known template matching, and if the forward vehicle 2B in the travel lane Rd1 is included in the captured image data, The vehicle width W of the forward vehicle 2B in the travel lane Rd1 is determined. Here, the vehicle width W of the forward vehicle 2B is, for example, the maximum length in the vehicle width direction of the forward vehicle 2B.

  When determining the vehicle width W of the forward vehicle 2B in the travel lane Rd1, the image determination CPU 25d calculates an inter-vehicle distance K1 between the forward vehicle 2B and the host vehicle 2A. When the inter-vehicle distance K1 is calculated, the image determination CPU 25d has a constant shooting direction and angle of view of the main camera 11, so that the position of the host vehicle 2A depends on which position in the captured image data the front vehicle 2B is reflected on. The inter-vehicle distance K1 from the position to the forward vehicle 2B can be calculated. That is, the image determination CPU 25d determines the distance from the reference position in the captured image data to the rear end 2a (for example, the rear bumper) in the full length direction of the front vehicle 2B in the captured image data from the host vehicle 2A to the forward vehicle 2B. It can be converted into distance. The inter-vehicle distance K1 may be obtained using, for example, an infrared laser. In this case, the inter-vehicle distance measuring unit (not shown) irradiates the front of the host vehicle 2A with an infrared laser, receives the reflected light reflected from the vehicle 2B ahead of the traveling lane Rd1, and converts the time from light emission to light reception into a distance. By doing so, the inter-vehicle distance K1 is measured.

  The image determination CPU 25d calculates the vehicle width W of the forward vehicle 2B based on the inter-vehicle distance K1. As described above, the image determination CPU 25d previously stores in the ROM 27a a vehicle width reference value for calculating the vehicle width W according to the inter-vehicle distance K1 (distance from the reference position in the captured image data) in the captured image data. I remember it. This is because, in the captured image data, the vehicle width W appears shorter as the inter-vehicle distance K1 becomes longer even in the forward vehicle 2B of the same vehicle type. The image determination CPU 25d can calculate the vehicle width W of the forward vehicle 2B by using a vehicle width reference value determined according to the inter-vehicle distance K1 in the captured image data. The image determination CPU 25d outputs the calculated vehicle width W of the preceding vehicle 2B to the control unit 27.

  Further, the image determination CPU 25d determines the presence or absence of the triangular reflector 2b as a mark having a specific shape and a specific color that is predetermined at the rear end 2a of the forward vehicle 2B. The configuration of the triangular reflector 2b will be described later. The image determination CPU 25d determines whether or not the captured image data includes the triangular reflector 2b by template matching. For example, the image determination CPU 25d performs template matching based on the template image of the triangular reflector 2b stored in advance in the ROM 25a, and determines whether or not the triangular reflector 2b included in the captured image data is included. The image determination CPU 25d outputs the presence / absence information of the triangular reflector 2b indicating the presence / absence of the triangular reflector 2b to the control unit 27.

  The triangular reflector 2b has a substantially equilateral triangular shape as shown in FIG. 2, and one side is about 15 cm to 20 cm. The triangular reflector 2b is a corner cube reflector that has a red color and reflects incident light in the same direction as the incident light. The triangular reflector 2b is provided at the rear end 2a of the trailer (towed vehicle) 2E of the cargo vehicle 2G that carries the cargo. Here, the cargo vehicle 2G includes a trailer 2E for loading cargo and a tractor (towing vehicle) for towing the trailer 2E. For example, when the rear vehicle traveling behind the trailer 2E collides with the trailer 2E, the trailer 2E is provided with an intrusion prevention device 2c in order to prevent the rear vehicle from entering under the trailer 2E. The intrusion prevention device 2c includes a bar-shaped metal bar 2d, the metal bar 2d is provided at a certain height from the traveling road surface, and the trailer 2E is arranged so that the metal bar 2d extends along the vehicle width direction. It is fixed to the end 2a. The metal bar 2d is fixed to the lower side in the vehicle height direction of the tail lamp (back lamp) 2e at the rear end 2a of the trailer 2E, for example. For example, one triangular reflector 2b is provided at each end of the metal bar 2d of the anti-slipping device 2c. The triangular reflector 2b is provided with one apex facing upward in the vehicle height direction. The metal bar 2d of the anti-slipping device 2c is further provided with a rectangular reflecting plate 2f.

  The recording medium 26 is a memory that records information acquired by the vehicle driving support device 1. The recording medium 26 is, for example, a memory (removable medium) that can be attached to and detached from the vehicle driving support apparatus 1 via various interfaces. As the recording medium 26, for example, various types of memory cards can be used. The recording medium 26 stores a captured image photographed by the photographing unit 10 and travel data indicating a driving operation (brake operation, blinker operation, travel route, etc.) by the driver.

  The control unit 27 controls the vehicle-mounted device body 20, and includes a ROM 27a, an SDRAM 27b, an EEPROM (Electrically Erasable Programmable Read-Only Memory) 27c, and a control system processing CPU 27d.

  The ROM 27a is a non-volatile memory and is a storage device dedicated to reading data. The ROM 27a is connected to the control system processing CPU 27d, and stores a program for controlling the vehicle-mounted device main body 20 executed by the control system processing CPU 27d in advance. For example, the ROM 27a stores in advance the full length L1 of the host vehicle 2A. In addition, the ROM 27a stores, for example, vehicle full length map data indicating the relationship between the vehicle type of the vehicle 2 and the total length of the vehicle 2 in advance. The vehicle full length map data indicates that the total length of the vehicle 2 is 6 m when the vehicle type of the vehicle 2 described later is the first vehicle type, and the total length of the vehicle 2 is 12 m when the vehicle type of the vehicle 2 is the second vehicle type. When the vehicle type of the vehicle 2 is the third vehicle type, the data indicates that the total length of the vehicle 2 is 18 m.

  The front vehicle 2B is classified into the three vehicle types, the first vehicle type, the second vehicle type, and the third vehicle type described above. The first vehicle type is, for example, the ordinary vehicle 2C shown in FIG. 4, the vehicle width W3 is less than the vehicle width reference value (for example, 2 m), and the vehicle type is not provided with the triangular reflector 2b. The second vehicle type is, for example, the large truck 2D shown in FIG. 3, and the vehicle width W2 is not less than the vehicle width reference value (for example, 2 m), and the triangular reflector 2b is not provided. The third vehicle type is, for example, the trailer 2E (freight vehicle 2G) shown in FIG. 2, for example, a vehicle type in which the vehicle width W1 is equal to or greater than the vehicle width reference value (for example, 2 m) and the triangular reflector 2b is provided. is there.

  The SDRAM 27b is a volatile memory and is a storage device capable of reading and writing data. The SDRAM 27b is connected to the control system processing CPU 27d, and temporarily stores the calculation result by the control system processing CPU 27d.

  The EEPROM 27c is a nonvolatile memory and is a storage device that can read and write data. The EEPROM 27c is connected to the control system processing CPU 27d and stores the calculation result by the control system processing CPU 27d.

  The control system processing CPU 27d is a central processing unit that controls each part of the vehicle-mounted device main body 20 in an integrated manner. The control system processing CPU 27d includes an electronic circuit mainly composed of a known microcomputer. As described above, the control system processing CPU 27d is connected to the sound vibration output unit 22, the GPS 23, the I / F unit 24, the image processing unit 25, the recording medium 26, and the like, and various electric signals are transmitted between them. Perform input / output. Further, the control system processing CPU 27d executes a program stored in the ROM 27a, and performs various processes necessary for realizing the functions of the vehicle-mounted device main body 20. For example, when the IGN ON signal output from the ignition switch included in the host vehicle 2A is received in the stop state, the control system processing CPU 27d starts and puts the vehicle-mounted device body 20 into the startup state, while the IGN output from the ignition switch. When the off signal is received in the activated state, the operation is stopped and the vehicle-mounted device main body 20 is deactivated. The control system processing CPU 27d is conceptually configured to include a vehicle type determination unit 27e and a driving support unit 27f.

  The vehicle type determination unit 27e determines the vehicle type of the front vehicle 2B based on the vehicle width W of the front vehicle 2B and the triangular reflector 2b. The vehicle type determination unit 27e determines the vehicle type based on the vehicle width W of the front vehicle 2B output from the image determination CPU 25d and the presence / absence information of the triangular reflector 2b indicating the presence / absence of the triangular reflector 2b. The vehicle type determination unit 27e compares the vehicle width W of the forward vehicle 2B with a predetermined vehicle width reference value (for example, 2 m). When the vehicle width W of the forward vehicle 2B is less than 2 m, the vehicle type determination unit 27e determines that the vehicle is a first vehicle type, for example, a normal vehicle 2C, regardless of the presence or absence of the triangular reflector 2b. When the vehicle width W of the forward vehicle 2B is 2 m or more and the triangular reflector 2b is not present, the vehicle type determination unit 27e determines that the vehicle type is a second vehicle type different from the first vehicle type, for example, a large truck 2D. When the vehicle width W of the forward vehicle 2B is 2 m or more and the triangular reflector 2b is present, the vehicle type determination unit 27e determines that the vehicle is a third vehicle type different from the first vehicle type and the second vehicle type, for example, the trailer 2E.

  The driving support unit 27f supports driving of the host vehicle 2A based on the vehicle type of the forward vehicle 2B. For example, the driving support unit 27f supports overtaking of the forward vehicle 2B by the host vehicle 2A based on the vehicle type of the forward vehicle 2B. Here, the host vehicle 2A overtaking the forward vehicle 2B means that the host vehicle 2A changes lanes to the right lane, the host vehicle 2A overtakes the front vehicle 2B, and the host vehicle 2A moves forward to a safe distance of the front vehicle 2B. The vehicle 2A changes to the left lane. The driving support unit 27f refers to the vehicle full length map data described above, and acquires the full length L2 of the front vehicle 2B from the vehicle type of the front vehicle 2B. The driving support unit 27f acquires the total length L2 (6 m) of the vehicle 2 when the vehicle type of the vehicle 2 is the first vehicle type, and the total length L2 (12 m) of the vehicle 2 when the vehicle type of the vehicle 2 is the second vehicle type. When the vehicle type of the vehicle 2 is the third vehicle type, the total length L2 (18 m) of the vehicle 2 is acquired. The driving support unit 27f supports overtaking of the forward vehicle 2B based on the acquired total length L2 of the forward vehicle 2B. For example, as shown in FIG. 5, the driving support unit 27f includes a total length L1 of the host vehicle 2A, an inter-vehicle distance K1 between the host vehicle 2A and the front vehicle 2B, a total length L2 of the front vehicle 2B, and the tip of the front vehicle 2B. The total overtaking distance obtained by adding the inter-vehicle distance K2 that can be interrupted to the vehicle is calculated, the total overtaking distance is divided by the relative speed between the host vehicle 2A and the preceding vehicle 2B, and the estimated time for the own vehicle 2A to pass the preceding vehicle 2B. Assumed overtaking time is calculated. The driving support unit 27f notifies the driver of the estimated overtaking time by using the voice output unit 22a or the like. Accordingly, the driver can easily determine whether or not to overtake the forward vehicle 2B based on the estimated overtaking time.

[Vehicle type determination process for the vehicle ahead]
Next, an operation example of the vehicle driving support device 1 will be described. With reference to FIG. 6, the vehicle type determination process of the front vehicle 2B by the vehicle driving assistance device 1 will be described. For example, when receiving the IGN ON signal in the stopped state, the control system processing CPU 27d starts and puts the vehicle-mounted device main body 20 into the started state. The image determination CPU 25d determines whether or not the forward vehicle 2B traveling in the same lane (for example, the traveling lane Rd1) as the host vehicle 2A is traveling (step S1). For example, the image determination CPU 25d determines whether or not the forward vehicle 2B is included in the captured image data by template matching. The image determination CPU 25d calculates an inter-vehicle distance K1 to the preceding vehicle 2B when the preceding vehicle 2B traveling in the same lane (the traveling lane Rd1) as the host vehicle 2A is traveling (step S1; Yes) (step S2). . For example, the image determination CPU 25d calculates an inter-vehicle distance K1 from the position of the host vehicle 2A to the forward vehicle 2B based on the position where the forward vehicle 2B is reflected in the captured image data. Next, the image determination CPU 25d calculates the vehicle width W of the preceding vehicle 2B (step S3). For example, the image determination CPU 25d calculates the vehicle width W of the vehicle 2B ahead of the travel lane Rd1 by using the vehicle width reference value determined according to the inter-vehicle distance K1 in the captured image data, and the vehicle ahead of the travel lane Rd1. The vehicle width W of 2B is output to the vehicle type determination unit 27e of the control system processing CPU 27d. Next, the image determination CPU 25d determines whether or not the triangular reflector 2b is present (step S4). For example, the image determination CPU 25d determines whether or not the captured image data includes the triangular reflection plate 2b by template matching, and uses the presence / absence information of the triangular reflection plate 2b indicating the presence / absence of the triangular reflection plate 2b of the control system processing CPU 27d. It outputs to the vehicle type determination part 27e.

  Next, the vehicle type determination unit 27e of the control system processing CPU 27d determines whether or not the vehicle width W of the forward vehicle 2B is 2 m or more (step S5). When the vehicle width W of the forward vehicle 2B is 2 m or more (step S5; Yes), the vehicle type determination unit 27e determines whether or not the captured image data includes the triangular reflector 2b (step S6). When it is determined that the captured image data includes the triangular reflector 2b (step S6; Yes), the vehicle type determination unit 27e determines that the front vehicle 2B running ahead of the host vehicle 2A is the trailer 2E (step S7). The process of determining the vehicle type 2B is terminated.

  In step S1, the image determination CPU 25d is the same as the host vehicle 2A again when the forward vehicle 2B traveling in the same lane (the driving lane Rd1) as the host vehicle 2A is not traveling (step S1; No). The presence / absence of the forward vehicle 2B traveling in the lane (the traveling lane Rd1) is determined. In step S5 described above, the vehicle type determination unit 27e determines that the front vehicle 2B running in front of the host vehicle 2A is the normal vehicle 2C when the vehicle width W of the front vehicle 2B is less than 2 m (step S5; No). (Step S8), and the process of determining the vehicle type of the preceding vehicle 2B is terminated. In Step S6 described above, if the vehicle type determination unit 27e determines that the captured image data does not include the triangular reflector 2b (Step S6; No), the front vehicle 2B running in front of the host vehicle 2A is referred to as the large truck 2D. The determination is made (step S9), and the process for determining the vehicle type of the preceding vehicle 2B is terminated.

[Overtaking support processing]
Next, the overtaking support process by the vehicle driving support apparatus 1 will be described with reference to FIG. The image determination CPU 25d determines whether or not the forward vehicle 2B traveling in the same lane (for example, the traveling lane Rd1) as the host vehicle 2A is traveling (step S10). The driving support unit 27f of the control system processing CPU 27d, when the front vehicle 2B traveling in the same lane (traveling lane Rd1) as the host vehicle 2A is traveling (step S10; Yes), the inter-vehicle distance K1 of the front vehicle 2B in the same lane. Alternatively, it is determined whether or not the inter-vehicle time is equal to or less than a predetermined set value (step S11). Here, the inter-vehicle time is a time obtained by dividing the inter-vehicle distance K1 by the speed of the host vehicle 2A. When the driving support unit 27f determines that the inter-vehicle distance K1 or inter-vehicle time of the forward vehicle 2B in the same lane is equal to or less than the set value and the host vehicle 2A is approaching the forward vehicle 2B in the same lane (step S11; Yes) ), It is determined whether or not the relative speed between the host vehicle 2A and the preceding vehicle 2B in the same lane is approaching a predetermined set value or more (step S12). When the relative speed between the host vehicle 2A and the preceding vehicle 2B in the same lane approaches the set value or more (step S12; Yes), the driving support unit 27f calculates the estimated overtaking time. The driving support unit 27f, for example, the total length L1 of the host vehicle 2A, the inter-vehicle distance K1 between the host vehicle 2A and the front vehicle 2B, the total length L2 of the front vehicle 2B, and the inter-vehicle distance K2 that can be interrupted ahead of the front vehicle 2B. And the total overtaking distance is divided by the relative speed between the host vehicle 2A and the preceding vehicle 2B to calculate the estimated overtaking time. Next, the driving support unit 27f determines whether or not the right lane marking on the traveling road surface of the traveling vehicle 2 is a broken line (step S14). For example, the driving support unit 27f determines whether or not the right partition line is a broken line by pattern matching. When the driving support unit 27f determines that the right lane marking on the traveling road surface of the traveling vehicle 2 is a broken line (step S14; Yes), the inter-vehicle distance between the right adjacent lane (for example, the overtaking lane Rd2) and the preceding vehicle (not shown) It is determined whether the distance or the inter-vehicle time is greater than or equal to a set value (step S15). If the inter-vehicle distance or inter-vehicle time with the vehicle ahead of the right adjacent lane (passing lane Rd2) is equal to or greater than the set value (step S15; Yes), the driving support unit 27f notifies the driver of the estimated overtaking time ( Step S16). For example, the driving support unit 27f outputs the estimated overtaking time as auditory information by the voice output unit 22a and notifies the driver. In addition, the driving support unit 27f may display the estimated overtaking time on the monitor 21b and output vibration information by the vibrator 22b to notify the driver. Further, the driving support unit 27f may display the estimated overtaking time on the monitor 21b and notify the driver by combining auditory information and vibration information. After notifying the estimated overtaking time, the driving support unit 27f ends the overtaking support process. Based on the estimated overtaking time, the driver determines whether or not to overtake the preceding vehicle 2B. When overtaking the preceding vehicle 2B, the driver changes the lane of the own vehicle 2A to the overtaking lane Rd2 and overtakes the preceding vehicle 2B. The vehicle 2A is moved in front of the front vehicle 2B. Further, when the driver does not overtake the forward vehicle 2B, the driver causes the host vehicle 2A to travel along the travel lane Rd1 as it is.

  Note that in step S10 described above, the image determination CPU 25d is the same as the host vehicle 2A again when the forward vehicle 2B traveling in the same lane (the driving lane Rd1) as the host vehicle 2A is not traveling (step S10; No). The presence / absence of the forward vehicle 2B traveling in the lane (the traveling lane Rd1) is determined. In step S11 described above, the driving support unit 27f, when the inter-vehicle distance K1 or the inter-vehicle time of the front vehicle 2B in the same lane exceeds the set value (step S11; No), the host vehicle 2A is the front vehicle in the same lane. Since it is away from 2B, it returns to the above-mentioned step S11 and repeats the determination until the inter-vehicle distance K1 or inter-vehicle time of the forward vehicle 2B in the same lane becomes the set value or less. In step S12 described above, the driving support unit 27f determines that the host vehicle 2A is the same when the relative speed between the host vehicle 2A and the preceding vehicle 2B in the same lane is not close to the set value (step S12; No). Since it is difficult to overtake the vehicle 2B ahead of the lane, the process returns to step S11 described above to determine the inter-vehicle distance K1 and the like. If the driving support unit 27f determines that the right lane marking on the traveling road surface of the traveling vehicle 2 is not a broken line (step S14; No), the host vehicle 2A cannot change the lane. Return to determine the inter-vehicle distance K1 and the like. When the inter-vehicle distance or inter-vehicle time of the vehicle ahead of the right adjacent lane (for example, the overtaking lane Rd2) is less than the set value (step S15; No), the driving support unit 27f determines the right adjacent lane (the overtaking lane Rd2). Since it is difficult to overtake the forward vehicle 2B in the same lane (traveling lane Rd1) by the traveling forward vehicle 2B, the process returns to step S11 described above to determine the inter-vehicle distance K1 and the like.

[Process during overtaking]
Next, processing during overtaking by the vehicle driving support apparatus 1 will be described with reference to FIG. The driving support unit 27f notifies the driver of the estimated overtaking time (step S20). For example, the driving support unit 27f outputs the estimated overtaking time as auditory information by the voice output unit 22a and notifies the driver. Next, the driving support unit 27f determines whether or not the host vehicle 2A has changed the lane by the driver's operation and has started the overtaking operation (step S21). For example, the driving support unit 27f determines whether or not the own vehicle 2A has changed the lane and started the overtaking operation from the captured image data. When the host vehicle 2A changes the lane and starts the overtaking operation (step S21; Yes), the driving support unit 27f determines whether another vehicle is traveling ahead of the forward vehicle 2B that is the overtaken vehicle. Is determined (step S22). If another vehicle (second vehicle) is traveling ahead of the forward vehicle 2B that is the overtaken vehicle (step S22; Yes), the driving support unit 27f determines the vehicle type of the second vehicle (step S22). S23). For example, the vehicle driving support device 1 performs the vehicle type determination process shown in FIG. 6 to determine the vehicle type of the second vehicle. Next, the driving support unit 27f recalculates the estimated overtaking time (step S24). The driving support unit 27f, for example, the total length L1 of the host vehicle 2A, the inter-vehicle distance K1 between the host vehicle 2A and the second vehicle, the total length L2 of the second vehicle, and the inter-vehicle distance K2 that can interrupt the tip of the second vehicle. And the total overtaking distance is divided by the relative speed between the host vehicle 2A and the second vehicle to calculate the estimated overtaking time. The driving support unit 27f notifies the driver of the recalculated estimated overtaking time after recalculating the estimated overtaking time.
In step S21 described above, the driving support unit 27f determines whether the overtaking operation is started again when the host vehicle 2A does not start the overtaking operation after changing the lane (step S21; No). judge. In step S22 described above, the driving support unit 27f is overtaking when another vehicle (second vehicle) is not traveling ahead of the forward vehicle 2B that is the overtaken vehicle (step S22; No). Terminate the process.

  As described above, the vehicle driving support device 1 according to the embodiment determines the vehicle type of the front vehicle 2B based on the vehicle width W of the front vehicle 2B and the presence or absence of the triangular reflector 2b, and based on the vehicle type of the front vehicle 2B. This supports the driving of the host vehicle 2A. Thereby, the vehicle driving assistance device 1 can smoothly support the driving of the host vehicle 2A in relation to the front vehicle 2B traveling in front of the host vehicle 2A. For example, when the host vehicle 2A overtakes the front vehicle 2B, the vehicle driving support device 1 increases the overtaking time when the total length L2 of the front vehicle 2B traveling in front of the host vehicle 2A is long, and the total length of the front vehicle 2B. When L2 is short, the driver can be notified that the overtaking time is short.

  In the vehicle driving support device 1, the vehicle type determination unit 27e determines that the first vehicle type (ordinary vehicle 2C) regardless of the presence or absence of the triangular reflector 2b when the vehicle width W of the forward vehicle 2B is less than the vehicle width reference value (2 m). ), The vehicle width W of the forward vehicle 2B is equal to or greater than the vehicle width reference value (2 m) and the triangular reflector 2b is not present, and the vehicle is determined to be a second vehicle type (large truck 2D) different from the first vehicle type. When the vehicle width W of the vehicle 2B is equal to or greater than the vehicle width reference value (2m) and the triangular reflector 2b is present, it is determined that the vehicle is a third vehicle type (trailer 2E) different from the first vehicle type and the second vehicle type. Thereby, the vehicle driving assistance device 1 can assist the driving of the host vehicle 2A based on the size (full length L2) of the front vehicle 2B traveling in front of the host vehicle 2A.

  In the vehicle driving support device 1, the driving support unit 27f supports overtaking of the forward vehicle 2B by the host vehicle 2A based on the vehicle type of the forward vehicle 2B. Thereby, for example, the vehicle driving support device 1 increases the overtaking time when the total length L2 of the front vehicle 2B traveling in front of the host vehicle 2A is long, and the overtaking time when the total length L2 of the front vehicle 2B is short. The driver can be notified that the vehicle will be shortened. Therefore, the vehicle driving assistance device 1 can assist in smoothly overtaking the forward vehicle 2B traveling in front of the host vehicle 2A.

  In the vehicle driving support device 1, the driving support unit 27f includes a total length L1 of the host vehicle 2A, an inter-vehicle distance K1 between the host vehicle 2A and the front vehicle 2B, a total length L2 of the front vehicle 2B, and the tip of the front vehicle 2B. The total overtaking distance obtained by adding up the inter-vehicle distance K2 that can be interrupted to the vehicle is divided by the relative speed between the host vehicle 2A and the preceding vehicle 2B to calculate the estimated overtaking time. Based on the estimated overtaking time, Assist driving. For example, when the host vehicle 2A (large truck 2D) is traveling at a speed limit (for example, 80 km / h), the vehicle driving support device 1 is a front vehicle 2B (large vehicle) that travels at the same speed as the host vehicle 2A. When overtaking the track 2D), the long estimated overtaking time is calculated because the relative speed is slow. In addition, the vehicle driving support device 1 is, for example, a front vehicle 2B (running at a speed slower than the host vehicle 2A) when the host vehicle 2A (large truck 2D) is traveling at a speed limit (for example, 80 km / h). When overtaking the large truck 2D), since the relative speed is fast, a short estimated overtaking time is calculated. Thereby, the driver can easily determine whether or not to overtake the forward vehicle 2B based on the estimated overtaking time.

[Modification]
Next, a modification of the embodiment will be described. Although the example in which the triangular reflector 2b is provided at both ends of the metal bar 2d of the intrusion prevention device 2c has been described, the present invention is not limited to this. For example, as shown in FIG. 9, the triangular reflector 2 b may be provided at a position aligned in the vehicle width direction of the tail lamp (back lamp) 2 e of the trailer 2 </ b> E.

  Further, the vehicle driving support device 1 may further determine the vehicle type based on the size of the license plate 5. In this case, the image determination CPU 25d determines the size of the license plate 5 of the forward vehicle 2B shown in FIG. Here, the number plate 5 includes, for example, a large number plate number plate 5A, a medium size number plate number plate 5B, and the like. The license plate 5A, which is a large scale plate, has a vertical length of 22 cm and a horizontal length of 44 cm, for example. For example, the number plate 5B of the medium-sized sign plate has a vertical length of 16.5 cm and a horizontal length of 33 cm. The large number plate number plate 5A is attached to, for example, a large truck 2D or a trailer 2E, and the medium size number plate number plate 5B is attached to, for example, an ordinary vehicle 2C.

  As described above, the image determination CPU 25d uses the license plate reference value for calculating the size of the license plate 5 according to the inter-vehicle distance K1 (the distance from the reference position in the captured image data) in the captured image data. Pre-stored in the ROM 25a. This is because in the photographed image data, even if the number plate 5 has the same size, the number plate 5 appears smaller as the inter-vehicle distance K1 increases. The image determination CPU 25d can calculate the size of the number plate 5 of the vehicle 2B ahead of the traveling lane Rd1 by using the number plate reference value determined according to the inter-vehicle distance K1 in the captured image data. The image determination CPU 25d outputs the calculated size of the number plate 5 of the preceding vehicle 2B in the traveling lane Rd1 to the control unit 27.

  The vehicle type determination unit 27e of the control unit 27 determines the vehicle type of the front vehicle 2B based on the vehicle width W of the front vehicle 2B, the presence or absence of the triangular reflector 2b, and the size of the number plate 5 of the front vehicle 2B. When the vehicle width W of the forward vehicle 2B is less than 2 m, the vehicle type determination unit 27e determines that the vehicle is a first vehicle type, for example, a normal vehicle 2C, regardless of the presence or absence of the triangular reflector 2b. When the vehicle width W of the front vehicle 2B is 2 m or more, the number plate 5 of the front vehicle 2B is a large number plate number plate 5A, and the front vehicle 2B has no triangular reflector 2b, It determines with the 2nd vehicle type different from one vehicle type, for example, the heavy-duty truck 2D. When the vehicle width W of the front vehicle 2B is 2 m or more, the number plate 5 of the front vehicle 2B is a large number plate number plate 5A, and the front vehicle 2B has the triangular reflector 2b, A third vehicle type different from the first vehicle type and the second vehicle type, for example, the trailer 2E is determined. Thereby, the vehicle driving assistance device 1 can determine the vehicle type of the forward vehicle 2B more accurately.

  Further, the vehicle driving support device 1 may further determine the vehicle type of the front vehicle 2B based on the number of rear tires 2g of the front vehicle 2B. The image determination CPU 25d determines the number of tires 2g on the rear wheels of the front vehicle 2B from the image captured by the imaging unit 10. The image determination CPU 25d determines the number of tires 2g on the rear wheels of the front vehicle 2B by, for example, pattern matching in the captured image data. The image determination CPU 25d outputs the number of rear wheel tires 2g to the control unit 27.

  The vehicle type determination unit 27e of the control unit 27 determines the vehicle type of the forward vehicle 2B based on the vehicle width W of the forward vehicle 2B and the number of tires 2g on the rear wheels of the forward vehicle 2B in addition to the triangular reflector 2b. When the vehicle width W of the forward vehicle 2B is less than 2 m, the vehicle type determination unit 27e determines that the vehicle is a first vehicle type, for example, a normal vehicle 2C, regardless of the presence or absence of the triangular reflector 2b. In the vehicle type determination unit 27e, the vehicle width W of the front vehicle 2B is 2 m or more, the number plate 5 of the front vehicle 2B is a large number plate number plate 5A, and the number of tires 2g on the rear wheels of the front vehicle 2B is set. When the number is equal to or greater than the number (for example, four) and the front vehicle 2B does not have the triangular reflector 2b, the vehicle is determined to be a second vehicle type different from the first vehicle type, for example, a large truck 2D. In the vehicle type determination unit 27e, the vehicle width W of the front vehicle 2B is 2 m or more, the number plate 5 of the front vehicle 2B is a large number plate number plate 5A, and the number of tires 2g on the rear wheels of the front vehicle 2B is set. When the number is more than four (for example, four) and the front vehicle 2B has the triangular reflector 2b, the vehicle is determined to be a third vehicle type different from the first vehicle type and the second vehicle type, for example, the trailer 2E. Thereby, the vehicle driving assistance device 1 can determine the vehicle type of the forward vehicle 2B more accurately. The vehicle type determination unit 27e may determine the vehicle type of the front vehicle 2B based on the vehicle width W of the front vehicle 2B, the presence or absence of the triangular reflector 2b, and the number of tires 2g on the rear wheels of the front vehicle 2B. .

  Moreover, although the vehicle driving assistance apparatus 1 demonstrated the vehicle width reference value as 2 m, it is not limited to this. The vehicle width reference value (2 m) is a reference value for identifying the ordinary vehicle 2C and other vehicle types (large truck 2D, trailer 2E), and can identify the ordinary vehicle 2C and other vehicle types. If possible, values other than 2 m may be used.

  In addition, the vehicle driving support device 1 uses the triangular reflector 2b as a mark for identifying the large truck 2D and the trailer 2E. However, as long as the mark can identify the large truck 2D and the trailer 2E. It is not limited to the triangular reflector 2b.

  In addition to the overtaking support, the vehicle driving support device 1 may support adjusting the inter-vehicle distance K1 with the front vehicle 2B based on the vehicle type of the front vehicle 2B. For example, when the vehicle driving support apparatus 1 recognizes that a danger mark provided on a vehicle that transports (transfers) a dangerous substance is provided on the preceding vehicle 2B, the inter-vehicle distance K1 with the preceding vehicle 2B is equal to or greater than a certain distance. Help to open.

  Moreover, although the vehicle driving assistance apparatus 1 demonstrated the example which notifies an overtaking time to a driver | operator by the audio | voice output part 22a etc., it is not limited to this. For example, when the vehicle driving support device 1 determines that the forward vehicle 2B can be overtaken based on the estimated overtaking time when the host vehicle 2A is set in the automatic driving mode, the overtaking lane Rd2 The vehicle 2A may be automatically braked after passing through the vehicle and the vehicle 2B may be overtaken.

DESCRIPTION OF SYMBOLS 1 Vehicle driving assistance apparatus 10 Image pick-up part 11 Main camera 20 Onboard equipment main body 25 Image processing part 27e Vehicle type determination part 27f Driving assistance part 2 Vehicle 2A Own vehicle 2B Front vehicle 2C Normal vehicle 2D Large truck 2E Trailer 2a Rear end part 2b Triangular reflection Plate 2g Tire 5, 5A, 5B Number plate W, W1, W2, W3 Car width

Claims (6)

An imaging unit that is installed in the host vehicle and shoots a rear end portion of the front vehicle traveling in front of the host vehicle;
An image processing unit that determines a vehicle width of the front vehicle and presence / absence of a mark having a specific shape and a specific color predetermined at a rear end portion of the front vehicle from an image captured by the imaging unit;
A vehicle type determination unit for determining the vehicle type of the front vehicle based on the vehicle width of the front vehicle and the mark;
And a driving support unit that supports driving of the host vehicle based on the type of the preceding vehicle. The vehicle type determination unit
When the vehicle width of the preceding vehicle is less than the vehicle width reference value, it is determined as the first vehicle type regardless of the presence or absence of the mark,
If the vehicle width of the preceding vehicle is not less than the vehicle width reference value and there is no mark, it is determined as a second vehicle type different from the first vehicle type,
The vehicle driving support device according to claim 1, wherein when the vehicle width of the preceding vehicle is equal to or greater than the vehicle width reference value and the mark is present, the vehicle is determined to be a third vehicle type different from the first vehicle type and the second vehicle type. The driving support unit
The vehicle driving support device according to claim 1 or 2, wherein the host vehicle supports overtaking of the front vehicle by the host vehicle based on a vehicle type of the front vehicle. The driving support unit
The overtaking total distance obtained by adding up the total length of the host vehicle, the inter-vehicle distance between the host vehicle and the preceding vehicle, the total length of the preceding vehicle, and the inter-vehicle distance that can be interrupted beyond the preceding vehicle. And the relative speed between the vehicle and the preceding vehicle, calculating an estimated overtaking time that is an estimated time for the host vehicle to pass the preceding vehicle, and assisting the driving of the host vehicle based on the estimated overtaking time. Item 4. The vehicle driving support device according to Item 3. The image processing unit
From the image captured by the imaging unit, determine the size of the license plate of the vehicle ahead,
The vehicle type determination unit
The vehicle driving support device according to any one of claims 1 to 4, wherein a vehicle type of the preceding vehicle is determined based on a vehicle width of the preceding vehicle, the mark, and a size of a license plate of the preceding vehicle. The image processing unit
From the image photographed by the photographing unit, determine the number of tires of the rear wheels of the front vehicle,
The vehicle type determination unit
The vehicle driving support device according to any one of claims 1 to 5, wherein a vehicle type of the front vehicle is determined based on a vehicle width of the front vehicle and the number of tires of a rear wheel of the front vehicle in addition to the mark. .

Images