JP2018144568A - Driving support method and driving support device using the same, automated driving control device, vehicle, program, and driving support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for travelling in response to a situation even when there exists an obstacle.SOLUTION: Information on a stop action by a vehicle 100 is input to an action information input part 54 from an automated driving control device 30. An image/voice output part 51, if a distance from a point on a predicted moving route of an obstacle to the obstacle is a first threshold value or higher and the velocity of the obstacle is a second threshold value or lower, outputs to a notification device 2 inquiry information for inquiring a driver whether the possibility of collision between the obstacle and the vehicle 100 is excluded from determination targets for the automated driving control device 30. An answer signal for excluding the possibility of collision from the determination targets is input to an operation signal input part 50. A command output part 55 outputs to the automated driving control device 30 a command for excluding the possibility of collision from the determination targets.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle, a driving support method provided in the vehicle, a driving support device using the same, an automatic driving control device, a program, and a driving support system.

  In the automatic driving of the vehicle, an obstacle of vehicle traveling is detected, and the vehicle is automatically stopped before a predetermined distance from the obstacle. In order to optimally control automatic stopping of vehicles traveling at medium and high speeds, long distance obstacle detection means that detects only the presence or absence of obstacles within the long distance range, and within the short distance range Short-distance obstacle detection means for obtaining the distance to the obstacle detected only is provided (for example, see Patent Document 1).

Japanese Patent Laid-Open No. 10-16734

  An automatic driving vehicle automatically stops by detecting another vehicle or a pedestrian when turning right or left or joining. At that time, the driver of the other vehicle or the pedestrian may give way. In some cases, the other vehicle must fail and stop. However, an autonomously stopped vehicle that has been automatically stopped is not the same as an autonomously driven vehicle even if the other vehicle or the pedestrian is obstructed even if the other vehicle is given a road stop or is stopped due to a failure. If it is detected that the vehicle exists within a predetermined distance, it is determined that there is a possibility of a collision with the other obstacles including the other vehicle or the pedestrian, and the vehicle cannot start.

  This invention is made | formed in view of such a condition, The objective is to provide the technique which drive | works according to a condition, even when an obstruction exists.

  In order to solve the above problems, a driving support device according to an aspect of the present invention calculates a collision possibility between a detected obstacle and a vehicle, and uses the calculated collision possibility as a determination target to automatically drive the vehicle. When the possibility of collision is greater than a predetermined value, the driving support device is mounted on a vehicle equipped with an automatic driving control device that stops the vehicle, and vehicle stop action information is input from the automatic driving control device. When vehicle behavior information is input from the behavior information input unit and the behavior information input unit, the distance from one point on the predicted movement path of the obstacle to the obstacle is greater than or equal to the first threshold, and the obstacle If the speed of the object is less than or equal to the second threshold value, an inquiry to output to the notification device inquiry information for inquiring the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the judgment target in the automatic driving control device output And an operation signal input unit for inputting a response signal of a response operation by an occupant that excludes the possibility of a collision between an obstacle and a vehicle from a determination target in response to an inquiry notified from the notification device, and an operation signal input unit And a command output unit that outputs a command for excluding the possibility of a collision between the obstacle and the vehicle from the determination target to the automatic driving control device.

  Another aspect of the present invention is an automatic operation control device. This device is an automatic driving control device mounted on a vehicle, calculates the possibility of collision between the detected obstacle and the vehicle, and controls the automatic driving of the vehicle using the calculated possibility of collision as a determination target. If the possibility of collision is greater than a predetermined value, an automatic driving control unit that stops the vehicle, a behavior information input unit that receives vehicle stopping behavior information from the automatic driving control unit, and a vehicle stop from the behavior information input unit When the action information is input, if the distance from one point on the predicted movement path of the obstacle to the obstacle is not less than the first threshold and the speed of the obstacle is not more than the second threshold, An inquiry output unit that outputs to the notification device inquiry information for inquiring the occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the judgment target in the automatic driving control unit, and an inquiry notified from the notification device , Subject of judgment If the response signal is input to the operation signal input unit that receives the response signal of the response operation by the occupant and excludes the possibility of collision between the obstacle and the vehicle, the obstacle is excluded from the judgment target. And a command output unit that outputs a command that excludes the possibility of a collision between the vehicle and the vehicle to the automatic driving control unit.

  Yet another embodiment of the present invention is a vehicle. This vehicle calculates the possibility of collision between the detected obstacle and the vehicle, uses the calculated possibility of collision as a determination target, controls automatic driving of the vehicle, and if the possibility of collision is greater than a predetermined value, A driving support device mounted on a vehicle including an automatic driving control device for stopping the vehicle and a vehicle including the driving support device, wherein the driving support device is action information in which vehicle stop action information is input from the automatic driving control device. When vehicle stop behavior information is input from the input unit and the behavior information input unit, the distance from one point on the predicted movement path of the obstacle to the obstacle is equal to or greater than the first threshold, and the obstacle An inquiry output unit that outputs inquiry information to the passenger to inquire whether the possibility of collision between the obstacle and the vehicle is excluded from the determination target in the automatic driving control device if the speed is equal to or less than the second threshold value. When An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between an obstacle and a vehicle from a determination target, and responds to the operation signal input unit in response to an inquiry notified from the notification device A command output unit that outputs, to the automatic driving control device, a command for excluding the possibility of a collision between an obstacle and a vehicle from a determination target when a signal is input.

  Yet another embodiment of the present invention is a driving support method. This method calculates the possibility of collision between the detected obstacle and the vehicle, uses the calculated possibility of collision as a determination target, controls automatic driving of the vehicle, and if the possibility of collision is greater than a predetermined value, A driving support method in a driving support device mounted on a vehicle having an automatic driving control device for stopping the vehicle, the step of inputting the vehicle stopping behavior information from the automatic driving control device, and the input of the vehicle stopping behavior information If the distance from the point on the predicted movement path of the obstacle to the obstacle is equal to or greater than the first threshold and the speed of the obstacle is equal to or less than the second threshold, the automatic operation control device A step of outputting inquiry information for inquiring the occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the determination target in the step, and the determination target for the inquiry notified from the notification device. A step of inputting a response signal of a response operation by an occupant that excludes the possibility of collision between the vehicle and the vehicle, and a command that excludes the possibility of collision between the obstacle and the vehicle from the judgment target when the response signal is input Outputting to the automatic operation control device.

  Yet another embodiment of the present invention is a driving support system. The driving support system calculates the possibility of collision between the detected obstacle and the vehicle, and uses the calculated possibility of collision as a determination target to control automatic driving of the vehicle. When the possibility of collision is greater than a predetermined value A driving support system mounted on a vehicle including an automatic driving control device for stopping the vehicle, wherein the behavior information input unit receives vehicle stopping behavior information from the automatic driving control device, and the behavior information input unit When stop action information is input, if the distance from one point on the predicted movement path of the obstacle to the obstacle is not less than the first threshold and the speed of the obstacle is not more than the second threshold An informing device for inquiring inquiry information for inquiring an occupant whether to exclude the possibility of a collision between an obstacle and a vehicle from a judgment target in the automatic driving control device, and an inquiry informed from the informing device. The input device that accepts a response operation by an occupant that excludes the possibility of a collision between the obstacle and the vehicle from the target, and when the response operation is accepted by the input device, the possibility of the collision between the obstacle and the vehicle from the judgment target A command output unit that outputs a command to be excluded to the automatic operation control device.

  An arbitrary combination of the above components, the expression of the present invention converted between an apparatus, a system, a method, a program, a recording medium recording the program, a vehicle equipped with the apparatus, and the like are also included in the present invention. It is effective as an embodiment.

  According to the present invention, even if an obstacle exists, the vehicle can travel according to the situation.

1 is a diagram illustrating a configuration of a vehicle according to a first embodiment. It is a figure which shows typically the interior of the vehicle of FIG. FIGS. 3A to 3D are diagrams illustrating an outline of processing according to the first embodiment. It is a figure which shows the structure of the control part of FIG. FIGS. 5A to 5C are diagrams showing images displayed on the notification device of FIG. 6A to 6C are diagrams showing an outline of processing by the inquiry processing unit in FIG. FIGS. 7A to 7C are diagrams showing an outline of another process performed by the inquiry processing unit shown in FIG. FIGS. 8A to 8C are diagrams showing still another processing outline by the inquiry processing unit of FIG. It is a flowchart which shows the instruction | indication procedure by the control part of FIG. It is a flowchart which shows another instruction | indication procedure by the control part of FIG. FIGS. 11A to 11C are diagrams illustrating an outline of processing according to the second embodiment. FIGS. 12A to 12C are diagrams illustrating images displayed on the notification device according to the second embodiment. FIGS. 13A to 13B are diagrams illustrating another processing outline of the control unit according to the second embodiment. FIGS. 14A and 14B are diagrams showing another processing outline of the second embodiment. FIG. 10 is a diagram showing an outline of processing in a third embodiment. FIGS. 16A to 16C are diagrams showing images displayed on the notification device according to the third embodiment. 10 is a flowchart illustrating an instruction procedure by a control unit according to the third embodiment. 10 is a flowchart showing another instruction procedure by the control unit according to the third embodiment. 19 (a) to 19 (c) are diagrams showing an outline of processing according to the fourth embodiment. FIGS. 20A to 20C are diagrams showing images displayed on the notification device according to the fourth embodiment. FIGS. 21A to 21C are diagrams illustrating another processing outline of the control unit according to the fourth embodiment. FIG. 10 is a diagram showing an outline of processing in a fifth embodiment. FIGS. 23A to 23C are diagrams illustrating images displayed on the notification device according to the fifth embodiment.

(Embodiment 1)
Before describing the present invention in detail, an outline will be described. The first embodiment relates to a vehicle that calculates the possibility of collision with a detected obstacle and executes automatic driving using the calculated possibility of collision as a determination target. In particular, the first embodiment is a device that controls an HMI (Human Machine Interface) (hereinafter referred to as “driving support device”) for exchanging information related to driving behavior of the vehicle with a vehicle occupant (for example, a driver). Call). “Driving behavior” includes the state of operation such as steering and braking during driving or stopping of the vehicle, or control content related to automatic driving control, for example, constant speed driving, acceleration, deceleration, pause, stop, Lane change, course change, left / right turn, parking, etc. In addition, driving behavior includes cruise (maintain vehicle speed by maintaining the lane), lane maintenance, follow-up vehicle follow-up, stop-and-go during follow-up, lane change, overtaking, response to merging vehicles, entry to and exit from expressway Interchange, confluence, response to construction zone, response to emergency vehicles, response to interrupting vehicles, response to right and left turn lanes, interaction with pedestrians and bicycles, avoiding obstacles other than vehicles, signs It may be a response to, a right / left turn / U-turn constraint, a lane constraint, a one-way street, a traffic sign, an intersection / landabout, etc.

  If there is an obstacle such as another vehicle or person in the driving action such as interruption, left turn, right turn, etc., the automatic driving control device calculates the possibility of collision with the obstacle and the possibility of collision If the predetermined value is exceeded, the vehicle is stopped. If the state where the possibility of collision exceeds a predetermined value continues, the automatic driving control device does not start the vehicle. Under such circumstances, an obstacle may give way to the vehicle. This is done by eye contact between an occupant or person of another vehicle and an occupant of the vehicle when the vehicle is not performing automatic driving. However, since the vehicle is running automatically, even if an obstacle gives way, if the vehicle cannot recognize it, the vehicle will Do not start. On the other hand, in order to smooth the traffic, it is better to start this vehicle when the obstacle is given away.

  In the first embodiment, attention is paid to “interrupt” as the driving action. The interruption occurs, for example, at a scene where the merging road is connected to the merging road at the merging point. This vehicle travels on a junction road, and before the junction point with the merged road, the automatic driving control device runs on the merged road and checks the possibility of collision with another vehicle that is scheduled to be interrupted by this vehicle. calculate. If the possibility of collision exceeds a predetermined value, the automatic driving control device stops the vehicle just before the junction with the merged road. In such a situation, when another vehicle also stops before the junction and gives way to the present vehicle, it is possible to interrupt the other vehicle.

  In order to enable interruption in such a case, the driving support device in the present embodiment executes the following processing. The driving support device is informed of the “stop” driving behavior that occurs during the “interrupt” driving behavior from the automatic driving control device. The driving support device identifies the intersection of the merged road with the merge road from the map information, and derives the distance between the intersection and the other vehicle as the determination distance. Further, the driving support device acquires the speed of the other vehicle. When the determination distance is greater than or equal to the first threshold value and the speed is less than or equal to the second threshold value, the driving support device excludes the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device. Ask the occupant about this. For example, an image for inquiring is generated and displayed on a monitor in the vehicle. In response to such an inquiry, when the driving support device accepts a response operation to be excluded from the occupant, the driving support device generates a command for excluding the possibility of a collision between the other vehicle and the vehicle from the determination target, and sends it to the automatic driving control device. Send. When the automatic driving control device receives a command from the driving support device, the automatic driving control device excludes the possibility of collision between the other vehicle and the vehicle from the determination target, and starts the vehicle if the possibility of collision is smaller than a predetermined value.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each embodiment described below is an example, and the present invention is not limited to these embodiments.

  FIG. 1 shows a configuration of vehicle 100 according to Embodiment 1, and particularly shows a configuration related to an autonomous driving vehicle. The vehicle 100 can travel in the automatic driving mode, and includes a notification device 2, an input device 4, a wireless device 8, a driving operation unit 10, a detection unit 20, an automatic driving control device 30, and a driving support device 40. The devices shown in FIG. 1 may be connected by wired communication such as a dedicated line or a CAN (Controller Area Network). Moreover, you may connect by wired communication or wireless communications, such as USB (Universal Serial Bus), Ethernet (trademark), Wi-Fi (trademark), Bluetooth (trademark).

  The notification device 2 notifies the occupant of information related to traveling of the vehicle 100. The notification device 2 is, for example, a car navigation system, a head-up display, or a center display installed in the vehicle. The notification device 2 may be a display unit that displays information such as a light emitter such as an LED (Light Emitting Diode) installed around the steering wheel, pillar, dashboard, and meter panel. In addition, the notification device 2 may be a speaker that converts information into sound and notifies the occupant, or a vibration body provided at a position that can be sensed by the occupant (for example, the occupant's seat, steering wheel). There may be. Further, the notification device 2 may be a combination thereof.

  The input device 4 is a user interface device that receives an operation input by an occupant. For example, the input device 4 is a touch panel, a lever, a button, a switch, a controller such as a joystick or a volume, a sensor such as a camera that recognizes a gesture without contact, a sensor such as a microphone that recognizes voice, or a combination thereof. Receives information on the automatic driving of the vehicle entered by. An operation signal for switching between automatic operation and manual operation may be received. The input device 4 outputs the received information to the driving support device 40 as an operation signal.

  FIG. 2 schematically shows the interior of the vehicle 100. The notification device 2 may be a head-up display (HUD, Head-Up Display) 2a or a center display 2b. The input device 4 may be the first operation unit 4a provided in the steering 11 or the second operation unit 4b provided between the driver seat and the passenger seat, and is a camera that recognizes a gesture. The third operation unit 4c, which is a sensor such as In addition, the alerting | reporting apparatus 2 and the input device 4 may be integrated, for example, may be mounted as a touch panel display. The vehicle 100 may further be provided with a speaker 6 that presents information related to automatic driving to the occupant by voice. In this case, the driving support device 40 may cause the notification device 2 to display an image indicating information related to automatic driving, and output a sound indicating information related to automatic driving from the speaker 6 together with or instead of the information. Returning to FIG.

  The wireless device 8 corresponds to a mobile phone communication system, a WMAN (Wireless Metropolitan Area Network), and the like, and performs wireless communication with a data server, infrastructure, other vehicles, pedestrians, and the like. The driving operation unit 10 includes a steering 11, a brake pedal 12, an accelerator pedal 13, and a winker switch 14. The steering 11, the brake pedal 12, the accelerator pedal 13, and the winker switch 14 can be electronically controlled by a steering ECU, a brake ECU, an engine ECU, a motor ECU, and a winker controller. In the automatic operation mode, the steering ECU, the brake ECU, the engine ECU, and the motor ECU drive the actuator in accordance with a control signal supplied from the automatic operation control device 30. The blinker controller turns on or off the blinker lamp according to a control signal supplied from the automatic operation control device 30.

  The detection unit 20 detects a surrounding situation and a running state of the vehicle 100. The detection unit 20 includes, for example, the speed of the vehicle 100, the relative speed of the preceding vehicle with respect to the vehicle 100, the distance between the vehicle 100 and the preceding vehicle, the relative speed of the vehicle in the side lane with respect to the vehicle 100, and the vehicle in the vehicle 100 and the side lane. And the position information of the vehicle 100 are detected. The detection unit 20 outputs various detected information (hereinafter referred to as “detection information”) to the automatic operation control device 30. Further, the detection unit 20 may output the detection information to the driving support device 40 via the automatic driving control device 30 or may directly output the detection information to the driving support device 40. The detection unit 20 includes a position information acquisition unit 21, a sensor 22, a speed information acquisition unit 23, and a map information acquisition unit 24.

  The position information acquisition unit 21 acquires the current position of the vehicle 100 from a GNSS (Global Navigation Satellite System (s)) receiver. The sensor 22 is a generic name for various sensors for detecting the situation outside the vehicle and the state of the vehicle 100. For example, a camera, a millimeter wave radar, a LIDAR (Light Detection and Ranging), a sonar, a temperature sensor, an atmospheric pressure sensor, a humidity sensor, and an illuminance sensor are mounted as sensors for detecting a situation outside the vehicle. The situation outside the vehicle includes a road condition in which the host vehicle includes lane information, an environment including weather, a situation around the host vehicle, and other vehicles in the vicinity (such as other vehicles traveling in the adjacent lane). Any information outside the vehicle that can be detected by the sensor 22 may be used. Further, as the sensor 22 for detecting the state of the vehicle 100, for example, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an inclination sensor, and the like are mounted.

  The speed information acquisition unit 23 acquires the current speed of the vehicle 100 from the vehicle speed sensor. The map information acquisition unit 24 acquires map information around the current position of the vehicle 100 from the map database. The map database may be recorded on a recording medium in the vehicle 100, or may be downloaded from a map server via a network when used. The map information includes information on roads and intersections.

  The automatic driving control device 30 is an automatic driving controller that implements an automatic driving control function, and determines the behavior of the vehicle 100 in automatic driving. The automatic operation control device 30 includes a control unit 31, a storage unit 32, and an I / O unit (Input / Output unit, input / output unit) 33. The configuration of the control unit 31 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM (Read Only Memory), RAM (Random Access Memory), and other LSIs can be used as hardware resources, and programs such as operating systems, applications, and firmware can be used as software resources. The storage unit 32 includes a nonvolatile recording medium such as a flash memory. The I / O unit 33 executes communication control according to various communication formats. For example, the I / O unit 33 outputs information related to automatic driving to the driving support device 40 and inputs a control command from the driving support device 40. Further, the I / O unit 33 inputs detection information from the detection unit 20.

The control unit 31 applies the control command input from the driving support device 40 and various information collected from the detection unit 20 or various ECUs to the automatic driving algorithm, and automatically controls the accelerator throttle opening, steering angle, etc. of the vehicle 100. A control value for controlling the object is calculated. The control for stopping the vehicle 100 will be described as an example. When the detected obstacle is another vehicle, the control unit 31 determines the possibility of collision with the other vehicle based on the detection information received from the detection unit 20. The TTC (Time-To-Collision) is calculated as follows.
TTC = D / (V2-V1)
Here, D indicates the inter-vehicle distance between the vehicle 100 and the other vehicle, V1 indicates the speed of the vehicle 100, and V2 indicates the speed of the other vehicle. Decreasing the TTC indicates that the time until the collision is shortened, and therefore corresponds to an increased possibility of collision.

  On the other hand, when the obstacle is a person, the control unit 31 is based on the detection information received from the detection unit 20 and changes in an area formed around the vehicle 100 in accordance with driving behavior (hereinafter, referred to as “the driving action”). The possibility of collision is calculated based on whether or not a person exists in the “monitoring area”. Here, the possibility of collision is low when no person is present, and the possibility of collision is high when a person is present. Regardless of whether the obstacle is another vehicle or a person, the control unit 31 determines the stop of the vehicle 100 as the automatic driving control of the vehicle 100 when the possibility of collision is greater than a predetermined value. A control value for stopping is calculated. That is, the control unit 31 performs automatic driving control of the vehicle 100 using the possibility of collision as a determination target. The predetermined value may be different depending on whether the obstacle is another vehicle or a person. When there are a plurality of obstacles, if the possibility of collision with at least one obstacle is greater than a predetermined value, the vehicle 100 is determined to stop. Further, in the present embodiment, the monitoring area is simplified and indicated by the monitoring area 124 (including a predetermined width) surrounding the intersection where the own vehicle is scheduled to travel, but as an example that changes according to driving behavior, When making a left turn at an intersection, the host vehicle planned travel route, the host vehicle traveling road, and the left-turned traveling road may be limited to the portion included in the region. The control unit 31 transmits the calculated control value to each control target ECU or controller. In this embodiment, it is transmitted to the steering ECU, the brake ECU, the engine ECU, and the winker controller. In the case of an electric vehicle or a hybrid car, the control value is transmitted to the motor ECU instead of or in addition to the engine ECU.

  The driving support device 40 is an HMI controller that executes an interface function between the vehicle 100 and an occupant, and includes a control unit 41, a storage unit 42, and an I / O unit 43. The control unit 41 executes various data processing such as HMI control. The control unit 41 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources, and programs such as an operating system, application, and firmware can be used as software resources.

  The storage unit 42 is a storage area that stores data that is referred to or updated by the control unit 41. For example, it is realized by a non-volatile recording medium such as a flash memory. The I / O unit 43 executes various communication controls according to various communication formats. The I / O unit 43 includes an operation signal input unit 50, an image / audio output unit 51, a detection information input unit 52, a command IF (Interface) 53, and a communication IF 56.

  The operation signal input unit 50 receives an operation signal from the input device 4 by an operation of an occupant or a user outside the vehicle made to the input device 4 and outputs the operation signal to the control unit 41. The image / sound output unit 51 outputs the image data or the voice message generated by the control unit 41 to the notification device 2 for display. The detection information input unit 52 is a result of the detection process by the detection unit 20, receives detection information indicating the current surrounding state and running state of the vehicle 100 from the detection unit 20, and outputs the detection information to the control unit 41.

  The command IF 53 executes interface processing with the automatic driving control device 30 and includes an action information input unit 54 and a command output unit 55. The behavior information input unit 54 receives information regarding the automatic driving of the vehicle 100 transmitted from the automatic driving control device 30 and outputs the information to the control unit 41. The command output unit 55 receives a control command for instructing the automatic driving control device 30 from the automatic driving control device 30 and transmits the control command to the automatic driving control device 30.

  The communication IF 56 executes interface processing with the wireless device 8. The communication IF 56 transmits the data output from the control unit 41 to the wireless device 8 and causes the wireless device 8 to transmit to the device outside the vehicle. Further, the communication IF 56 receives data from a device outside the vehicle transferred by the wireless device 8 and outputs the data to the control unit 41.

  Here, the automatic driving control device 30 and the driving support device 40 are configured as separate devices. As a modified example, as shown by a broken line in FIG. 1, the automatic driving control device 30 and the driving support device 40 may be integrated into one controller. In other words, one automatic driving control device may be configured to have the functions of both the automatic driving control device 30 and the driving support device 40 of FIG. Furthermore, you may be comprised as the driving assistance system with which the alerting device 2, the input device 4, and the driving assistance device 40 were combined.

  Before describing the processing of the driving support device 40 for the driving action of “interrupt”, the processing of the automatic driving control device 30 will be described. 3A to 3D show an outline of processing. FIG. 3A shows an interrupting action specified by the control unit 31 of the automatic driving control apparatus 30 and an interrupting action that will occur in the future. The junction road 200 is a road on which the vehicle 100 is traveling, and the vehicle 100 travels upward. On the other hand, the merged road 202 is a road that merges with the merged road 200, and the first other vehicle 102a and the second other vehicle 102b travel leftward. Here, the first other vehicle 102 a travels behind the second other vehicle 102 b and travels before the merge road 200 merges on the merged road 202. The first route 110 a on which the vehicle 100 is scheduled to travel is set so as to travel upward on the junction road 200 and turn left on the junction road 202. Therefore, the vehicle 100 is scheduled to cut in front of the first other vehicle 102a. Based on the detection information from the detection unit 20, the control unit 31 specifies an interrupt action as shown in FIG. Since a known technique may be used for such identification, description thereof is omitted here.

  The control unit 31 can collide TTC with the first other vehicle 102a based on the inter-vehicle distance 122 between the vehicle 100 and the first other vehicle 102a, the speed of the vehicle 100, and the speed of the first other vehicle 102a. Calculated as gender. When the calculated collision possibility is greater than a predetermined value, the control unit 31 determines a stop action. When determining the stop action, the control unit 31 controls the vehicle 100 to stop. As a result, the vehicle 100 traveled on the junction road 200, but stops before joining the junction road 202. Further, the control unit 31 transmits information indicating the stop action to the behavior information input unit 54 via the I / O unit 33. At that time or before that, the control unit 31 transmits information indicating the interrupting behavior as shown in FIG. 3 (b)-(d) will be described later.

  FIG. 4 shows the configuration of the control unit 41. The control unit 41 includes a determination unit 76, an inquiry processing unit 78, and a command processing unit 80. The behavior information input unit 54 receives information indicating an interrupt behavior as shown in FIG. In addition, the behavior information input unit 54 receives information indicating a stop behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 starts the next process when the behavior information input unit 54 is informed of the stop behavior of the vehicle. The determination unit 76 grasps the interrupt action as shown in FIG. 3A based on the information indicating the interrupt action. In addition, the determination part 76 may grasp | ascertain interruption action based on detection information similarly to the control part 31, without using the information by which interruption action was shown.

  FIG. 3B shows the interrupting action grasped by the determination unit 76. FIG. 3B shows a second route 110b that is predicted to travel by the first other vehicle 102a. The second route 110b is generated based on the map information included in the detection information and the position information of the first other vehicle 102a, and is determined in advance as going straight on the merged road 202 to the left. Further, the determination unit 76 acquires the intersection end point 112 of the merged road 202 with the merge road 200 based on the map information included in the detection information. The intersection end point 112 is the first other vehicle that travels on the merged road 202 in a portion where the merged road 202 and the merged road 200 overlap when the merged road 200 is extended so as to pass through the merged road 202. 102a is the last point to reach. Therefore, the intersection end point 112 is set as one point on the second route 110b. One spot may have a predetermined area, and the same applies to the embodiments described later.

  The determination unit 76 derives the distance from the intersection end point 112 to the first other vehicle 102a as the determination distance 120. Moreover, the determination part 76 acquires the speed of the 1st other vehicle 102a. The determination unit 76 compares the determination distance 120 and the first threshold value, and compares the speed of the first other vehicle 102a and the second threshold value. If the determination distance 120 is shorter than the first threshold value or the speed of the first other vehicle 102a is higher than the second threshold value, the determination unit 76 determines that the state is the “first state”. The first state corresponds to a case where the first other vehicle 102a travels and does not give way to the vehicle 100. On the other hand, when the determination distance 120 is equal to or greater than the first threshold and the speed of the first other vehicle 102a is equal to or smaller than the second threshold, the determination unit 76 determines that the state is the “second state”. . The second state corresponds to a case where the first other vehicle 102a stops or travels at a low speed equal to or lower than the second threshold value and gives way to the vehicle 100.

  As shown in FIG. 3C, the last part of the second other vehicle 102 b may be closer to the first other vehicle 102 a than the intersection end point 112. In this case, the determination unit 76 may derive the distance from the last part of the second other vehicle 102b to the first other vehicle 102a as the determination distance 120. The determination unit 76 may derive the distance between the intersection end point 112 and the first other vehicle 102a as the determination distance 120. Subsequent processing is the same as heretofore, and the description is omitted here. FIG. 3D will be described later, and the processing returns to FIG. The determination unit 76 outputs the determination result to the inquiry processing unit 78. The determination unit 76 also outputs other information to the inquiry processing unit 78.

  The inquiry processing unit 78 receives the determination result from the determination unit 76. When the determination result is the first state, the inquiry processing unit 78 does not execute the process. On the other hand, when the determination result is in the second state, the inquiry processing unit 78 inquires the occupant whether to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target in the automatic driving control device 30. Execute the process. Therefore, it is said that the condition for exclusion is satisfied in the second state. In order to specifically explain the inquiry process, FIGS. 5A to 5C are used here. FIGS. 5A to 5C show images displayed on the notification device 2. FIG. 5A shows an image generated in the inquiry processing unit 78 and displayed on the center display 2 b via the image / sound output unit 51. Therefore, it can be said that the image / sound output unit 51 is an inquiry output unit.

  The inquiry processing unit 78 generates, based on the other information received from the determination unit 76, an image showing the current situation where the interrupting action is occurring, that is, the situation shown in FIG. . A known technique may be used to generate the image, but the own vehicle icon 150 corresponding to the vehicle 100, the first other vehicle icon 152a corresponding to the first other vehicle 102a, and the second other vehicle 102b corresponding to the second other vehicle 102b. Two other vehicle icons 152b are shown. Further, the inquiry processing unit 78 may superimpose a message on the image for inquiring the occupant whether to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target in the automatic driving control device 30. The inquiry mode is not limited to this, but other examples will be described later. FIGS. 5B to 5C will be described later, and the description returns to FIG.

  The occupant confirms the image displayed on the center display 2b and further receives, for example, an eye contact from the occupant of the first other vehicle 102a, and recognizes that an interrupt is possible. When an interrupt is desired, the occupant performs a finger action such as paying the first other vehicle icon 152a on the center display 2b, which is a touch panel. The operation is not limited to this. This operation is detected by the touch panel, and the operation signal input unit 50 in FIG. 1 accepts this operation. This operation is a response signal that excludes the possibility of a collision between the first other vehicle 102a and the vehicle 100 from a determination target in response to an inquiry from the image / sound output unit 51. When receiving the response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the response signal. When receiving the notification from the operation signal input unit 50, the inquiry processing unit 78 instructs the command processing unit 80 to generate a command. On the other hand, the inquiry processing unit 78 ends the process when the operation signal input unit 50 does not accept the response signal for a certain period after the operation signal input unit 50 outputs the inquiry.

  When the command processing unit 80 is instructed to generate a command from the inquiry processing unit 78, the command processing unit 80 generates a command for instructing to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 calculates the collision possibility as before. Since the calculation of the possibility of collision in the control unit 31, that is, the calculation of TTC is as described above, the description thereof is omitted here. However, the control unit 31 determines the driving behavior by excluding the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. FIG. 3D shows the operation of the vehicle 100 when the possibility of a collision between the first other vehicle 102a and the vehicle 100 is excluded from the determination target. In FIG.3 (d), the vehicle 100 drive | works the merged road 202 by performing the interruption action with respect to the 1st other vehicle 102a. Returning to FIG.

  The control unit 31 of the automatic driving control device 30 executes the command or continues to execute the command when executing the automatic driving by excluding the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. Is output to the driving support device 40 as action information. The behavior information input unit 54 of the driving support device 40 receives the behavior information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 causes the occupant to recognize that the automatic driving control device 30 has excluded the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. Generate an image for FIG. 5B shows an image displayed on the center display 2 b when the automatic driving control apparatus 30 excludes the possibility of collision between the first other vehicle 102 a and the vehicle 100 from the determination target. As illustrated, the first other vehicle icon 152a changes from a solid line display to a dotted line display. FIG. 5C will be described later, and the processing returns to FIG.

  After the command output unit 55 outputs the command, the determination unit 76 continues the above-described processing until the interruption action as shown in FIG. Continue to determine whether it is in a state. In this case, the determination unit 76 outputs the determination result to the command processing unit 80.

  The command processing unit 80 receives the determination result from the determination unit 76. When the determination result is the first state, the command processing unit 80 generates a command for instructing the automatic driving control device 30 to include the possibility of collision between the first other vehicle 102a and the vehicle 100 in the determination target. To do. This corresponds to a situation in which the first other vehicle 102a authorized to give way has started. Therefore, when the state is the first state, it is also said that the condition for determination is satisfied. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision between the first other vehicle 102a and the vehicle 100 as a determination target. Thus, when the possibility of collision becomes greater than a predetermined value, the control unit 31 stops the vehicle 100.

  Further, when the control unit 31 stops the vehicle 100 and the command processing unit 80 is informed of the stop from the control unit 31 via the behavior information input unit 54, the command processing unit 80 displays an image for informing the passenger that the interruption is interrupted. Generate. FIG. 5C shows an image displayed on the center display 2b when interruption is stopped. As illustrated, the first other vehicle icon 152a changes from a dotted line display to a solid line display, and a message is displayed.

  In the following, with respect to the inquiry and response in the inquiry processing unit 78, the part related to the human interface will be described in more detail, and other examples will also be described. 6A to 6C show an outline of processing by the inquiry processing unit 78. FIG. In these cases, display on the center display 2b and response operation on the touch panel are performed as before.

  FIG. 6A shows an image generated by the inquiry processing unit 78. As described above, the vehicle icon 150, the first other vehicle icon 152a, and the second other vehicle icon 152b are displayed, and a message is also displayed. In addition, a route on which the vehicle icon 150 should travel for an interrupting action is displayed with an arrow. This corresponds to the first path 110a. The occupant recognizes that an interruption is possible by confirming the image displayed on the center display 2b. When the occupant wishes to interrupt the first other vehicle 102a corresponding to the first other vehicle icon 152a in the forward direction, the occupant selects the first other vehicle icon 152a with a finger.

  FIG. 6B shows processing subsequent to FIG. After the first other vehicle icon 152a is selected, the occupant moves his / her finger to pay the first other vehicle icon 152a. As described above, this corresponds to input of a response operation. By changing the display color of the first other vehicle icon 152a, the input of the response operation is notified to the occupant. FIG. 6C shows a process following FIG. After the response operation is input, an image displayed on the center display 2b when the possibility of collision with the first other vehicle 102a corresponding to the first other vehicle icon 152a is excluded from the determination target in the automatic driving control device 30. Then, the 1st other vehicle icon 152a changes from a solid line display to a dotted line display.

  FIGS. 7A to 7C are diagrams showing another processing outline by the inquiry processing unit 78. In these, a display operation by the head-up display 2a and a response operation by a gesture are performed. FIG. 7A shows an image generated by the inquiry processing unit 78. This is shown in the same manner as in FIG. The occupant recognizes that an interruption is possible by checking the image displayed on the head-up display 2a. When the occupant desires to interrupt the front of the first other vehicle 102a corresponding to the first other vehicle icon 152a, the occupant holds his hand over the third operation unit 4c (not shown).

  FIG. 7B shows a process following FIG. After holding the hand, the occupant moves his hand to pay the first other vehicle icon 152a. The gesture for paying the hand is detected by the third operation unit 4c. In addition, since a well-known technique should just be used for the detection of gesture, description is abbreviate | omitted here. This corresponds to input of a response operation. By changing the display color of the first other vehicle icon 152a, the input of the response operation is notified to the occupant. FIG. 7C shows a process following FIG. 7B. After the response operation is input, when the possibility of collision with the first other vehicle 102a corresponding to the first other vehicle icon 152a is excluded from the determination target in the automatic driving control device 30, it is displayed on the head-up display 2a. In the image, the first other vehicle icon 152a changes from a solid line display to a dotted line display.

  FIGS. 8A to 8C are diagrams showing still another processing outline by the inquiry processing unit 78. In these, a display operation by the head-up display 2a and a response operation by pressing a button are performed. FIG. 8A shows an image generated by the inquiry processing unit 78. This is shown in the same manner as in FIG. When the occupant wishes to interrupt the first other vehicle 102a in front of the first other vehicle icon 152a, he or she places a finger on the first operation unit 4a or lightly presses it.

  FIG. 8B shows a process following FIG. After placing the finger, the occupant pushes down or strongly presses down the first operation unit 4a. Note that the step of FIG. 8A may be omitted. This corresponds to input of a response operation. By changing the display color of the first other vehicle icon 152a, the input of the response operation is notified to the occupant. FIG. 8C shows a process following FIG. After the response operation is input, when the possibility of collision with the first other vehicle 102a corresponding to the first other vehicle icon 152a is excluded from the determination target in the automatic driving control device 30, it is displayed on the head-up display 2a. In the image, the first other vehicle icon 152a changes from a solid line display to a dotted line display.

  The operation of the driving support device 40 having the above configuration will be described. FIG. 9 is a flowchart showing an instruction procedure by the control unit 41. The behavior information input unit 54 receives a stop behavior in the driving behavior to be processed (S100). The determination unit 76 acquires the determination distance 120 and the speed for the obstacle (S102). When the determination distance 120 is greater than or equal to the first threshold value (Y in S104) and the speed is less than or equal to the second threshold value (Y in S106), the inquiry processing unit 78 passes through the image / sound output unit 51. Then, an inquiry is made as to whether the possibility of collision is excluded from the judgment target (S108). When the inquiry processing unit 78 receives an exclusion response signal via the operation signal input unit 50 (Y in S110), the command processing unit 80 outputs an exclusion command via the command output unit 55 (S112). Following this, the command processing unit 80 changes the display (S114). When the determination distance 120 is not equal to or greater than the first threshold value (N in S104), or when the speed is not equal to or less than the second threshold value (N in S106), or the inquiry processing unit 78 passes the operation signal input unit 50. When the response signal for exclusion is not accepted (N in S110), the process is terminated.

  FIG. 10 is a flowchart showing another instruction procedure by the control unit 41. This is because the command processing unit 80 outputs an exclusion command via the command output unit 55 in step 112 of FIG. 9 and the automatic operation control device 30 excludes the possibility of collision with an obstacle from the determination target. Indicates processing. When the driving action to be processed by the automatic driving control device 30 is continuing (Y in S150), the determination unit 76 acquires the determination distance 120 and speed for the obstacle (S152). If the determination distance 120 is greater than or equal to the first threshold value (Y in S154) and the speed is less than or equal to the second threshold value (Y in S156), the process ends. When the determination distance 120 is not equal to or greater than the first threshold value (N in S154), or the speed is not equal to or less than the second threshold value (N in S156), the command processing unit 80 can collide via the command output unit 55. A command to include the sex in the determination target is output (S158). The command processing unit 80 changes the display (S160). If the driving action to be processed by the automatic driving control device 30 is not continuing (N in S150), the process is terminated.

  According to the present embodiment, when the distance related to the other vehicle is equal to or greater than the first threshold and the speed of the other vehicle is equal to or smaller than the second threshold, the possibility of collision with the other vehicle is excluded from the determination target. Therefore, it is possible to confirm the will of the occupant, reflect information obtained by the sight of the occupant in the driving behavior, and realize smoother driving. In response to an inquiry, if a response signal that excludes the possibility of collision with another vehicle from the judgment target is obtained, the instruction is given to exclude the possibility of collision with another vehicle from the judgment target. Can interrupt other vehicles. In addition, when the distance related to the other vehicle is equal to or greater than the first threshold value and the speed of the other vehicle is equal to or smaller than the second threshold value, an inquiry is made as to whether to exclude the possibility of collision with the other vehicle from the judgment target. Eye contact can be achieved despite automatic operation. In addition, since it is instructed to exclude the possibility of collision with another vehicle from the judgment target by a combination of the inquiry and the response signal, even if another vehicle exists at the time of interruption, the vehicle can travel according to the situation.

  Further, the determination is continued even after the possibility of a collision with another vehicle is excluded from the determination target, and the distance related to the other vehicle is shorter than the first threshold value, or the speed of the other vehicle is lower than the second threshold value. Since the possibility of a collision with another vehicle is included in the determination target when it becomes high, the occurrence of a collision with the other vehicle can be suppressed. In addition, when the possibility of collision with another vehicle is included in the determination target, the occupant is not inquired. Therefore, the period until the possibility of collision with another vehicle is included in the determination target can be shortened.

(Embodiment 2)
As in the first embodiment, the second embodiment relates to a driving support device that is mounted on a vehicle that performs automatic driving based on a detected obstacle. In the second embodiment, attention is paid to “left turn” as the driving action. A left turn occurs, for example, at an intersection. This vehicle travels on the first road, and before the intersection intersecting the second road, the automatic driving control device collides with a person present on a pedestrian crossing provided to cross the second road after the left turn. Calculate the possibility. If the possibility of collision is greater than a predetermined value, the automatic driving control device stops the vehicle before the intersection. In such a situation, if a person who wants to walk on the pedestrian crossing stops before the pedestrian crossing and gives way to the vehicle, a left turn is possible.

  In order to enable a left turn in such a case, the driving support apparatus in the present embodiment executes the following process. The driving assistance device is informed of the “stop” driving behavior that occurred during the “left turn” driving behavior from the automatic driving control device. The driving support device identifies the crossing end point of the second road from the map information, and derives the distance between the crossing end point and the person as the determination distance. Further, the driving support device acquires the speed of the person. If the determination distance is greater than or equal to the first threshold and the speed is less than or equal to the second threshold, the driving assistance device excludes the possibility of collision between the person and the vehicle from the determination target in the automatic driving control An image for inquiring the passenger is generated and displayed on the monitor in the vehicle. In response to such a display, when the response operation to be excluded is received from the occupant, the driving support device generates a command for excluding the possibility of collision between the person and the vehicle from the determination target, and transmits the command to the automatic driving control device. To do. When the automatic driving control device receives a command from the driving support device, the automatic driving control device excludes the possibility of collision between the person and the vehicle from the determination target, and starts the vehicle if the possibility of collision is smaller than a predetermined value. The vehicle 100 according to the second embodiment is the same type as that shown in FIGS. 1 and 2, and the control unit 41 is the same type as that shown in FIG. Here, it demonstrates centering on the difference with Embodiment 1. FIG.

  Before describing the processing of the driving support device 40 for the driving action of “turn left”, the processing of the automatic driving control device 30 will be described. Fig.11 (a)-(c) shows the process outline | summary. FIG. 11A shows a left-turning action that is specified by the control unit 31 of the automatic driving control device 30 and that will occur in the future. The first road 210 has a vertical traveling direction, and the second road 212 has a horizontal traveling direction, which intersect at an intersection. The first route 110a on which the vehicle 100 is scheduled to travel is set to travel upward on the first road 210, turn left at the intersection, and enter the second road 212. A person 104 is present on a pedestrian crossing provided to cross the second road 212 after the left turn. It is assumed that the person 104 is going to cross the pedestrian crossing of the second road 212. Based on the detection information from the detection unit 20, the control unit 31 specifies the left turn action as illustrated in FIG. Since a known technique may be used for such identification, description thereof is omitted here.

  Based on the map information and the position information of the vehicle 100, the control unit 31 sets a monitoring area 124 that surrounds the intersection where the vehicle 100 is approaching. Here, the monitoring area 124 is circular, but the shape of the monitoring area 124 is not limited to circular. Further, the control unit 31 determines whether or not the person 104 is included in the monitoring area 124 based on the monitoring area 124 and the position information of the person 104 as a possibility of collision. For example, if the person 104 is included in the monitoring area 124, the control unit 31 calculates a collision possibility that is greater than a predetermined value. If the person 104 is not included in the monitoring area 124, the control unit 31 calculates a predetermined value. Calculate the collision probability as follows. When the calculated collision possibility is greater than a predetermined value, the control unit 31 determines a stop action. When determining the stop action, the control unit 31 controls the vehicle 100 to stop. As a result, the vehicle 100 has traveled on the first road 210, but stops before the intersection. Further, the control unit 31 transmits information indicating the stop action to the behavior information input unit 54 via the I / O unit 33. At that time or before that, the control unit 31 transmits information indicating the left turn behavior as shown in FIG. 11A to the behavior information input unit 54. FIGS. 11B to 11C will be described later.

  The behavior information input unit 54 in FIG. 4 receives information indicating a left turn behavior as illustrated in FIG. 11A from the control unit 31. In addition, the behavior information input unit 54 receives information indicating a stop behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 starts the next process when the behavior information input unit 54 is informed of the stop behavior of the vehicle. The determination unit 76 grasps the left turn behavior as illustrated in FIG. 11A based on the information indicating the left turn behavior. As described above, the determination unit 76 may grasp the left turn behavior based on the detection information in the same manner as the control unit 31 without using the information indicating the left turn behavior.

  FIG. 11B shows the left turn behavior grasped by the determination unit 76. FIG. 11B shows a second route 110b that the person 104 predicts to walk. The second route 110b is generated on the basis of the map information included in the detection information and the position information of the person 104, and is predetermined as crossing the second road 212 by crossing the pedestrian crossing. . In addition, the determination unit 76 acquires the crossing end point 114 of the second road 212 based on the map information included in the detection information. The crossing end point 114 is a point where the crossing is completed after walking on the crosswalk from the position where the person 104 exists. Therefore, the crossing end point 114 is set as one point on the second route 110b.

  The determination unit 76 derives the distance from the crossing end point 114 to the person 104 as the determination distance 120. Further, the determination unit 76 acquires the speed of the person 104. If the determination distance 120 is shorter than the first threshold value or the speed of the person 104 is higher than the second threshold value, the determination unit 76 determines that the state is the “first state”. The first state corresponds to a case where the person 104 walks and does not give way to the vehicle 100. On the other hand, when the determination distance 120 is equal to or greater than the first threshold and the speed of the person 104 is equal to or smaller than the second threshold, the determination unit 76 determines that the state is the “second state”. The second state corresponds to the case where the person 104 is stopped or walking at a speed equal to or lower than the fourth threshold value, and the road is given to the vehicle 100. FIG. 11C will be described later, and returns to FIG. The determination unit 76 outputs the determination result to the inquiry processing unit 78. The determination unit 76 also outputs other information to the inquiry processing unit 78.

  When the determination result from the determination unit 76 is in the second state, the inquiry processing unit 78 inquires the occupant whether to exclude the possibility of collision between the person 104 and the vehicle 100 from the determination target in the automatic driving control device 30. Execute the process. In order to specifically explain the inquiry process, FIGS. 12A to 12C are used here. 12A to 12C show images displayed on the notification device 2. FIG. 12A shows an image generated in the inquiry processing unit 78 and displayed on the head-up display 2 a via the image / sound output unit 51.

  The inquiry processing unit 78 generates an image showing the current situation in which the left turn action is occurring, that is, the situation shown in FIG. 11A based on other information received from the determination unit 76. . Here, a vehicle icon 150 corresponding to the vehicle 100, a person icon 154 corresponding to the person 104, and a rectangular obstacle icon 156 surrounding the person icon 154 are shown. Further, the inquiry processing unit 78 may superimpose a message on the image for inquiring the occupant whether to exclude the possibility of collision between the person 104 and the vehicle 100 from the determination target in the automatic driving control device 30. Note that the various aspects described above may be used as an inquiry form. FIGS. 12B to 12C will be described later, and the description returns to FIG.

  The occupant confirms the image displayed on the head-up display 2a, and further recognizes that it is possible to make a left turn, for example, receiving a willingness to transfer from a person. When a left turn is desired, the passenger pushes down the first operation unit 4a. The operation is not limited to this. The operation signal input unit 50 in FIG. 1 accepts this operation. This operation is a response signal that excludes the possibility of a collision between the person 104 and the vehicle 100 from a determination target in response to an inquiry from the image / sound output unit 51. When receiving the response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the response signal. When receiving the reception notification, the inquiry processing unit 78 instructs the command processing unit 80 to generate a command.

  When the command processing unit 80 is instructed to generate a command from the inquiry processing unit 78, the command processing unit 80 generates a command for instructing to exclude the possibility of collision between the person 104 and the vehicle 100 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 calculates the collision possibility as before. However, the control unit 31 excludes the possibility of collision between the person 104 and the vehicle 100 from the determination target and determines the driving action. FIG. 11C shows the operation of the vehicle 100 when the possibility of a collision between the person 104 and the vehicle 100 is excluded from the determination target. In FIG. 11C, the vehicle 100 turns left from the first road 210 and travels on the second road 212. Returning to FIG.

  The control unit 31 of the automatic driving control device 30 executes the command or continues to execute the command when executing the automatic driving by excluding the possibility of the collision between the person 104 and the vehicle 100 from the determination target. Is output to the driving support device 40 as action information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 causes the occupant to recognize that the automatic driving control device 30 has excluded the possibility of collision between the person 104 and the vehicle 100 from the determination target. Is generated. FIG. 12B shows an image displayed on the head-up display 2a when the automatic driving control apparatus 30 excludes the possibility of a collision between the person 104 and the vehicle 100 from the determination target. As illustrated, the obstacle icon 156 surrounding the person icon 154 changes from a solid line display to a dotted line display. FIG. 12C will be described later, and the processing returns to FIG.

  Note that after the command output unit 55 outputs the command, the determination unit 76 continues to determine whether the state is the first state or the second state until the left turn action as illustrated in FIG. 11C is completed. . When the determination result is the first state, the command processing unit 80 generates a command for instructing the determination target to include the possibility of collision between the person 104 and the vehicle 100 in the automatic driving control device 30. This corresponds to a situation where a person 104 who has been recognized as giving way has started walking. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision between the person 104 and the vehicle 100 in the determination target. Thus, when the possibility of collision becomes greater than a predetermined value, the control unit 31 stops the vehicle 100.

  In addition, when the control unit 31 stops the vehicle 100 and the command processing unit 80 is informed of the stop by the control unit 31 via the behavior information input unit 54, the command processing unit 80 displays an image for informing the occupant that the left turn is stopped. Generate. FIG. 12C shows an image displayed on the head-up display 2a when the left turn is stopped. As illustrated, the obstacle icon 156 surrounding the person icon 154 changes from a dotted line display to a solid line display, and a message is displayed.

  So far, as shown in FIG. 11B, the case where the person 104 can move downward has been described. Here, a case where the person 104 can move in the opposite direction will be described. FIGS. 13A to 13B show another processing outline of the control unit 41. FIG. 13A shows a left-turning action that is specified by the control unit 31 of the automatic driving control device 30 and that will occur in the future. The person 104 is present on the pedestrian crossing provided so as to cross the second road 212, but the person 104 is present on the opposite side of the second road 212 as compared with FIG. Even in this case, the control unit 31 determines whether or not the person 104 is included in the monitoring area 124 as a collision possibility.

  FIG. 13B shows a second route 110b that the person 104 predicts to walk. The direction of the second path 110b is opposite to the direction in FIG. Therefore, the crossing end point 114 is disposed at a position different from the position in FIG. 11B, specifically, on the opposite side of the second road 212. The determination unit 76 derives the distance from the crossing end point 114 to the person 104 as the determination distance 120. Subsequent processing is the same as heretofore, and the description is omitted here.

  In the following, processing when FIG. 11B and FIG. 13B are combined will be described. FIGS. 14A to 14B show another processing outline of the second embodiment. In FIG. 14A, there are a first person 104a and a second person 104b across a pedestrian crossing. The first person 104a moves “downward” along the first person path 111a as in FIG. 11B, and the second person 104b moves along the second person path 111b as in FIG. 13B. To move upward. Here, the first person path 111a and the second person path 111b correspond to the second path 110b described above. In this case, the process so far for the first person 104a and the process so far for the second person 104b are executed separately.

  FIG. 14B shows another image displayed on the notification device 2. This shows an image displayed on the center display 2b in the same situation as in FIG. A vehicle icon 150 corresponding to the vehicle 100, a first person icon 154a corresponding to the first person 104a, and a rectangular first obstacle icon 156a surrounding the first person icon 154a are shown. Also shown are a second person icon 154b corresponding to the second person 104b and a rectangular second obstacle icon 156b surrounding the second person icon 154b. Here, in the automatic driving control apparatus 30, since the possibility of collision with the first person 104a is excluded from the determination target, the first obstacle icon 156a is displayed in a dotted line. On the other hand, for example, when the second person 104b enters the intersection area from the opposite end while the first person 104a is excluded, the automatic driving control device 30 may collide with the second person 104b. Is included in the determination target, the second obstacle icon 156b is displayed as a solid line. In this case, the possibility of a collision with the second person 104b is greater than a predetermined value, so the vehicle 100 stops without turning left.

  According to the present embodiment, when the distance related to the person is equal to or greater than the first threshold value and the speed of the person is equal to or less than the second threshold value, whether or not the possibility of collision with the person is excluded from the determination target is determined. You can confirm the will of the occupant because you make an inquiry. In response to an inquiry, if you get a response signal that excludes the possibility of collision with a person from the object of judgment, you will be instructed to exclude the possibility of collision with the person from the object of judgment. You can make a left turn before a person. Further, when the distance related to the person is equal to or greater than the first threshold and the speed of the person is equal to or less than the second threshold, an inquiry is made as to whether to exclude the possibility of collision with the person from the judgment target. However, eye contact can be realized. In addition, since it is instructed to exclude the possibility of collision with a person from the determination target by a combination of an inquiry and a response signal, even if a person is present at the time of a left turn, the vehicle can travel according to the situation.

  Also, the determination is continued even after the possibility of collision with the person is excluded from the determination target, and the distance related to the person becomes shorter than the first threshold or the speed of the person becomes higher than the second threshold In addition, since the possibility of collision with a person is included in the determination target, occurrence of collision with the person can be suppressed. In addition, when the possibility of collision with a person is included in the determination target, the passenger is not inquired, so the period until the possibility of collision with the person is included in the determination target can be shortened.

(Embodiment 3)
The third embodiment relates to a driving support device that is mounted on a vehicle that performs automatic driving based on a detected obstacle, as before. Also in the third embodiment, as in the second embodiment, attention is paid to “left turn” as the driving action. Here, it is assumed that there are a plurality of persons on a pedestrian crossing provided to cross the second road that should be entered by making a left turn from the first road. In such a situation, when the inquiry and response to each person is executed as in the second embodiment, the period until all the processes are completed becomes longer. If such a period becomes longer, there is a possibility that a person who has stopped to give way to the vehicle starts to move.

  In order to cope with this, when there are a plurality of persons determined to be in the second state, the driving support apparatus according to the present embodiment makes an inquiry about whether or not to exclude the possibility of collision with the determination target in the automatic driving control apparatus. Execute all at once. In addition, when the occupant performs a collective response operation on the collective inquiries, the driving support apparatus causes the automatic driving control apparatus to exclude the possibility of collision with a plurality of persons from the determination target. That is, in order to exclude the possibility of collision with a plurality of persons from the determination target in the automatic driving control device, one inquiry and one response operation are performed. The vehicle 100 according to the third embodiment is the same type as that shown in FIGS. 1 and 2, and the control unit 41 is the same type as that shown in FIG. Here, it demonstrates centering on the difference from before.

  FIG. 15 shows an outline of the process, and shows a left turn action that is specified by the control unit 31 of the automatic driving control device 30 and the control unit 41 of the driving support device 40 and that will occur in the future. The first road 210, the second road 212, and the vehicle 100 are shown in the same manner as in FIG. The first person 104a, the second person 104b, and the third person 104c exist on the pedestrian crossing provided to cross the second road 212. The first person 104a, the second person 104b, and the third person 104c are scheduled to cross the second road 212. The number of persons 104 is not limited to “3”. The control unit 31 calculates the collision possibility for each of the first person 104a, the second person 104b, and the third person 104c. Here, when all the collision possibilities become larger than the predetermined value, the control unit 31 determines the stop action.

  The behavior information input unit 54 in FIG. 4 receives information indicating a left turn behavior as illustrated in FIG. 15 from the control unit 31. In addition, the behavior information input unit 54 receives information indicating a stop behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 derives a determination distance 120 and acquires a speed for each of the plurality of persons 104. If the determination distances 120 for each of the plurality of persons 104 are all equal to or greater than the first threshold and the speeds of the plurality of persons 104 are all equal to or less than the second threshold, It is determined that all the persons 104 are in the second state.

  When the determination unit 76 determines that all of the plurality of persons 104 are in the second state, the inquiry processing unit 78 determines whether to exclude the possibility of collision with the plurality of persons 104 from the determination targets in the automatic driving control device 30. A process for inquiring the crew in a batch is executed. In order to specifically explain the inquiry process, FIGS. 16A to 16C are used here. FIGS. 16A to 16C show images displayed on the notification device 2. FIG. 16A shows an image generated in the inquiry processing unit 78 and displayed on the head-up display 2 a via the image / sound output unit 51.

  Based on the other information received from the determination unit 76, the inquiry processing unit 78 generates an image showing the current situation where the left turn action is occurring, that is, the situation shown in FIG. Here, the vehicle icon 150 corresponding to the vehicle 100, the first person icon 154a corresponding to the first person 104a, the second person icon 154b corresponding to the second person 104b, and the third person icon corresponding to the third person 104c. 154c is shown. Further, a rectangular obstacle icon 156 that collectively surrounds the first person icon 154a to the third person icon 154c is shown. Note that the various aspects described above may be used as an inquiry form. FIGS. 16B to 16C will be described later, and the description returns to FIG.

  The occupant confirms the image displayed on the head-up display 2a, and further recognizes that it is possible to make a left turn, for example, by receiving a willingness to transfer from all persons or a person who seems to be a plurality of leaders. When a left turn is desired, the passenger pushes down the first operation unit 4a. The operation is not limited to this. The operation signal input unit 50 in FIG. 1 accepts this operation. This operation is a collective response signal that excludes the possibility of a collision with a plurality of persons 104 from the determination target in response to the collective inquiry from the image / sound output unit 51. When the operation signal input unit 50 receives the collective response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the collective response signal. The inquiry processing unit 78 instructs the command processing unit 80 to generate a command when receiving a batch reception notification.

  When the command processing unit 80 is instructed to generate a command from the inquiry processing unit 78, the command processing unit 80 generates a command for instructing to exclude the possibility of collision with respect to the plurality of persons 104 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 excludes the possibility of collision with the plurality of persons 104 from the determination target.

  The control unit 31 of the automatic driving control device 30 acts that the command has been executed or the command has been continuously executed when the automatic driving is executed by excluding the possibility of collision with the plurality of persons 104 from the determination target. It outputs to the driving assistance apparatus 40 as information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 causes the automatic driving control device 30 to display an image for allowing the occupant to recognize that the possibility of collision with the plurality of persons 104 is excluded from the determination target. Generate. FIG. 16B shows an image displayed on the head-up display 2a when the automatic driving control device 30 excludes the possibility of collision with a plurality of persons 104 from the determination target. As illustrated, the obstacle icon 156 surrounding the person icon 154 representing the entire first person icon 154a, second person icon 154b, and third person icon 154c is changed from a solid line display to a dotted line display. FIG. 16C will be described later, and the processing returns to FIG.

  After the command processing unit 80 outputs the command, the determination unit 76 determines whether each of the plurality of persons 104 is in the first state or the second state until the left turn action is completed. continue. When the determination result for any of the plurality of persons 104 is in the first state, the command processing unit 80 instructs the automatic operation control device 30 to include the possibility of collision with the plurality of persons 104 in the determination target. Generate a command. This corresponds to including the possibility of collision with the person 104 that satisfies the conditions for the determination target in the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision with the person 104 in the determination target. When the possibility of collision with the person 104 that satisfies the determination target condition is included, and the possibility of collision becomes greater than a predetermined value, the control unit 31 stops the vehicle 100.

  In addition, when the control unit 31 stops the vehicle 100 and the command processing unit 80 is informed of the stop by the control unit 31 via the behavior information input unit 54, the command processing unit 80 displays an image for informing the occupant that the left turn is stopped. Generate. FIG. 16C shows an image displayed on the head-up display 2a when the left turn is stopped. Here, it is assumed that only the possibility of collision with the second person 104b is changed to be included in the determination target in the automatic driving control device 30. As illustrated, the first person icon 154a and the third person icon 154c are surrounded by a first obstacle icon 156a displayed in a dotted line. On the other hand, the second person icon 154b is surrounded by the second obstacle icon 156b displayed in a solid line. So far, the process for the downward movement has been described, but the process for combining the second embodiment and the third embodiment may be executed for the upward movement. Further, for example, as shown in FIG. 14A described above, when a downward movement and an upward movement exist at the same time, a plurality of persons including a first person who moves downward and a second person who moves upward are subject to batch inquiry. It is good.

  The operation of the driving support device 40 having the above configuration will be described. FIG. 17 is a flowchart showing an instruction procedure by the control unit 41. The determination unit 76 acquires the determination distance 120 and the speed for each of the plurality of persons 104 (S200). When all the persons 104 satisfy the exclusion condition (Y in S202), the inquiry processing unit 78 excludes the possibility of collision with a plurality of persons 104 from the determination target via the image / sound output unit 51. Are collectively inquired (S204). When the inquiry processing unit 78 collectively receives an exclusion response signal via the operation signal input unit 50 (Y in S206), the command processing unit 80 outputs an exclusion command via the command output unit 55 (S208). ). Following this, the command processing unit 80 changes the display (S210). If all the persons 104 do not satisfy the exclusion condition (N in S202), the process is terminated. In this case, the same processing as in the first embodiment may be executed on the person 104 that satisfies the exclusion condition. If the inquiry processing unit 78 does not accept the response signals for exclusion via the operation signal input unit 50 (N in S206), the process is terminated.

  FIG. 18 is a flowchart showing another instruction procedure by the control unit 41. In step 208 of FIG. 17, the command processing unit 80 outputs an exclusion command via the command output unit 55, and the automatic driving control device 30 excludes the possibility of collision with a plurality of persons 104 from the determination target. The subsequent processing is shown. When the driving action to be processed by the automatic driving control device 30 is continuing (Y in S250), the determination unit 76 acquires the determination distance 120 and the speed for each of the plurality of 104 (S252). When at least one person 104 satisfies the determination target condition (Y in S254), the command processing unit 80 determines the possibility of collision with the person 104 that satisfies the determination target condition via the command output unit 55. A command to be included in the target is output (S256). The command processing unit 80 changes the display (S258). If the driving action to be processed by the automatic driving control device 30 is not continuing (N in S250), or if all the persons 104 do not satisfy the conditions for the determination target (N in S254), the process is terminated. .

  According to this embodiment, since it is inquired collectively whether to exclude the possibility of collision with a plurality of persons from the determination target, the number of inquiries can be reduced. In addition, since a response signal is received for a collective inquiry, processing by the occupant can be simplified. Further, since the processing by the occupant is simplified, the period from inquiry to response can be shortened. Further, when the distance related to at least one person is shorter than the first threshold, or when the speed of at least one person is higher than the second threshold, the possibility of collision with the person is included in the determination target. Therefore, the occurrence of a collision with a person can be suppressed.

(Embodiment 4)
The fourth embodiment relates to a driving support device mounted on a vehicle that performs automatic driving based on a detected obstacle, as in the past. In the fourth embodiment, attention is paid to “right turn” as the driving action. A right turn occurs at the intersection just like a left turn. The vehicle travels on the first road, and before the intersection that intersects the second road, the automatic driving control device calculates the possibility of collision with another vehicle that travels facing the first road. If the possibility of collision is greater than a predetermined value, the automatic driving control device stops the vehicle before the intersection. In such a situation, when the other vehicle on the opposite side stops before the intersection and gives way to the vehicle, a right turn is possible.

  In order to enable a right turn in such a case, the driving support apparatus in the present embodiment executes the following process. The driving support device is informed of the “stop” driving behavior that occurs during the “right turn” driving behavior from the automatic driving control device. The driving support device identifies an end point of intersection with the second road in the traveling direction of another vehicle that is an oncoming vehicle on the first road in a scene where the first road and the second road intersect from the map information. The distance between the end point and the other vehicle is derived as a determination distance. Further, the driving support device acquires the speed of the other vehicle. When the determination distance is greater than or equal to the first threshold value and the speed is less than or equal to the second threshold value, the driving support device excludes the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device. An image for inquiring the occupant is generated and displayed on the monitor in the vehicle. In response to such a display, when the driving support device accepts a response operation to be excluded from the occupant, the driving support device generates a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target, and the automatic driving control device Send. When the automatic driving control device receives a command from the driving support device, the automatic driving control device excludes the possibility of collision between the other vehicle and the vehicle from the determination target, and starts the vehicle if the possibility of collision is small. The vehicle 100 according to the fourth embodiment is the same type as that shown in FIGS. 1 and 2, and the control unit 41 is the same type as that shown in FIG. Here, it demonstrates centering on the difference with Embodiment 1. FIG.

  Before describing the processing of the driving support device 40 for the driving action of “turn right”, the processing of the automatic driving control device 30 will be described. FIGS. 19A to 19C show an outline of processing. FIG. 19A shows a right-turning action that is specified by the control unit 31 of the automatic driving control device 30 and that will occur in the future. The first road 210 and the second road 212 are shown in the same manner as in FIG. The first route 110a on which the vehicle 100 is scheduled to travel is set to travel upward on the first road 210, turn right at the intersection, and enter the second road 212. On the first road 210, the first other vehicle 102a and the second other vehicle 102b are traveling downward, that is, facing the vehicle 100. Here, the first other vehicle 102a is traveling in front of the intersection. The first other vehicle 102a is assumed to intersect when the vehicle 100 turns right while running opposite to the vehicle 100. Based on the detection information from the detection unit 20, the control unit 31 specifies a right turn action as shown in FIG. Since a known technique may be used for such identification, description thereof is omitted here.

  The control unit 31 can collide TTC with the first other vehicle 102a based on the inter-vehicle distance 122 between the vehicle 100 and the first other vehicle 102a, the speed of the vehicle 100, and the speed of the first other vehicle 102a. Calculated as gender. In the present embodiment, the inter-vehicle distance 122 refers to the distance of the first route 110a from the position of the vehicle 100 to the point where the first route 110a intersects the second route 110b, and the position of the first other vehicle 102a. Is a distance obtained by adding the distance of the second route 110b from the vehicle to the intersection, but may be approximated by a linear distance between the vehicle head of the vehicle 100 and the vehicle head of the first other vehicle 102a. Here, an approximate value that is a linear distance between the head of the vehicle 100 and the head of the first other vehicle 102a is used. When the calculated collision possibility is greater than a predetermined value, the control unit 31 determines a stop action. When determining the stop action, the control unit 31 controls the vehicle 100 to stop. As a result, the vehicle 100 has traveled on the first road 210, but stops before the intersection. Further, the control unit 31 transmits information indicating the stop action to the behavior information input unit 54 via the I / O unit 33. At that time or before that, the control unit 31 transmits information indicating the right turn action as shown in FIG. 19A to the action information input unit 54. FIGS. 19B to 19C will be described later.

  The behavior information input unit 54 in FIG. 4 receives information indicating a right turn behavior as illustrated in FIG. 19A from the control unit 31. In addition, the behavior information input unit 54 receives information indicating a stop behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 starts the next process when the behavior information input unit 54 is informed of the stop behavior of the vehicle. The determination unit 76 grasps the right turn action as shown in FIG. 19A based on the information indicating the right turn action. As described above, the determination unit 76 may grasp the right turn behavior based on the detection information in the same manner as the control unit 31 without using the information indicating the right turn behavior.

  FIG. 19 (b) shows the right turn behavior grasped by the determination unit 76. FIG. 19B shows a second route 110b predicted to travel the first other vehicle 102a. The second route 110b is generated based on the map information included in the detection information and the position information of the first other vehicle 102a, and is determined in advance as going straight down the first road 210. Moreover, the determination part 76 acquires the intersection end point 112 with the 2nd road 212 in the running direction of the 1st other vehicle 102a of the 1st road 210 based on the map information contained in detection information. The intersection end point 112 is a point where the first other vehicle 102a traveling on the first road 210 reaches the end of the portion where the first road 210 and the second road 212 overlap. That is, it is the end point (line) of the intersection that the first other vehicle 102a travels along the first road 210 and reaches, and is the intersection completion point.

  The determination unit 76 derives the distance from the intersection end point 112 to the first other vehicle 102a as the determination distance 120. In addition, when the last part of the 2nd other vehicle 102b exists between the intersection end point 112 and the 1st other vehicle 102a, the distance from the last part of the 2nd other vehicle 102b to the 1st other vehicle 102a is the distance for determination. It may be 120. Moreover, the determination part 76 acquires the speed of the 1st other vehicle 102a. If the determination distance 120 is shorter than the first threshold value or the speed of the first other vehicle 102a is higher than the second threshold value, the determination unit 76 determines that the state is the “first state”. On the other hand, when the determination distance 120 is equal to or greater than the first threshold and the speed of the first other vehicle 102a is equal to or smaller than the second threshold, the determination unit 76 determines that the state is the “second state”. . FIG. 19C will be described later, and the processing returns to FIG. The determination unit 76 outputs the determination result to the inquiry processing unit 78. The determination unit 76 also outputs other information to the inquiry processing unit 78.

  When the determination result from the determination unit 76 is in the second state, the inquiry processing unit 78 determines whether to exclude the possibility of a collision between the first other vehicle 102a and the vehicle 100 from the determination target in the automatic driving control device 30. Execute processing for inquiries. In order to specifically explain the inquiry process, FIGS. 20A to 20C are used here. 20A to 20C show images displayed on the notification device 2. FIG. 20A shows an image generated by the inquiry processing unit 78 and displayed on the head-up display 2 a via the image / sound output unit 51.

  Based on the other information received from the determination unit 76, the inquiry processing unit 78 generates an image showing the current situation where the right turn action is occurring, that is, the situation shown in FIG. . Here, a host vehicle icon 150 corresponding to the vehicle 100, a first other vehicle icon 152a corresponding to the first other vehicle 102a, and a second other vehicle icon 152b corresponding to the second other vehicle 102b are shown. Further, a rectangular obstacle icon 156 surrounding the first other vehicle icon 152a is also shown. Further, the inquiry processing unit 78 may superimpose a message on the image for inquiring the occupant whether to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target in the automatic driving control device 30. Note that the various aspects described above may be used as an inquiry form. 20 (b)-(c) will be described later, and the description returns to FIG.

  The occupant confirms the image displayed on the head-up display 2a, further receives, for example, an eye contact from the occupant of the first other vehicle 102a, and recognizes that the right turn is possible. If a right turn is desired, the occupant performs a gesture to pay his hand. This operation is detected by the third operation unit 4c. The operation is not limited to this. The operation signal input unit 50 in FIG. 1 accepts this operation. This operation is a response signal that excludes the possibility of a collision between the first other vehicle 102a and the vehicle 100 from a determination target in response to an inquiry from the image / sound output unit 51. When receiving the response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the response signal. When receiving the reception notification, the inquiry processing unit 78 instructs the command processing unit 80 to generate a command.

  When the command processing unit 80 is instructed to generate a command from the inquiry processing unit 78, the command processing unit 80 generates a command for instructing to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 calculates the collision possibility as before. However, the control unit 31 determines the driving behavior by excluding the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. FIG. 19C shows the operation of the vehicle 100 when the possibility of a collision between the first other vehicle 102a and the vehicle 100 is excluded from the determination target. In FIG. 19C, the vehicle 100 turns right from the first road 210 and travels on the second road 212. Returning to FIG.

  The control unit 31 of the automatic driving control device 30 executes the command or continues to execute the command when executing the automatic driving by excluding the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. Is output to the driving support device 40 as action information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 causes the occupant to recognize that the automatic driving control device 30 has excluded the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. Generate an image for FIG. 20B shows an image displayed on the head-up display 2a when the automatic driving control apparatus 30 excludes the possibility of a collision between the first other vehicle 102a and the vehicle 100 from the determination target. As illustrated, the obstacle icon 156 surrounding the first other vehicle icon 152a is changed from a solid line display to a dotted line display. FIG. 20C will be described later, and the processing returns to FIG.

  Note that after the command output unit 55 outputs the command, the determination unit 76 continues to determine whether the state is the first state or the second state until the right turn action as illustrated in FIG. 19C is completed. . When the determination result is the first state, the command processing unit 80 generates a command for instructing the automatic driving control device 30 to include the possibility of collision between the first other vehicle 102a and the vehicle 100 in the determination target. To do. This corresponds to a situation in which the first other vehicle 102a authorized to give way has started. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision between the first other vehicle 102a and the vehicle 100 as a determination target. Thus, when the possibility of collision becomes greater than a predetermined value, the control unit 31 stops the vehicle 100.

  In addition, when the control unit 31 stops the vehicle 100 and the command processing unit 80 is notified of the stop from the control unit 31 via the behavior information input unit 54, the command processing unit 80 displays an image for informing the occupant that the right turn is stopped. Generate. FIG. 20C shows an image displayed on the head-up display 2a when the right turn is stopped. As illustrated, the obstacle icon 156 surrounding the first other vehicle icon 152a changes from a dotted line display to a solid line display, and a message is displayed.

  In the case of a right turn action, there may be a person on a pedestrian crossing provided to cross the second road 212 that the vehicle 100 has turned to the right. Therefore, also in the right turn action, there is a possibility that the yielding with the person may occur as in the case of the left turn action. Below, the process with respect to this is demonstrated. FIGS. 21A to 21C show another processing outline of the control unit 41. FIG. FIG. 21A shows a right-turning action that is specified by the control unit 31 of the automatic driving control apparatus 30 and that will occur in the future. The first route 110a on which the vehicle 100 is scheduled to travel is set to travel upward on the first road 210, turn right at the intersection, and enter the second road 212. In addition, a person 104 is present on a pedestrian crossing provided to cross the second road 212 after a right turn. Except these, it is similar to Fig.11 (a), and the control part 31 performs the process similar to the case of left-turn action.

  The behavior information input unit 54 in FIG. 4 receives information indicating a right turn behavior as illustrated in FIG. 21A from the control unit 31. In addition, the behavior information input unit 54 receives information indicating a stop behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 starts the next process when the behavior information input unit 54 is informed of the stop behavior of the vehicle. The determination unit 76 grasps the right turn action as illustrated in FIG. 21A based on the information indicating the right turn action. As described above, the determination unit 76 may grasp the right turn behavior based on the detection information in the same manner as the control unit 31 without using the information indicating the right turn behavior.

  FIG. 21 (b) shows the right turn behavior grasped by the determination unit 76 of the automatic driving control device 30. A third route 110c that the person 104 predicts to walk is shown, and a crossing end point 114 of the second road 212 is shown. These are shown in the same manner as in FIG. Therefore, the automatic driving control device 30 performs the same process as that in the case of the left turn action. As a result, as shown in FIG. 21C, the vehicle 100 may turn right from the first road 210 and travel on the second road 212. Note that the subsequent processing is the same as heretofore, and the description thereof is omitted here.

  Although FIGS. 21A to 21C show the case where the person 104 moves downward, the same processing is executed when the person 104 moves upward. In addition, when there are a plurality of other vehicles 102 that are scheduled to intersect when the vehicle 100 makes a right turn, there may be a case where there are a plurality of people 104 that are scheduled to intersect when the vehicle 100 makes a right turn. At this time, the same processing as in the third embodiment may be executed.

  According to the present embodiment, when the distance related to the other vehicle is equal to or greater than the first threshold and the speed of the other vehicle is equal to or smaller than the second threshold, the possibility of collision with the other vehicle is excluded from the determination target. You can confirm the will of the passengers. In response to an inquiry, if a response signal that excludes the possibility of collision with another vehicle from the judgment target is obtained, the instruction is given to exclude the possibility of collision with another vehicle from the judgment target. You can make a right turn before any other vehicle. In addition, when the distance related to the other vehicle is equal to or greater than the first threshold value and the speed of the other vehicle is equal to or smaller than the second threshold value, an inquiry is made as to whether to exclude the possibility of collision with the other vehicle from the judgment target. Eye contact can be achieved despite automatic operation. In addition, since it is instructed to exclude the possibility of a collision with another vehicle from the object of determination by a combination of the inquiry and the response signal, the vehicle can travel according to the situation even when the other vehicle exists when making a right turn.

  In addition, the determination is continued even after the possibility of a collision with another vehicle is excluded from the determination target, and when the distance related to the other vehicle is shorter than the first threshold value, or the speed of the person is higher than the second threshold value. In such a case, since the possibility of collision with another vehicle is included in the determination target, occurrence of a collision with another vehicle can be suppressed. In addition, when the possibility of collision with another vehicle is included in the determination target, the occupant is not inquired. Therefore, the period until the possibility of collision with another vehicle is included in the determination target can be shortened.

  In addition, when the distance related to the person is greater than or equal to the third threshold value and the speed of the person is less than or equal to the fourth threshold value, an inquiry is made as to whether to exclude the possibility of collision with the person from the judgment target. Can confirm will. In response to an inquiry, if you get a response signal that excludes the possibility of collision with a person from the judgment target, it will instruct you to exclude the possibility of collision with the person from the judgment target. You can turn right before the person. In addition, when the distance related to the person is greater than or equal to the third threshold value and the speed of the person is less than or equal to the fourth threshold value, an inquiry is made as to whether to exclude the possibility of collision with the person from the judgment target. However, eye contact can be realized. In addition, since the possibility of collision with the person is instructed to be excluded from the determination target by a combination of the inquiry and the response signal, even if a person exists at the time of the right turn, the vehicle can travel according to the situation. In addition, when the distance related to the person is shorter than the third threshold value or when the speed of the person is higher than the fourth threshold value, the possibility of collision with the person is included in the determination target. Can be suppressed.

  In addition, since it is inquired collectively whether to exclude the possibility of collision with a plurality of other vehicles from the determination target, the number of inquiries can be reduced. In addition, since a response signal is received for a collective inquiry, processing by the occupant can be simplified. Further, since the processing by the occupant is simplified, the period from inquiry to response can be shortened. In addition, when the distance related to at least one other vehicle is shorter than the first threshold value, or when the speed of at least one other vehicle is higher than the second threshold value, the possibility of collision with the other vehicle is determined as the determination target. Therefore, the occurrence of a collision with another vehicle can be suppressed. In addition, since it is inquired collectively whether to exclude the possibility of collision with a plurality of persons from the determination target, the number of inquiries can be reduced. Further, when the distance regarding at least one person is shorter than the third threshold value, or when the speed of at least one person is higher than the fourth threshold value, the possibility of collision with the person is included in the determination target. Therefore, the occurrence of a collision with a person can be suppressed.

(Embodiment 5)
The fifth embodiment relates to a driving support device mounted on a vehicle that performs automatic driving based on a detected obstacle, as in the past. In the fifth embodiment, as in the fourth embodiment, attention is paid to “right turn” as the driving action. As described above, when making a right turn, another vehicle may become an obstacle or a person may become an obstacle. Here, it is assumed that the other vehicle and the person are obstacles. In such a situation, when the inquiry and response operation for each of the other vehicle and the person is executed as in the fourth embodiment, the period until all the processes are completed becomes longer. If such a period becomes long, there is a possibility that another vehicle and a person who have stopped to give way to this vehicle will start moving.

  In order to cope with this, the driving support device according to the present embodiment excludes the possibility of collision with the determination target in the automatic driving control device when there are other vehicles and persons determined to be in the second state. Perform inquiries in bulk. In addition, when the occupant performs a collective response operation on the collective inquiries, the driving support apparatus causes the automatic driving control apparatus to exclude the possibility of collision between the other vehicle and the person from the determination target. That is, in order to exclude the possibility of collision between another vehicle and a person from the determination target in the automatic driving control device, one inquiry and one response operation are performed. The vehicle 100 according to the fifth embodiment is the same type as that shown in FIGS. 1 and 2, and the control unit 41 is the same type as that shown in FIG. Here, it demonstrates centering on the difference from before.

  FIG. 22 shows an outline of the process, and shows the right-turning action that is specified by the control unit 31 of the automatic driving control device 30 and the control unit 41 of the driving support device 40 and that will occur in the future. The first road 210, the second road 212, the vehicle 100, the first other vehicle 102a, and the second other vehicle 102b are shown in the same manner as in FIG. The person 104 is shown as in FIG. The control unit 31 calculates the possibility of collision for each of the first other vehicle 102a and the person 104. Here, when the possibility of collision becomes greater than a predetermined value, the control unit 31 determines a stop action.

  The behavior information input unit 54 in FIG. 4 receives information indicating a right turn behavior as illustrated in FIG. 22 from the control unit 31. In addition, the behavior information input unit 54 receives information indicating a stop behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 performs the same processing as before on the first other vehicle 102 a and also executes the same processing as before on the person 104. That is, the determination unit 76 determines whether the first other vehicle 102a is in the first state or the second state, and determines whether the person 104 is in the first state or the second state.

  When the determination unit 76 determines that the first other vehicle 102a and the person 104 are in the second state, the inquiry processing unit 78 determines the possibility of collision with the first other vehicle 102a and the person 104 from the determination target in the automatic driving control device 30. A process for inquiring to the crew about whether to exclude is executed. In order to specifically explain the inquiry process, FIGS. 23A to 23C are used here. FIGS. 23A to 23C show images displayed on the notification device 2. FIG. 23A shows an image generated in the inquiry processing unit 78 and displayed on the head-up display 2 a via the image / sound output unit 51.

  Based on the other information received from the determination unit 76, the inquiry processing unit 78 generates an image showing the current situation where the right turn action is occurring, that is, the situation shown in FIG. Here, the host vehicle icon 150 corresponding to the vehicle 100, the first other vehicle icon 152a corresponding to the first other vehicle 102a, the second other vehicle icon 152b corresponding to the second other vehicle 102b, and the person icon corresponding to the person 104 154 is shown. Furthermore, a rectangular obstacle icon 156 surrounding the first other vehicle icon 152a and the person icon 154 together is shown. Note that the various aspects described above may be used as an inquiry form. FIGS. 23B to 23C will be described later, and the description returns to FIG.

  The occupant confirms the image displayed on the head-up display 2a, and further receives, for example, a hand-off eye contact from both the occupant of the first other vehicle 102a and the person 104, and recognizes that the right turn is possible. . If a right turn is desired, the occupant performs a gesture to pay his hand. This operation is detected by the third operation unit 4c. The operation is not limited to this. The operation signal input unit 50 in FIG. 1 accepts this operation. This operation is a collective response signal that excludes the possibility of collision with the first other vehicle 102a and the person 104 from the determination target in response to the collective inquiry from the image / sound output unit 51. When the operation signal input unit 50 receives the collective response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the collective response signal. The inquiry processing unit 78 instructs the command processing unit 80 to generate a command when receiving a batch reception notification.

  When the command processing unit 80 is instructed to generate a command from the inquiry processing unit 78, the command processing unit 80 generates a command for instructing to exclude the possibility of collision with the first other vehicle 102a and the person 104 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 excludes the possibility of collision with the first other vehicle 102a and the person 104 from the determination target.

  The control unit 31 of the automatic driving control device 30 executes the command or continues to execute the command when executing the automatic driving by excluding the possibility of collision with the first other vehicle 102a and the person 104 from the determination target. Is output to the driving support device 40 as action information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 causes the occupant to recognize that the possibility of a collision with the first other vehicle 102a and the person 104 is excluded from the determination target in the automatic driving control device 30. Generate an image for FIG. 23B shows an image displayed on the head-up display 2a when the automatic driving control apparatus 30 excludes the possibility of a collision with the first other vehicle 102a and the person 104 from the determination target. As illustrated, the obstacle icon 156 that collectively surrounds the first other vehicle icon 152a and the person icon 154 changes from a solid line display to a dotted line display. FIG. 23C will be described later, and the processing returns to FIG.

  Note that, after the command processing unit 80 outputs the command, the determination unit 76 is in the first state or the second state for each of the first other vehicle 102a and the person 104 until the right turn action is completed. Continue the determination. When the determination result for the first other vehicle 102a is in the first state, the command processing unit 80 instructs the automatic operation control device 30 to include the possibility of collision with the first other vehicle 102a in the determination target. Is generated. This is equivalent to including the possibility of collision with the first other vehicle 102a that satisfies the determination target condition as the determination target. On the other hand, when the determination result for the person 104 is in the first state, the command processing unit 80 generates a command for instructing the determination target to include the possibility of collision with the person 104 in the determination target. This corresponds to including the possibility of collision with the person 104 that satisfies the conditions for the determination target in the determination target.

  The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic operation control device 30. When the control unit 31 of the automatic driving control device 30 receives the command, the control unit 31 includes the possibility of collision with the first other vehicle 102a or the person 104 that satisfies the determination target condition in the determination target. Thus, when the possibility of collision becomes greater than a predetermined value, the control unit 31 stops the vehicle 100.

  In addition, when the control unit 31 stops the vehicle 100 and the command processing unit 80 is notified of the stop from the control unit 31 via the behavior information input unit 54, the command processing unit 80 displays an image for informing the occupant that the right turn is stopped. Generate. FIG. 23C shows an image displayed on the head-up display 2a when the right turn is stopped. Here, a case is assumed where the determination target in the automatic driving control device 30 is changed to include the possibility of collision with the first other vehicle 102a. As illustrated, the person icon 154 is surrounded by a first obstacle icon 156a displayed in a dotted line. On the other hand, the first other vehicle icon 152a is surrounded by a second obstacle icon 156b displayed in a solid line.

  According to the present embodiment, since it is inquired collectively whether to exclude the possibility of collision between another vehicle of a different type and a person from the judgment target, the number of inquiries can be reduced. In addition, since a response signal is received for a collective inquiry, processing by the occupant can be simplified. Further, since the processing by the occupant is simplified, the period from inquiry to response can be shortened. In addition, if the distance between one of the other vehicles and the person is shortened or the speed is increased, the possibility of collision with the other vehicle or person is included in the judgment target. Can be suppressed.

  As mentioned above, although embodiment concerning this invention has been explained in full detail with reference to drawings, the function of the apparatus mentioned above and each processing part may be realized by a computer program. A computer that realizes the above-described functions by a program includes an input device such as a keyboard, mouse, and touch pad, an output device such as a display and a speaker, a CPU (Central Processing Unit), a ROM, a RAM, a hard disk device, and an SSD (Solid State Drive). Storage device such as a DVD-ROM (Digital Versatile Disk Read Only Memory), a reading device that reads information from a recording medium such as a USB memory, a network card that communicates via a network, etc., and each part is connected by a bus .

  The reading device reads the program from the recording medium on which the program is recorded, and stores the program in the storage device. Or a network card communicates with the server apparatus connected to the network, and memorize | stores the program for implement | achieving the function of said each apparatus downloaded from the server apparatus in a memory | storage device. Further, the function of each device is realized by the CPU copying the program stored in the storage device to the RAM and sequentially reading out and executing the instructions included in the program from the RAM. Moreover, you may include other road users as an obstruction. For example, a motorcycle (two-wheeled vehicle) and a bicycle (with a person on them) may be treated as other vehicles, and a person pushing a bicycle or riding a skateboard may be treated as a pedestrian.

The outline of one embodiment of the present invention is as follows.
(Item 1-1)
When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle,
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the vehicle stop action information is input from the action information input unit, a distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the obstacle If the speed of the vehicle is equal to or less than a second threshold value, informing device for inquiring to the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Inquiry output part to output,
An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the obstacle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of a collision between the obstacle and the vehicle from the determination target when the response signal is input to the operation signal input unit;
A driving support apparatus comprising:

  According to this aspect, the response signal that excludes the possibility of collision with the obstacle from the determination target is obtained when the distance related to the obstacle is equal to or greater than the first threshold and the velocity of the obstacle is equal to or less than the second threshold. If it is obtained, an instruction to exclude the obstacle is given, so that the vehicle can travel according to the situation when there is an obstacle.

(Item 1-2)
The command output unit outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic operation control device, and then the obstacle from one point on the predicted movement path of the obstacle. A command for including the possibility of collision between the obstacle and the vehicle in the determination target when the distance to the object is shorter than the first threshold or when the speed of the obstacle is higher than the second threshold. Is output to the said automatic driving | operation control apparatus, The driving assistance apparatus of item 1-1 characterized by the above-mentioned.

  In this case, if the distance related to the obstacle is shorter than the first threshold value, or if the speed of the obstacle is higher than the second threshold value, the determination target includes the possibility of collision with the obstacle. Occurrence of collisions with obstacles can be suppressed.

(Item 1-3)
In the automatic driving control device, the behavior information input unit receives the stopping behavior information of the vehicle from the automatic driving control device when the possibility of collision with a plurality of obstacles is greater than a predetermined value.
The inquiry output unit has all the distances from one point on the predicted movement path of the plurality of obstacles to each of the plurality of obstacles when the vehicle stop action information is input from the action information input unit. If the speed is equal to or higher than the first threshold and the speeds of the plurality of obstacles are all equal to or lower than the second threshold, the possibility of collision with the plurality of obstacles from the determination target in the automatic operation control device Inquiry information for inquiring to the occupant at once whether to exclude
In response to the inquiry notified from the notification device, the operation signal input unit receives a response signal that collectively excludes the possibility of collision with the plurality of obstacles from the determination target,
The command output unit, when the response signal is input to the operation signal input unit, outputs a command for excluding the possibility of collision with the plurality of obstacles from the determination target to the automatic driving control device. The driving support apparatus according to item 1-1.

  In this case, since it is inquired collectively about whether or not the possibility of collision with a plurality of obstacles is excluded from the determination target and a response signal is received, the processing can be simplified.

(Item 1-4)
The command output unit outputs a command for excluding the possibility of collision with the plurality of obstacles from the determination target to the automatic driving control device, and then outputs the plurality of obstacles from one point on the predicted movement path of the plurality of obstacles. If at least one of the distances to each of the obstacles is shorter than the first threshold, or if at least one of the respective speeds of the plurality of obstacles is higher than the second threshold, the determination target The driving support apparatus according to item 1-3, wherein a command including a possibility of collision with an obstacle that satisfies a condition is output to the automatic driving control apparatus.

  In this case, when the distance related to at least one obstacle is shorter than the first threshold value, or when the speed of at least one obstacle is higher than the second threshold value, the judgment target can collide with the obstacle. Therefore, the occurrence of a collision with an obstacle can be suppressed.

(Item 1-5)
An automatic driving control device mounted on a vehicle,
When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle An automatic operation control unit for stopping
An action information input unit for inputting stop action information of the vehicle from the automatic driving control unit;
When the vehicle stop action information is input from the action information input unit, a distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the obstacle If the speed of the vehicle is equal to or less than a second threshold value, the informing device receives inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control unit Inquiry output part to output,
An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the obstacle and the vehicle from the determination target in response to the inquiry notified from the notification device;
When the response signal is input to the operation signal input unit, a command output unit that outputs, to the automatic driving control unit, a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target;
An automatic operation control device comprising:

(Item 1-6)
When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle, and a vehicle including the driving support device,
The driving support device includes:
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the vehicle stop action information is input from the action information input unit, a distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the obstacle If the speed of the vehicle is equal to or less than a second threshold value, informing device for inquiring to the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Inquiry output part to output,
An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the obstacle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of a collision between the obstacle and the vehicle from the determination target when the response signal is input to the operation signal input unit;
A vehicle comprising:

(Item 1-7)
When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A driving support method in a driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle,
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, the distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the speed of the obstacle is second. If the threshold value is less than or equal to a threshold value, outputting to the notification device inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device;
In response to the inquiry notified from the notification device, a step of inputting a response signal of a response operation by an occupant excluding the possibility of collision between the obstacle and the vehicle from the determination target;
A step of outputting, to the automatic driving control device, a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target when the response signal is input;
A driving support method comprising:

(Item 1-8)
When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A program in a driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle,
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, the distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the speed of the obstacle is second. If the threshold value is less than or equal to a threshold value, outputting to the notification device inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device;
In response to the inquiry notified from the notification device, a step of inputting a response signal of a response operation by an occupant excluding the possibility of collision between the obstacle and the vehicle from the determination target;
A program for causing a computer to execute a step of outputting, to the automatic driving control device, a command for excluding the possibility of a collision between the obstacle and the vehicle from the determination target when the response signal is input.

(Item 1-9)
When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A driving support system mounted on the vehicle including an automatic driving control device for stopping
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the vehicle stop action information is input from the action information input unit, a distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the obstacle If the speed of the vehicle is equal to or lower than a second threshold value, a notification for informing inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the determination target in the automatic driving control device Equipment,
An input device that accepts a response operation by an occupant that excludes the possibility of a collision between the obstacle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target when the response operation is accepted by the input device;
A driving support system comprising:

(Item 2-1)
Calculates the possibility of collision between the detected obstacle and the vehicle, uses the calculated possibility of collision as a determination target, controls automatic driving of the vehicle, and calculates when the vehicle interrupts in front of another vehicle If the possibility of collision with the other vehicle is greater than a predetermined value, a driving support device mounted on the vehicle including an automatic driving control device that stops the vehicle,
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the stop information of the vehicle is input from the action information input unit, the distance from the point where the other vehicle is predicted to end crossing the road on which the vehicle travels to the other threshold is the first threshold. If the speed of the other vehicle is equal to or higher than the value and the speed of the other vehicle is equal to or lower than a second threshold value, whether or not the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control device. An inquiry output unit for outputting inquiry information for inquiring to an occupant to a notification device;
In response to the inquiry notified from the notification device, an operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target;
When the response signal is input to the operation signal input unit, a command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target;
A driving support apparatus comprising:

  According to this aspect, the distance related to the other vehicle is equal to or greater than the first threshold value, the speed of the other vehicle is equal to or smaller than the second threshold value, and the response signal that excludes the possibility of collision with the other vehicle from the determination target If it is obtained, the exclusion of other vehicles is instructed, so that it is possible to travel according to the situation when other vehicles exist.

(Item 2-2)
The inquiry output unit, when there is another vehicle between the point where the other vehicle is predicted to cross and finish on the road on which the vehicle travels, and the other vehicle, The driving assistance device according to item 2-1, wherein a distance from the vehicle to the other vehicle is compared with a first threshold value.

  In this case, since the distance from another vehicle to another vehicle is compared with the first threshold value, various cases can be dealt with. If there is another vehicle, it can be controlled more safely.

(Item 2-3)
The command output unit outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device, and then the other vehicle intersects a road on which the vehicle travels. When the distance from the point predicted to end to the other vehicle becomes shorter than the first threshold value, or when the speed of the other vehicle becomes higher than the second threshold value, The driving support apparatus according to item 2-1 or 2-2, wherein a command including a collision possibility between the vehicle and the vehicle is output to the automatic driving control apparatus.

  In this case, when the distance related to the other vehicle is shorter than the first threshold value or when the speed of the other vehicle is higher than the second threshold value, the determination target includes the possibility of collision with the other vehicle. The occurrence of a collision with another vehicle can be suppressed.

(Item 2-4)
An automatic driving control device mounted on a vehicle,
Calculates the possibility of collision between the detected obstacle and the vehicle, uses the calculated possibility of collision as a determination target, controls automatic driving of the vehicle, and calculates when the vehicle interrupts in front of another vehicle An automatic driving control unit for stopping the vehicle when the possibility of collision with the other vehicle is greater than a predetermined value;
An action information input unit for inputting stop action information of the vehicle from the automatic driving control unit;
When the stop information of the vehicle is input from the action information input unit, the distance from the point where the other vehicle is predicted to end crossing the road on which the vehicle travels to the other threshold is the first threshold. If the speed of the other vehicle is equal to or higher than the value and the speed of the other vehicle is equal to or lower than a second threshold value, whether or not the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control unit. An inquiry output unit for outputting inquiry information for inquiring to an occupant to a notification device;
In response to the inquiry notified from the notification device, an operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target;
When the response signal is input to the operation signal input unit, a command output unit that outputs, to the automatic driving control unit, a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target;
An automatic operation control device comprising:

(Item 2-5)
Calculates the possibility of collision between the detected obstacle and the vehicle, uses the calculated possibility of collision as a determination target, controls automatic driving of the vehicle, and calculates when the vehicle interrupts in front of another vehicle When the possibility of collision with the other vehicle is greater than a predetermined value, the vehicle includes an automatic driving control device that stops the vehicle, and a driving support device,
The driving support device includes:
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the stop information of the vehicle is input from the action information input unit, the distance from the point where the other vehicle is predicted to end crossing the road on which the vehicle travels to the other threshold is the first threshold. If the speed of the other vehicle is equal to or higher than the value and the speed of the other vehicle is equal to or lower than a second threshold value, whether or not the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control device. An inquiry output unit for outputting inquiry information for inquiring to an occupant to a notification device;
In response to the inquiry notified from the notification device, an operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target;
When the response signal is input to the operation signal input unit, a command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target;
A vehicle comprising:

(Item 2-6)
Calculates the possibility of collision between the detected obstacle and the vehicle, uses the calculated possibility of collision as a determination target, controls automatic driving of the vehicle, and calculates when the vehicle interrupts in front of another vehicle A driving support method in a driving support device mounted on the vehicle provided with an automatic driving control device for stopping the vehicle when the possibility of collision with the other vehicle is greater than a predetermined value,
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, a distance from the point where the other vehicle is predicted to end intersecting the road on which the vehicle travels to the other vehicle is equal to or greater than a first threshold value, and If the speed of the other vehicle is equal to or lower than a second threshold value, an inquiry for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device Outputting information to a notification device;
A step of inputting a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A step of outputting, to the automatic driving control device, a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target when the response signal is input;
A driving support method comprising:

(Item 2-7)
Calculates the possibility of collision between the detected obstacle and the vehicle, uses the calculated possibility of collision as a determination target, controls automatic driving of the vehicle, and calculates when the vehicle interrupts in front of another vehicle When the possibility of collision with the other vehicle is greater than a predetermined value, a program in a driving support device mounted on the vehicle including an automatic driving control device that stops the vehicle,
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, a distance from the point where the other vehicle is predicted to end intersecting the road on which the vehicle travels to the other vehicle is equal to or greater than a first threshold value, and If the speed of the other vehicle is equal to or lower than a second threshold value, an inquiry for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device Outputting information to a notification device;
A step of inputting a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A program for causing a computer to execute a step of outputting, to the automatic driving control device, a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target when the response signal is input.

(Item 2-8)
Calculates the possibility of collision between the detected obstacle and the vehicle, uses the calculated possibility of collision as a determination target, controls automatic driving of the vehicle, and calculates when the vehicle interrupts in front of another vehicle A driving support system mounted on the vehicle including an automatic driving control device that stops the vehicle when the possibility of collision with the other vehicle is greater than a predetermined value,
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the stop information of the vehicle is input from the action information input unit, the distance from the point where the other vehicle is predicted to end crossing the road on which the vehicle travels to the other threshold is the first threshold. If the speed of the other vehicle is equal to or higher than the value and the speed of the other vehicle is equal to or lower than a second threshold value, whether or not the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control device. An informing device for informing inquiry information for inquiring a passenger;
An input device that accepts a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target when the response operation is accepted by the input device;
A driving support system comprising:

(Item 3-1)
The probability of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns left And when the possibility of collision with a person crossing the road to turn left is greater than a predetermined value, the driving support device mounted on the vehicle provided with an automatic driving control device for stopping the vehicle,
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the vehicle stop action information is input from the action information input unit, the distance from the point where the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is Inquiry output that outputs inquiry information for inquiring to an occupant whether or not to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device if the second threshold value or less And
An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the person and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the person and the vehicle from the determination target when the response signal is input to the operation signal input unit;
A driving support apparatus comprising:

  According to this aspect, if the distance related to the person is greater than or equal to the first threshold and the speed of the person is less than or equal to the second threshold, a response signal that excludes the possibility of collision with the person from the determination target can be obtained. Since the user is instructed to exclude the person, the vehicle can run according to the situation when the person exists.

(Item 3-2)
The command output unit outputs a command for excluding the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device, and then from the point where the person is predicted to end crossing to the person. When the distance is shorter than the first threshold or when the speed of the person is higher than the second threshold, a command including the possibility of collision between the person and the vehicle is included in the determination target. The driving support apparatus according to item 3-1, which is output to the apparatus.

  In this case, when the distance related to the person is shorter than the first threshold or when the speed of the person is higher than the second threshold, the determination target includes the possibility of collision with the person. The occurrence of collision can be suppressed.

(Item 3-3)
In the automatic driving control device, the behavior information input unit receives the stopping behavior information of the vehicle from the automatic driving control device when the possibility of collision with a plurality of persons is greater than a predetermined value.
The inquiry output unit is configured such that when the stop action information of the vehicle is input from the action information input unit, the distances from the points where the plurality of persons are predicted to end crossing to each of the plurality of persons are all first. If the speed is equal to or higher than the threshold value and all the speeds of the plurality of persons are all equal to or lower than the second threshold value, whether or not the possibility of collision with the plurality of persons is excluded from the determination target in the automatic driving control device. Inquiry information to inquire the crew in a batch
In response to the inquiry notified from the notification device, the operation signal input unit receives a response signal that collectively excludes the possibility of collision with the plurality of persons from the determination target.
The command output unit, when the response signal is input to the operation signal input unit, outputs a command for excluding the possibility of collision to the plurality of persons from the determination target to the automatic driving control device. The driving assistance device according to item 3-1.

  In this case, since it is inquired at once about whether or not the possibility of collision with a plurality of persons is excluded from the determination target, and a response signal is received, the processing can be simplified.

(Item 3-4)
The command output unit outputs a command for excluding the possibility of collision with the plurality of persons from the determination target to the automatic driving control device, and then the plurality of persons from a point where the plurality of persons are predicted to end crossing. If at least one of the distances to each of the plurality of persons is shorter than the first threshold value, or if at least one of the speeds of each of the plurality of persons is higher than the second threshold value, the determination target satisfies the condition. The driving support apparatus according to item 3-3, wherein a command including the possibility of collision with a person is output to the automatic driving control apparatus.

  In this case, if the distance related to at least one person is shorter than the first threshold, or if the speed of at least one person is higher than the second threshold, the possibility of collision with the person is included in the determination target. Therefore, the occurrence of a collision with a person can be suppressed.

(Item 3-5)
An automatic driving control device mounted on a vehicle,
The probability of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns left And when the possibility of collision with a person crossing the road to turn left is greater than a predetermined value, an automatic operation control unit for stopping the vehicle,
An action information input unit for inputting stop action information of the vehicle from the automatic driving control unit;
When the vehicle stop action information is input from the action information input unit, the distance from the point where the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is Inquiry output that outputs inquiry information for inquiring to an occupant whether or not to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control unit if the second threshold value or less. And
An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the person and the vehicle from the determination target in response to the inquiry notified from the notification device;
When the response signal is input to the operation signal input unit, a command output unit that outputs, to the automatic driving control unit, a command that excludes the possibility of collision between the person and the vehicle from the determination target;
An automatic operation control device comprising:

(Item 3-6)
The probability of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns left And when the possibility of collision with a person crossing the road to turn left is greater than a predetermined value, the vehicle includes an automatic driving control device that stops the vehicle, and a driving support device,
The driving support device includes:
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the vehicle stop action information is input from the action information input unit, the distance from the point where the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is Inquiry output that outputs inquiry information for inquiring to an occupant whether or not to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device if the second threshold value or less And
An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the person and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the person and the vehicle from the determination target when the response signal is input to the operation signal input unit;
A vehicle comprising:

(Item 3-7)
The probability of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns left When the possibility of collision with a person crossing the road to turn left is greater than a predetermined value, the driving support method in the driving support device mounted on the vehicle provided with the automatic driving control device that stops the vehicle There,
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, the distance from the point where the person is predicted to finish crossing to the person is greater than or equal to a first threshold, and the speed of the person is less than or equal to a second threshold If so, the step of outputting to the notification device inquiry information for inquiring the occupant whether to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device,
A step of inputting a response signal of a response operation by an occupant that excludes the possibility of collision between the person and the vehicle from the determination target in response to the inquiry notified from the notification device;
A step of outputting, to the automatic driving control device, a command for excluding the possibility of collision between the person and the vehicle from the determination target when the response signal is input;
A driving support method comprising:

(Item 3-8)
The probability of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns left When the possibility of collision with a person who crosses the road to turn left is greater than a predetermined value, the program is provided in the driving support device mounted on the vehicle including the automatic driving control device that stops the vehicle. ,
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, the distance from the point where the person is predicted to finish crossing to the person is greater than or equal to a first threshold, and the speed of the person is less than or equal to a second threshold If so, the step of outputting to the notification device inquiry information for inquiring the occupant whether to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device,
A step of inputting a response signal of a response operation by an occupant that excludes the possibility of collision between the person and the vehicle from the determination target in response to the inquiry notified from the notification device;
A program for causing a computer to execute a step of outputting, to the automatic driving control device, a command for excluding the possibility of a collision between the person and the vehicle from the determination target when the response signal is input.

(Item 3-9)
The probability of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns left And when the possibility of collision with a person crossing the road to turn left is greater than a predetermined value, the driving support system mounted on the vehicle comprising an automatic driving control device for stopping the vehicle,
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the vehicle stop action information is input from the action information input unit, the distance from the point where the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is A notification device for informing inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the person and the vehicle from the determination target in the automatic driving control device if it is equal to or less than a second threshold;
An input device that accepts a response operation by an occupant that excludes the possibility of collision between the person and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit for outputting, to the automatic driving control device, a command for excluding the possibility of collision between the person and the vehicle from the determination target when the response operation is accepted by the input device;
A driving support system comprising:

(Item 4-1)
The possibility of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns right The vehicle includes an automatic driving control device that stops the vehicle when the vehicle is facing the vehicle and the collision possibility with another vehicle that intersects when the vehicle turns right is greater than a predetermined value. A driving support device mounted on
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the stop information of the vehicle is input from the action information input unit, a distance from the point where the other vehicle is predicted to end crossing to the other vehicle is equal to or greater than a first threshold value, and Inquiry information for inquiring an occupant whether or not the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control device if the speed of the other vehicle is equal to or less than a second threshold value. An inquiry output unit for outputting to a notification device;
In response to the inquiry notified from the notification device, an operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target;
When the response signal is input to the operation signal input unit, a command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target;
A driving support apparatus comprising:

  According to this aspect, the distance related to the other vehicle is equal to or greater than the first threshold value, the speed of the other vehicle is equal to or smaller than the second threshold value, and the response signal that excludes the possibility of collision with the other vehicle from the determination target If it is obtained, the exclusion of other vehicles is instructed, so that it is possible to travel according to the situation when other vehicles exist.

(Item 4-2)
When there is another vehicle between the point where the other vehicle is predicted to end the intersection and the other vehicle, the inquiry output unit may send information from the other vehicle to the other vehicle. The driving assistance apparatus according to item 4-1, wherein the distance is compared with a first threshold value.

  In this case, since the distance from another vehicle to another vehicle is compared with the first threshold value, various cases can be dealt with. If there is another vehicle, it can be controlled more safely.

(Item 4-3)
The command output unit outputs a command for excluding the possibility of a collision between the other vehicle and the vehicle from the determination target to the automatic driving control device, and then from a point where the other vehicle is predicted to end the intersection. When the distance to the other vehicle is shorter than a first threshold value, or when the speed of the other vehicle is higher than a second threshold value, a collision between the other vehicle and the vehicle as the determination target The driving support apparatus according to item 4-1 or 4-2, wherein a command including possibility is output to the automatic driving control apparatus.

  In this case, when the distance related to the other vehicle is shorter than the first threshold value or when the speed of the other vehicle is higher than the second threshold value, the determination target includes the possibility of collision with the other vehicle. The occurrence of a collision with another vehicle can be suppressed.

(Item 4-4)
In the behavior information input unit, in the automatic driving control device, the possibility of collision calculated when the vehicle makes a right turn and the possibility of a collision with a person crossing a road making a right turn is greater than a predetermined value. In this case, the vehicle stop action information is input from the automatic driving control device, and the inquiry output unit is predicted that the person will end crossing when the vehicle stop action information is input from the action information input unit. If the distance from the point to the person is equal to or greater than a third threshold value and the speed of the person is equal to or less than a fourth threshold value, the determination target in the automatic driving control device determines whether the person and the vehicle Inquiry information for inquiring the occupant whether to exclude the possibility of collision is output to the notification device,
The operation signal input unit receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the person and the vehicle from the determination target with respect to the inquiry notified from the notification device,
The command output unit outputs a command for excluding the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device when the response signal is input to the operation signal input unit. The driving support apparatus according to any one of items 4-1 to 4-3.

  According to this aspect, if the distance related to the person is greater than or equal to the third threshold and the speed of the person is less than or equal to the fourth threshold and a response signal that excludes the possibility of collision with the person is obtained from the determination target. Since the user is instructed to exclude the person, the vehicle can run according to the situation when the person exists.

(Item 4-5)
The command output unit outputs a command for excluding the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device, and then from the point where the person is predicted to end crossing to the person. When the distance is shorter than a third threshold value or when the speed of the person is higher than a fourth threshold value, a command including the possibility of collision between the person and the vehicle is included in the determination target. The driving support apparatus according to item 4-4, wherein the driving support apparatus outputs to the apparatus.

  In this case, when the distance related to the person is shorter than the third threshold or when the speed of the person is higher than the fourth threshold, the determination target includes the possibility of collision with the person. The occurrence of collision can be suppressed.

(Item 4-6)
In the automatic driving control device, the behavior information input unit receives the stopping behavior information of the vehicle from the automatic driving control device when the possibility of collision with a plurality of other vehicles is greater than a predetermined value.
The inquiry output unit, when the stop action information of the vehicle is input from the action information input unit, the distance from the point where the plurality of other vehicles are predicted to end crossing to each of the plurality of other vehicles Are all equal to or higher than the first threshold value and the speeds of the plurality of other vehicles are all equal to or lower than the second threshold value, the plurality of other vehicles from the determination target in the automatic driving control device Inquiry information for inquiring to the occupant at once whether to exclude the possibility of collision against
In response to the inquiry notified from the notification device, the operation signal input unit receives a response signal that collectively excludes the possibility of collision with the plurality of other vehicles from the determination target.
The command output unit outputs to the automatic driving control device a command for excluding the possibility of collision with the plurality of other vehicles from the determination target when the response signal is input to the operation signal input unit. The driving support apparatus according to item 4-1 or 4-2, which is characterized.

  In this case, since it is inquired collectively about whether to exclude the possibility of collision with a plurality of other vehicles from the determination target and a response signal is received, the processing can be simplified.

(Item 4-7)
The command output unit outputs a command that excludes the possibility of a collision with the plurality of other vehicles from the determination target to the automatic driving control device, and then, from a point where the plurality of other vehicles are predicted to end crossing. If at least one of the distances to each of the plurality of other vehicles is less than a first threshold, or if at least one of the speeds of each of the plurality of other vehicles is greater than a second threshold, Item 6. The driving assistance device according to Item 4-6, wherein a command including the possibility of collision with another vehicle that satisfies a condition is output to the automatic driving control device as the determination target.

  In this case, when the distance related to at least one other vehicle is shorter than the first threshold value, or when the speed of at least one other vehicle is higher than the second threshold value, it is possible to collide with the other vehicle as a determination target. Therefore, the occurrence of a collision with another vehicle can be suppressed.

(Item 4-8)
In the automatic driving control device, the behavior information input unit receives the stopping behavior information of the vehicle from the automatic driving control device when the possibility of collision with a plurality of persons is greater than a predetermined value.
The inquiry output unit is configured such that when the stop action information of the vehicle is input from the action information input unit, all the distances from the point where the plurality of persons are predicted to end crossing to each of the plurality of persons are all third. If the speed is equal to or higher than the threshold value and all the speeds of the plurality of persons are all equal to or lower than the fourth threshold value, the possibility of collision with the plurality of persons is excluded from the determination targets in the automatic driving control device Inquiry information to inquire the crew in a batch
In response to the inquiry notified from the notification device, the operation signal input unit receives a response signal that collectively excludes the possibility of collision with the plurality of persons from the determination target.
The command output unit, when the response signal is input to the operation signal input unit, outputs a command for excluding the possibility of collision to the plurality of persons from the determination target to the automatic driving control device. The driving support device according to item 4-4.

  In this case, since it is inquired at once about whether or not the possibility of collision with a plurality of persons is excluded from the determination target, and a response signal is received, the processing can be simplified.

(Item 4-9)
The command output unit outputs a command for excluding the possibility of collision with the plurality of persons from the determination target to the automatic driving control device, and then the plurality of persons from a point where the plurality of persons are predicted to end crossing. If at least one of the distances to each of the plurality of persons is shorter than a third threshold value, or if at least one of the speeds of each of the plurality of persons is higher than a fourth threshold value, the determination target satisfies the condition. The driving support apparatus according to item 4-8, wherein a command including the possibility of collision with a person is output to the automatic driving control apparatus.

  In this case, if the distance related to at least one person is shorter than the third threshold, or if the speed of at least one person is higher than the fourth threshold, the possibility of collision with the person is included in the determination target. Therefore, the occurrence of a collision with a person can be suppressed.

(Item 4-10)
The inquiry output unit is configured such that, when the stop action information of the vehicle is input from the action information input unit, a distance from the point where the other vehicle is predicted to end crossing to the other vehicle is a first threshold value. And the speed of the other vehicle is less than or equal to a second threshold value, and the distance from the point where the person is predicted to end crossing to the person is greater than or equal to a third threshold value, and If the speed of the person is equal to or less than a fourth threshold value, inquiry information for inquiring the occupant collectively whether to exclude the possibility of a collision with the other vehicle and the person from the determination target in the automatic driving control device Is output to the notification device,
In response to the inquiry notified from the notification device, a response signal that collectively excludes the possibility of collision with the other vehicle and the person from the determination target is input to the operation signal input unit,
The command output unit outputs, to the automatic driving control device, a command for excluding the possibility of a collision with the other vehicle and the person from the determination target when the response signal is input to the operation signal input unit. Item 4. The driving assistance device according to item 4-4.

  In this case, since it is inquired collectively about whether or not the possibility of a collision between another vehicle and a person is excluded from the determination target, and a response signal is received, the processing can be simplified.

(Item 4-11)
The command output unit outputs, to the automatic driving control device, a command for excluding the possibility of a collision with the other vehicle and the person from the determination target, and (1) the other vehicle is predicted to end the intersection. When the distance from the point to the other vehicle is shorter than the first threshold value, or when the speed of the other vehicle is higher than the second threshold value, the other vehicle that satisfies the condition as the determination target A command including the possibility of collision with respect to the vehicle is output to the automatic driving control device, and (2) the distance from the point where the person is predicted to finish crossing to the person is shorter than a third threshold, or the person When the speed of the vehicle is higher than a fourth threshold, a command including the possibility of collision with a person who satisfies the condition is output to the automatic driving control device as the determination target. Driving support apparatus according to claim 4-10.

  In this case, if the distance between the other vehicle and the person becomes shorter or the speed becomes faster, the judgment object includes the possibility of collision with the other vehicle or person. Can be suppressed.

(Item 4-12)
An automatic driving control device mounted on a vehicle,
The possibility of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns right An automatic driving control unit that stops the vehicle when the vehicle is facing the vehicle and the collision possibility with another vehicle that intersects when the vehicle turns right is greater than a predetermined value;
An action information input unit for inputting stop action information of the vehicle from the automatic driving control unit;
When the stop information of the vehicle is input from the action information input unit, a distance from the point where the other vehicle is predicted to end crossing to the other vehicle is equal to or greater than a first threshold value, and Inquiry information for inquiring an occupant whether or not to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic operation control unit if the speed of the other vehicle is equal to or less than a second threshold value. An inquiry output unit for outputting to a notification device;
In response to the inquiry notified from the notification device, an operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target;
When the response signal is input to the operation signal input unit, a command output unit that outputs, to the automatic driving control unit, a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target;
An automatic operation control device comprising:

(Item 4-13)
The possibility of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns right And an automatic driving control device that stops the vehicle when the vehicle is facing the vehicle and the possibility of collision with another vehicle that intersects when the vehicle turns right is greater than a predetermined value. A vehicle comprising the device,
The driving support device includes:
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the stop information of the vehicle is input from the action information input unit, a distance from the point where the other vehicle is predicted to end crossing to the other vehicle is equal to or greater than a first threshold value, and Inquiry information for inquiring an occupant whether or not the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control device if the speed of the other vehicle is equal to or less than a second threshold value. An inquiry output unit for outputting to a notification device;
In response to the inquiry notified from the notification device, an operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target;
When the response signal is input to the operation signal input unit, a command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target;
A vehicle comprising:

(Item 4-14)
The possibility of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns right The vehicle includes an automatic driving control device that stops the vehicle when the vehicle is facing the vehicle and the collision possibility with another vehicle that intersects when the vehicle turns right is greater than a predetermined value. A driving support method using a driving support device installed in the vehicle,
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, the distance from the point where the other vehicle is predicted to end crossing to the other vehicle is greater than or equal to a first threshold value, and the speed of the other vehicle is If it is equal to or less than the second threshold value, the inquiry information for inquiring the occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device is output to the notification device. Steps,
A step of inputting a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A step of outputting, to the automatic driving control device, a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target when the response signal is input;
A driving support method comprising:

(Item 4-15)
The possibility of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns right The vehicle includes an automatic driving control device that stops the vehicle when the vehicle is facing the vehicle and the collision possibility with another vehicle that intersects when the vehicle turns right is greater than a predetermined value. A program for a driving support device installed in
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, the distance from the point where the other vehicle is predicted to end crossing to the other vehicle is greater than or equal to a first threshold value, and the speed of the other vehicle is If it is equal to or less than the second threshold value, the inquiry information for inquiring the occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device is output to the notification device. Steps,
A step of inputting a response signal of a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A program for causing a computer to execute a step of outputting, to the automatic driving control device, a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target when the response signal is input.

(Item 4-16)
The possibility of collision between the detected obstacle and the vehicle is calculated, the calculated possibility of collision is used as a determination target, automatic control of the vehicle is controlled, and the possibility of collision calculated when the vehicle turns right The vehicle includes an automatic driving control device that stops the vehicle when the vehicle is facing the vehicle and the collision possibility with another vehicle that intersects when the vehicle turns right is greater than a predetermined value. A driving support system installed in
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the stop information of the vehicle is input from the action information input unit, a distance from the point where the other vehicle is predicted to end crossing to the other vehicle is equal to or greater than a first threshold value, and Inquiry information for inquiring an occupant whether or not the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control device if the speed of the other vehicle is equal to or less than a second threshold value. An informing device for informing;
An input device that accepts a response operation by an occupant that excludes the possibility of a collision between the other vehicle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target when the response operation is accepted by the input device;
A driving support system comprising:

  The present invention has been described based on the embodiments. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. By the way.

  In the first to fifth embodiments, the case where the vehicle 100 is traveling on the left side is the subject of the description. However, the present invention is not limited to this. For example, the vehicle 100 may pass on the right side. At that time, the description of the left turn action and the right turn action is reversed from that of the second to fifth embodiments. According to this modification, the application range can be expanded.

  In this Embodiment 1 thru | or 5, the road where the vehicle 100 and another vehicle drive is made into the object of description about the estimated movement path | route of an obstruction. However, the present invention is not limited to this. For example, a specific lane on a road may be calculated. At that time, by replacing the road with a lane, the predicted movement path of the obstacle can be calculated more accurately, and the control of the vehicle can be controlled more precisely. According to this modification, the application range can be expanded.

  In the first to fifth embodiments, the merging action, the left turn action, and the right turn action are targeted for explanation as the driving action. However, the present invention is not limited to this, and may be other driving behavior, for example. The determination distance 120 may be determined according to the driving behavior. According to this modification, the application range can be expanded.

  In the first to fifth embodiments, when the control unit 31 determines the stop action, the control unit 31 stops the vehicle 100 and transmits information indicating the stop action. Therefore, after the behavior information input unit 54 receives the stop action, the control unit 41 performs a process for determining whether or not to exclude the possibility of collision with the obstacle from the determination target in a state where the vehicle 100 is stopped. Run. However, the present invention is not limited to this. For example, the behavior information input unit 54 receives a stop action before the vehicle 100 stops, and the control unit 41 determines whether the determination target may collide with an obstacle while the vehicle 100 is traveling. You may perform the process for determining whether to exclude. According to this modification, since the vehicle 100 does not stop, traffic can be further smoothed.

  In the fourth embodiment, the control unit 41 executes a process for the first other vehicle 102a and a process for the person 104 when making a right turn. However, the present invention is not limited to this. For example, the control unit 41 may execute only the process for the person 104 without executing the process for the first other vehicle 102a when turning right. At this time, the third threshold value and the fourth threshold value correspond to the first threshold and the second threshold, respectively. According to this modification, the application range can be expanded.

  According to the present invention, even if an obstacle exists, the vehicle can travel according to the situation.

  30 automatic operation control device, 40 driving support device, 41 control unit, 42 storage unit, 43 I / O unit, 76 determination unit, 78 inquiry processing unit, 80 command processing unit, 100 vehicle.

Claims (9)

When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle,
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the vehicle stop action information is input from the action information input unit, a distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the obstacle If the speed of the vehicle is equal to or less than a second threshold value, informing device for inquiring to the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Inquiry output part to output,
An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the obstacle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of a collision between the obstacle and the vehicle from the determination target when the response signal is input to the operation signal input unit;
A driving support apparatus comprising:   The command output unit outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic operation control device, and then the obstacle from one point on the predicted movement path of the obstacle. A command for including the possibility of collision between the obstacle and the vehicle in the determination target when the distance to the object is shorter than the first threshold or when the speed of the obstacle is higher than the second threshold. Is output to the automatic driving control device. The driving support device according to claim 1. In the automatic driving control device, the behavior information input unit receives the stopping behavior information of the vehicle from the automatic driving control device when the possibility of collision with a plurality of obstacles is greater than a predetermined value.
The inquiry output unit has all the distances from one point on the predicted movement path of the plurality of obstacles to each of the plurality of obstacles when the vehicle stop action information is input from the action information input unit. If the speed is equal to or higher than the first threshold and the speeds of the plurality of obstacles are all equal to or lower than the second threshold, the possibility of collision with the plurality of obstacles from the determination target in the automatic operation control device Inquiry information for inquiring to the occupant at once whether to exclude
In response to the inquiry notified from the notification device, the operation signal input unit receives a response signal that collectively excludes the possibility of collision with the plurality of obstacles from the determination target,
The command output unit, when the response signal is input to the operation signal input unit, outputs a command for excluding the possibility of collision with the plurality of obstacles from the determination target to the automatic driving control device. The driving support apparatus according to claim 1.   The command output unit outputs a command for excluding the possibility of collision with the plurality of obstacles from the determination target to the automatic operation control device, and then outputs the plurality of obstacles from one point on the predicted movement path of the plurality of obstacles. If at least one of the distances to each of the obstacles is shorter than the first threshold, or if at least one of the respective speeds of the plurality of obstacles is higher than the second threshold, the determination target The driving support device according to claim 3, wherein a command including a collision possibility with respect to an obstacle that satisfies a condition is output to the automatic driving control device. An automatic driving control device mounted on a vehicle,
When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle An automatic operation control unit for stopping
An action information input unit for inputting stop action information of the vehicle from the automatic driving control unit;
When the vehicle stop action information is input from the action information input unit, a distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the obstacle If the speed of the vehicle is equal to or less than a second threshold value, the informing device receives inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control unit Inquiry output part to output,
An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the obstacle and the vehicle from the determination target in response to the inquiry notified from the notification device;
When the response signal is input to the operation signal input unit, a command output unit that outputs, to the automatic driving control unit, a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target;
An automatic operation control device comprising: When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle, and a vehicle including the driving support device,
The driving support device includes:
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the vehicle stop action information is input from the action information input unit, a distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the obstacle If the speed of the vehicle is equal to or less than a second threshold value, informing device for inquiring to the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Inquiry output part to output,
An operation signal input unit that receives a response signal of a response operation by an occupant that excludes the possibility of a collision between the obstacle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of a collision between the obstacle and the vehicle from the determination target when the response signal is input to the operation signal input unit;
A vehicle comprising: When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A driving support method in a driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle,
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, the distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the speed of the obstacle is second. If the threshold value is less than or equal to a threshold value, outputting to the notification device inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device;
In response to the inquiry notified from the notification device, a step of inputting a response signal of a response operation by an occupant excluding the possibility of collision between the obstacle and the vehicle from the determination target;
A step of outputting, to the automatic driving control device, a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target when the response signal is input;
A driving support method comprising: When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A program in a driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle,
The step of inputting stop action information of the vehicle from the automatic driving control device;
When the stop action information of the vehicle is input, the distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the speed of the obstacle is second. If the threshold value is less than or equal to a threshold value, outputting to the notification device inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device;
In response to the inquiry notified from the notification device, a step of inputting a response signal of a response operation by an occupant excluding the possibility of collision between the obstacle and the vehicle from the determination target;
A program for causing a computer to execute a step of outputting, to the automatic driving control device, a command for excluding the possibility of a collision between the obstacle and the vehicle from the determination target when the response signal is input. When the collision possibility between the detected obstacle and the vehicle is calculated, and the automatic operation of the vehicle is controlled using the calculated collision possibility as a determination target, and the collision possibility is larger than a predetermined value, the vehicle A driving support system mounted on the vehicle including an automatic driving control device for stopping
An action information input unit for inputting stop action information of the vehicle from the automatic driving control device;
When the vehicle stop action information is input from the action information input unit, a distance from one point on the predicted movement path of the obstacle to the obstacle is not less than a first threshold value, and the obstacle If the speed of the vehicle is equal to or lower than a second threshold value, a notification for informing inquiry information for inquiring an occupant whether to exclude the possibility of a collision between the obstacle and the vehicle from the determination target in the automatic driving control device Equipment,
An input device that accepts a response operation by an occupant that excludes the possibility of a collision between the obstacle and the vehicle from the determination target in response to the inquiry notified from the notification device;
A command output unit that outputs, to the automatic driving control device, a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target when the response operation is accepted by the input device;
A driving support system comprising:

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