JP2019087095A - Driving assist system and driving assist method - Google Patents

Abstract

To provide a driving assist system and a driving assist method capable of properly giving an alarm against an object in a blind spot area even when a vehicle is at a halt with a transmission set to a P or N range.SOLUTION: A driving assist system decides a moving direction of an own vehicle on the basis of own vehicle peripheral information, determines a blind spot detection area which should be detected on the basis of the moving direction of the own vehicle, detects an object in an appropriate blind spot detection area according to the blind spot detection area which should be detected on the basis of pieces of blind spot detection area object information in blind spot detection areas fetched from plural blind spot detection sensors, and gives an alarm in the event that the object is detected as a result of the object detection.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support device and a driving support method mounted on a vehicle or the like, and in particular, in an appropriate direction even in a state where the transmission is shifted to the P position or the N position and stopped in the own vehicle. It relates to what provides driving support.

  Cross traffic alert (CTA: Cross Traffic Alert, hereinafter referred to as CTA) is known as one of the conventional driving support devices. In general, the CTA informs and supports the movement of an object in a region that is blind to the traveling direction of the host vehicle. For example, if the host vehicle is moving backward, it monitors an object moving laterally behind the host vehicle.

  For example, when the vehicle exits the parking lot, the user puts the transmission of the vehicle in reverse (R position). When the CTA detects that the transmission has been switched to the reverse (R position), when it detects a vehicle, a cyclist, a pedestrian or the like approaching from the left and right behind the host vehicle, a warning sound is emitted.

  The capabilities of CTA are limited and can not work optimally in any situation. For example, since the CTA sensor monitors an area which is blind to the movement direction of the host vehicle, the process can be performed only after the movement direction of the host vehicle is specified. In addition, the processing load of processing for monitoring an area which is a blind spot is large. For this reason, it is not realistic in terms of processing load and cost to constantly perform monitoring processing on the entire dead area of the host vehicle.

  In addition, temporarily monitoring the entire dead area temporarily limits the processing range, the processing cycle, and the like. In addition, when the CTA performs monitoring with respect to a blind spot in a direction unrelated to the direction in which the host vehicle travels, an alarm unrelated to the host vehicle is also generated, and the user may not be able to make an accurate determination.

  Also, for example, when the search sensor for detecting an object is at the side of the host vehicle, the conventional driving support device described in Patent Document 1 described below detects an adjacent vehicle adjacent to the side of the host vehicle. The conventional driving support device moves the search sensor forward by the traveling means in the traveling direction of the own vehicle by using the moving means when confirming the crossing direction moving body moving in the direction crossing the traveling direction ahead of the own vehicle. Move to

JP, 2016-34777, A

However, the conventional techniques as described above have the following problems.
Prior art driving assistance devices should monitor an object moving in which direction when the vehicle in which the shift or transmission is in the parking position (P) or the neutral position (N) is stopped. It can not be determined from the state of the host vehicle. Therefore, when the user switches the shift from the stop state of the host vehicle and the host vehicle immediately moves forward, backwards, turns, etc., there is a case in which the moving object approaching can not be detected in time.

  An object of the present invention is to provide a driving support device and a driving support method capable of appropriately generating an alarm regarding an object in a dead angle area even when the host vehicle is stopped.

  According to the present invention, there are a periphery detection unit that detects periphery information of the host vehicle as the periphery information of the host vehicle, and a plurality of blind spot detection sensors that detect objects in the respective blind spot detection areas serving as blind spots of the host vehicle as area object information. A driving support control device for notifying presence of an object in a blind spot of the own vehicle according to the own vehicle peripheral information and the area object information, wherein the driving support control device is configured to A surrounding environment detection unit that detects surrounding environment information including the presence or absence of an object around the own vehicle from the own vehicle surrounding information, and a moving direction of the own vehicle determining the moving direction of the own vehicle from the surrounding environment information from the surrounding environment detecting unit A determination unit; a blind spot detection control unit that determines a blind spot detection area to be detected from the movement direction of the host vehicle determined by the host vehicle movement direction determination unit; An object detection unit for performing object detection on an appropriate blind spot detection area in accordance with the area object information fetched from each of the detection sensors and the blind spot detection area determined by the blind spot detection control unit; And an alarm control unit that generates an alarm signal and generates an alarm when an object is detected as a result of the object detection.

  In this invention, the moving direction of the vehicle is estimated from the surrounding environment information of the vehicle, the blind spot detection area to be detected is determined from the moving direction, and the detection of the object is performed to generate an alarm about the object in the blind spot area. You can do it properly. As a result, when the host vehicle switches from stopping to traveling and immediately starts to move, it is possible to generate an alarm early before starting to move.

It is a functional block diagram which shows the structure of the driving assistance device by Embodiment 1 of this invention. It is a flowchart which shows an example of operation | movement of the driving assistance device by Embodiment 1 of this invention. It is a figure for demonstrating an example of determination of the movement direction of the own vehicle in the driving assistance device by Embodiment 1 of this invention, and a dead angle detection area. It is a figure for demonstrating another example of determination of the movement direction of the own vehicle in the driving assistance device by Embodiment 1 of this invention, and a dead angle detection area. It is a functional block diagram which shows the structure of the driving assistance device by Embodiment 2 of this invention. It is a flowchart which shows an example of operation | movement of the driving assistance device by Embodiment 2 of this invention. It is a flowchart following FIG. 6 which shows an example of operation | movement of the driving assistance device by Embodiment 2 of this invention. It is a figure for demonstrating an example of determination of the movement direction of the own vehicle in the driving assistance device by Embodiment 2 of this invention, and a dead angle detection area. It is a figure for demonstrating another example of determination of the movement direction of the own vehicle in the driving assistance device by Embodiment 2 of this invention, and a dead angle detection area. It is a functional block diagram which shows the structure of the driving assistance device by Embodiment 3 of this invention. It is a flowchart which shows an example of operation | movement of the driving assistance device by Embodiment 3 of this invention. It is a figure for demonstrating an example of determination of the movement direction of the own vehicle in the driving assistance device by Embodiment 3 of this invention, and a dead angle detection area. It is a figure which shows an example of the hardware constitution at the time of comprising with the hardware of the control part of the rotary electric machine apparatus by this invention. It is a figure which shows an example of the hardware constitution at the time of comprising with the software of the control part of the rotary electric machine apparatus by this invention.

  Hereinafter, a driving support apparatus and a driving support method according to the present invention will be described according to each embodiment with reference to the drawings. In each of the embodiments, the same or corresponding parts are indicated by the same reference numerals, and duplicate explanations are omitted.

Embodiment 1
FIG. 1 is a block diagram showing a configuration of a driving assistance apparatus according to a first embodiment of the present invention. The driving support device 100 includes a driving support control device 1, a blind spot detection sensor 2, a periphery detection sensor 3, a display device 4, a speaker 5, a shift detector 6, and a steering wheel angle detector 7.

  The dead angle detection sensor 2 is configured by any one of a camera, a millimeter wave radar, LIDAR, and the like. The dead angle detection sensor 2 sets the dead angle direction of the own vehicle as a dead angle detection area, and detects the presence / absence, the moving direction, the distance, etc. of an object that is not detected with respect to the own vehicle in the dead angle detection area. A plurality of blind spot detection sensors 2 are arranged around the host vehicle, and are arranged to detect an object in the blind spot detection area of the host vehicle. The blind spot detection sensor 2 outputs blind spot detection area object information including a captured image or a detection signal to the object detection unit 14 of the driving support control device 1.

  The periphery detection sensor 3 is configured by any one of a camera, a millimeter wave radar, a LIDAR, an ultrasonic sensor, and the like. The periphery detection sensor 3 uses the periphery of the host vehicle as a detection area, and is attached to at least one of the front, both sides, and rear of the vehicle body. The surrounding area detection sensor 3 outputs the own vehicle peripheral information including the captured image or the detection signal to the surrounding environment detection unit 11 of the driving support control device 1. The periphery detection sensor 3 detects the presence / absence and the position of a stationary solid object around the host vehicle. The periphery detection sensor 3 constitutes a periphery detection unit by one or more.

  The shift detector 6 detects the shift position of the transmission of the host vehicle, and outputs the detected shift position to the host vehicle moving direction determination unit 12 of the driving support control device 1. The steering wheel angle detector 7 detects the steering wheel steering angle of the host vehicle and outputs the steering wheel steering angle to the host vehicle moving direction determination unit 12. The shift detector 6 and the steering wheel angle detector 7 constitute a vehicle state detection unit.

  In the driving support control device 1, the surrounding environment detection unit 11 detects surrounding environment information including the presence or absence of an object around the own vehicle from the own vehicle surrounding information input from the surrounding detection sensor 3.

  The own vehicle moving direction determination unit 12 determines the moving direction of the own vehicle from the shift position from the shift detector 6, the steering angle from the steering wheel angle detector 7, and the surrounding environment information from the surrounding environment detecting unit 11.

  The blind spot detection control unit 13 determines a blind spot detection area to be detected from the moving direction of the host vehicle determined by the host vehicle moving direction determination unit 12.

  The object detection unit 14 performs object detection on an appropriate blind spot detection area in accordance with the blind spot detection area object information acquired from the plurality of blind spot detection sensors 2 and the blind spot detection area from the blind spot detection control unit 13.

  When the detection of an object is detected as a result of the object detection by the object detection unit 14, the alarm control unit 15 generates an alarm signal to perform notification on the object in the dead angle detection area. According to the alarm signal, at least one of the display device 4 and the speaker 5 generates an alarm for a driver of the host vehicle or a user who is a passenger about the object in the blind spot detection area with respect to the direction of the host vehicle to move.

  When the shift of the transmission of the host vehicle is N position or P position, the movement direction of the host vehicle can not be estimated from the shift. For this reason, the own vehicle moving direction determination unit 12 determines that the own vehicle does not move, that is, does not move in the direction in which the object exists, from the presence or absence of the surrounding object. The own vehicle movement direction determination unit 12 estimates at least one direction in which the possibility of the own vehicle moving is high.

  When the input is a captured image from a camera, the object detection unit 14 detects an object by image processing based on image information sent from a plurality of sensors. The image processing in this case may be machine learning by deep learning, for example. Also, for example, information using inter-frame information by optical flow may be used. Alternatively, object detection based on parallax using stereo images may be used.

  When the output of the millimeter wave radar is used, the object may be detected by measuring the position and relative velocity of the object from the reception information of the reflected wave. Further, when the dead angle detection area is specified within the range that can be performed without exceeding the processing performance, the assumed processing may be performed. Also, for example, when the moving direction of the host vehicle can not be limited, the dead angle detection area may include the number of areas that require processing exceeding the processing performance. In such a case, processing may be dispersed along the time axis to perform object detection in the dead angle detection area.

  Similar to the object detection unit 14, the surrounding environment detection unit 11 performs processing suitable for each of the input sensors. Also in the case of the ultrasonic sensor, the object may be detected by measuring the position and relative velocity of the object from the reception information of the reflected wave.

  The driving support control device 1 includes a main storage unit M for storing data necessary for processing in the driving support control device 1 and various information obtained in the driving support control device 1 as necessary.

FIG. 2 is a flow chart showing an example of the operation of the driving support system in accordance with Embodiment 1 of the present invention.
In the vehicle in the stopped state, the own vehicle moving direction determination unit 12 confirms the shift position of the transmission of the own vehicle from the shift position from the shift detector 6 (step S1-1). If the shift position is neutral or parking, the surrounding environment detection unit 11 acquires the own vehicle surrounding information from the surrounding detection sensor 3. The surrounding environment detection unit 11 obtains surrounding environment information from the own vehicle surrounding information. Specifically, the object position and distance around the host vehicle are acquired (step S1-2). Then, the surrounding environment detection unit 11 generates presence / absence information of an object within the set distance before and after the vehicle's own vehicle (step S1-3).

  The own vehicle moving direction determination unit 12 recognizes the surrounding environment from the surrounding environment information, and estimates the moving direction of the own vehicle. The own vehicle moving direction determination unit 12 sets the direction in which there is no object as the direction in which the own vehicle may move. The blind spot detection control unit 13 determines a blind spot detection area from the moving direction of the host vehicle (step S1-4).

  When the shift position is the forward direction or the reverse direction in step S1-1, the host vehicle movement direction determination unit 12 estimates the movement direction of the host vehicle from the shift position and the steering angle from the steering wheel angle detector 7 Step S1-5). The blind spot detection control unit 13 determines a blind spot detection area from the movement direction of the host vehicle estimated including the steering angle (step S1-6).

The own vehicle moving direction determination unit 12 estimates that the own vehicle CAR moves in the forward direction when the surrounding environment information indicates that the object OB is present in the left and right rear as shown in FIG. 3, for example. The blind spot detection control unit 13 determines a blind spot to the front direction as a blind spot detection area.
In addition, when the surrounding environment information indicates that there is an object OB on the left front and back, as shown in FIG. 4, the host vehicle moving direction determination unit 12 estimates that the host vehicle CAR moves in the right front and rear direction. The blind spot detection control unit 13 determines a blind spot to the right as a blind spot detection area.

  Also, when the shift position from the shift detector 6 is in the forward direction and the steering angle from the steering wheel angle detector 7 is turned to the left, the own vehicle's moving direction is the left forward direction. Estimate. The dead angle detection control unit 13 determines the dead angle when moving in the forward direction and the dead angle when moving in the left direction as the dead angle detection area.

  Subsequently, the object detection unit 14 performs processing for detecting a moving object approaching the host vehicle in the dead angle detection area (step S1-7). Since this detection method is general as a CTA function, detailed description is omitted. The object detection unit 14 outputs an alarm signal to at least one of the display device 4 and the speaker 5 when an alarm target is found in the blind spot detection area by detection processing of a moving object approaching the host vehicle (step S1-8). The display device 4 and the speaker 5 that have received the alarm signal generate an alarm (step S1-9).

  In the driving support apparatus according to the present invention as described above, even if the shift position of the transmission is neutral or parking, the moving object of the vehicle is estimated by detecting the surrounding environment information of the vehicle by the peripheral object sensor. It is possible to perform blind spot detection processing in any direction. As a result, even if the shift position of the transmission is switched suddenly to start the vehicle, it is possible to warn the user about an object in the blind spot detection area before or immediately after the vehicle starts moving.

Second Embodiment
FIG. 5 is a block diagram showing a configuration of a driving assistance apparatus according to a second embodiment of the present invention. In the second embodiment, in addition to the first embodiment, the parking direction storage unit 16 and the wheel lock position storage unit 17 are added to the driving support control device 1. The other parts are basically the same as those of the first embodiment. The parking direction storage unit 16 and the wheel lock position storage unit 17 may be included in the surrounding environment detection unit 11.

  The parking direction storage unit 16 stores the parking direction when the host vehicle parked last. Parking directions include forward parking, backward parking, and left and right parallel parking. The final parking direction may be determined by the parking method specified when the user uses the automatic parking assistance function. In addition, the parking direction parked last may be determined from the parking method automatically selected by the automatic parking support function. The final parking direction when using the automatic parking support function is input as external information INF from an automatic parking support function unit outside the driving support control device 1. The final parking direction may be the movement direction of the final vehicle before the engine is turned off or before the power is turned off. The movement direction of the final vehicle before the engine is turned off or before the power is turned off may be stored while updating the movement direction of the vehicle of the vehicle movement direction determination unit 12 and used.

  The parking direction information stored in the parking direction storage unit 16 is read by the surrounding environment detection unit 11 and is used to specify the delivery direction of the vehicle. The own vehicle moving direction determination unit 12 estimates the moving direction assuming that the vehicle is delivered from the parking direction of the own vehicle. The movement direction estimation using the parking direction may be used from when the engine is turned on until it travels at a set speed.

  When it is recognized that there is a detent in the parked place at the time when the own vehicle last made, the detent position storage unit 17 stores the position. The own vehicle peripheral information from the peripheral detection sensor 3 connected to the peripheral environment detection unit 11 may be used for this recognition itself.

  The ringing position information stored in the ringing position storage unit 17 is read by the surrounding environment detection unit 11 and is used to specify the delivery direction of the vehicle. The own vehicle moving direction determination unit 12 estimates the moving direction as there is no possibility of the own vehicle moving in the direction in which the wheel clamp is disposed. The movement direction estimation using the ring stop position may be used from when the engine is turned on until it travels at a set speed.

  The parking direction information and the ringing position information are combined with the own vehicle peripheral information from the periphery detection sensor 3 and used by the own vehicle moving direction determination unit 12 to determine the moving direction of the own vehicle. In fact, the parking direction information and the wheel stop position information are temporarily stored in the main storage unit M.

  FIGS. 6 and 7 are flowcharts showing an example of the operation of the driving assistance apparatus in accordance with Embodiment 2 of the present invention. FIG. 6 is a flow chart of the operation of the parking direction storage unit 16 and the wheel lock position storage unit 17. FIG. 7 is a flowchart following FIG.

  First, at the timing when the host vehicle parks, the parking direction storage unit 16 stores the last parking direction (step S2-1). If the clasping is detected during parking by the clasp position storage unit 17, the clasp position is stored (step S2-2).

  Subsequently, moving to FIG. 7, when the host vehicle is leaving the vehicle, the host vehicle moving direction determination unit 12 confirms the shift position of the transmission of the host vehicle from the shift position from the shift detector 6 (step S3-1). If the shift position is neutral or parking, the surrounding environment detection unit 11 acquires the last parking direction information and the ringing position information from the parking direction storage unit 16 and the ringing position storage unit 17 (steps S3-2 and S3). -3).

  Then, the own vehicle moving direction determination unit 12 estimates the moving direction of the own vehicle in accordance with the last parking direction information and the wheel locking position information from the surrounding environment detection unit 11. Generally, there is a high possibility of moving to the rear of the vehicle for parking. In this case, the direction opposite to the last parking direction is taken as the exit direction. The host vehicle moving direction determination unit 12 estimates that the front opposite to the final parking direction is the moving direction. Note that the host vehicle movement direction determination unit 12 may receive the parking direction and the ringing position directly from the parking direction storage unit 16 and the ringing position storage unit 17.

  In addition, when there is a wheel restraint, there is no possibility that the vehicle moves in the direction in which the wheel restraint is. The own vehicle movement direction determination unit 12 sets the side opposite to the direction in which the wheel stopper is a movement direction.

  The blind spot detection control unit 13 determines a blind spot detection area from the moving direction of the host vehicle estimated by the host vehicle moving direction determination unit 12 (step S3-4).

  When the shift position is the forward direction or the reverse direction in step 3-1, the own vehicle movement direction determination unit 12 estimates the movement direction of the own vehicle by combining it with the shift position and the steering angle from the steering wheel angle detector 7 (Step S3-5). The blind spot detection control unit 13 determines a blind spot detection area from the movement direction of the host vehicle estimated including the steering angle (step S3-6).

  As described above, in general, there is a high possibility of moving to the rear of the vehicle for parking, and in this case, the direction opposite to the last parking direction is taken as the exit direction. Therefore, as shown in FIG. 8, the own vehicle moving direction determination unit 12 estimates the front of the last parking direction of the own vehicle CAR as the moving direction. An object OB may exist on the left and right of the moving direction. The blind spot detection control unit 13 determines a blind spot to the front direction as a blind spot detection area.

  Also, as described above, when there is a detent, there is no possibility that the vehicle will move in the declination direction. Therefore, as shown in FIG. 9, the own vehicle moving direction determination unit 12 estimates the side opposite to the wheel clamp of the own vehicle CAR as the moving direction. An object OB may exist on the left and right of the moving direction. In the case of FIG. 9, the blind spot detection control unit 13 determines a blind spot to the rear direction of the host vehicle CAR as a blind spot detection area.

  Thereafter, with respect to the operations of steps S3-7, S3-8, and S3-9 for generating an alarm when an object is present in the blind spot detection area, steps S1-7 and S1-8 of FIG. 2 of the first embodiment are performed. , S1-9, and the description is omitted.

  Note that the moving direction of the host vehicle may be estimated from at least one of the parking direction of the host vehicle and the wheel stopper position.

  In the driving support device according to the present invention as described above, even if the shift position of the transmission is neutral or parking, the parking direction and the wheel restraint of the vehicle are stored by storing the parking direction and the wheel restraint position of the vehicle. It is possible to estimate the moving direction of the host vehicle from the position information, and to perform the blind spot detection process in an appropriate direction.

Third Embodiment
FIG. 10 is a block diagram showing a configuration of a driving assistance apparatus in accordance with Embodiment 3 of the present invention. In the third embodiment, in addition to the second embodiment, a road-to-vehicle communication device 8, a self-position determination device 9, and a self-position-map collating unit 18 are added. The other parts are basically the same as those of the first and second embodiments.

  The road-to-vehicle communication device 8 sends, to the surrounding environment detection unit 11, the first surrounding vehicle information indicating the road information limited to the vicinity of the vehicle. The surrounding environment detection unit 11 identifies a direction in which the vehicle can travel in accordance with the sent first vehicle peripheral road information, and sends it to the vehicle movement direction determination unit 12 as a first movable direction. The own vehicle moving direction determination unit 12 determines the moving direction of the own vehicle based on the first movable direction from the surrounding environment detection unit 11 based on the first own vehicle surrounding road information from the road-vehicle communication device 8.

  The self position determination device 9 sends the self vehicle position information, which is a GPS signal, to the self position-map collating unit 18 by a positioning system including a GPS (Global Positioning System). The self position-map collating unit 18 selects map information in the vicinity of the host vehicle from the map information and sends second host vehicle peripheral road information to the peripheral environment detection unit 11. The map information is stored, for example, in the main storage unit M in advance. The surrounding environment detection unit 11 identifies a direction in which the vehicle can travel according to the sent second vehicle surroundings road information, and sends it to the vehicle movement direction determination unit 12 as a second movable direction. The own vehicle movement direction determination unit 12 determines the movement direction of the own vehicle based on the second movable direction from the surrounding environment detection unit 11 based on the second own vehicle peripheral road information from the own position-map collating unit 18 .

  The first own vehicle peripheral road information by road-to-vehicle communication from the road-vehicle communication device 8, the own position by the own position-map collating unit 18 and the second own vehicle peripheral road information according to the map are described in the first embodiment. Even when used in judgment of the moving direction of the own vehicle in the own vehicle moving direction judgment unit 12 in combination with the own vehicle peripheral information by the surrounding object from the peripheral detection sensor 3, the parking direction information of the second embodiment, and the ring stop position information. Good.

FIG. 11 is a flow chart showing an example of the operation of the driving assistance apparatus in accordance with Embodiment 3 of the present invention.
In the vehicle in the stopped state, the own vehicle moving direction determination unit 12 confirms the shift position of the transmission of the own vehicle by the shift position from the shift detector 6 (step S4-1).

  If the shift position is neutral or parking, the surrounding environment detection unit 11 acquires first host vehicle surrounding road information obtained from the road-to-vehicle communication device 8 by road-to-vehicle communication (step S4-4). Further, the self position-map collating unit 18 acquires the self-vehicle position information from the self-position determination device 9 (step S4-2).

  Then, the self position-map collating unit 18 obtains second road information around the self vehicle from the self vehicle position and the map information. The surrounding environment detection unit 11 obtains road information indicating an area in which the host vehicle can travel, that is, a second movable direction, from the second host vehicle surrounding road information (step S4-3).

  In addition, the surrounding environment detection unit 11 obtains road information indicating an area in which the host vehicle can move, that is, a first movable direction, in accordance with the first host vehicle surrounding road information from the road-vehicle communication device 8 (step S4-5). ).

  The own vehicle moving direction determination unit 12 integrates the area in which the own vehicle can travel and estimates the moving direction of the own vehicle. For example, the own vehicle moving direction determination unit 12 can estimate the overlapping portion of the first movable direction and the second movable direction as the moving direction. In addition, the own vehicle moving direction determination unit 12 may estimate the moving direction based on only one of the first movable direction and the second movable direction.

  The blind spot detection control unit 13 determines a blind spot detection area from the moving direction of the host vehicle estimated by the host vehicle moving direction determination unit 12 (step S4-8).

  When the shift position is in the forward direction or the reverse direction in step 4-1, the own vehicle movement direction determination unit 12 estimates the movement direction of the own vehicle by combining it with the shift position and the steering angle from the steering wheel angle detector 7 (Step S4-6). The dead angle detection control unit 13 determines a dead angle detection area from the movement direction of the host vehicle estimated including the steering angle (step S4-7).

  As shown in FIG. 12, when there is a road behind the host vehicle CAR from the host vehicle surrounding road information, the rear of the host vehicle CAR is a travelable area. Then, the rear side of the host vehicle CAR is estimated to be the moving direction. An object OB may exist on the left and right of the moving direction. In the case of FIG. 12, the blind spot detection control unit 13 determines a blind spot to the rear direction of the host vehicle CAR as a blind spot detection area.

  Thereafter, the operations of steps S4-9, S4-10, and S4-11 for generating an alarm when there is an object in the blind spot detection area are the same as the operations of the first and second embodiments, and the description thereof is omitted. Do.

  In the above example, the road-to-vehicle communication device 8 and the device including the self-position determination device 9 and the self-position-map collating unit 18 are provided as means for obtaining road information. It is also good.

  In the driving support apparatus according to the present invention as described above, even if the shift position of the transmission is neutral or parking, the moving direction is estimated from the road information around the host vehicle, and the dead angle detection process is performed in an appropriate direction. It becomes possible.

  Further, in each embodiment, the driving support control device 1 indicated by various function blocks is configured by a computer or a digital circuit.

  In this regard, the processing circuit for realizing these functions is a CPU (Central Processing Unit, central processing unit, processing unit, arithmetic unit, microprocessor, etc.) that executes a program stored in the memory even if it is dedicated hardware. , A microcomputer, a processor, and a DSP).

  FIG. 13 schematically shows the hardware configuration when these functions are configured by hardware, and FIG. 14 schematically shows the hardware configuration when configured by software. When the functions of the above-described units are configured by hardware illustrated in FIG. 13, the processing circuit 1000 may be, for example, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. The thing corresponds. The functions of the respective units may be realized by processing circuits, or the functions of the respective units may be realized collectively by a processing circuit.

  When the functions of the respective units are configured by the CPU shown in FIG. 14, the functions of the respective units are realized by software, firmware, or a combination of software and firmware. Software, firmware and the like are described as a program and stored in the memory 2100. The processor 2000, which is a processing circuit, implements the functions of the respective units by reading and executing the program stored in the memory 2100.

  These programs can also be said to cause a computer to execute the procedures and methods of the above-described units. Here, the memory 2100 corresponds to, for example, nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, etc. Do.

  The functions of the above-described units may be partially realized by dedicated hardware and partially realized by software or firmware.

  In this manner, the processing circuit can implement the above-described functions by hardware, software, firmware, or a combination thereof. In addition, various information necessary for the process is preset in the circuit in the case of the hardware configuration, and stored in the memory in the case of the software configuration.

Moreover, this invention is not limited to said each embodiment, All these possible combinations are included.
In the first embodiment, the moving direction of the vehicle is estimated according to the own vehicle peripheral information, the last parking direction in the second embodiment, the ring stop position at the last parking, and the map information and the road information in the third embodiment. There is.
For example, the surrounding environment detection unit 11 and the own vehicle movement direction determination unit 12 can move in the direction in which there is no obstacle based on the own vehicle peripheral information, that is, the direction in which the own vehicle can move. The movable direction of the vehicle is determined based on an AND condition of the direction and the direction in which the vehicle does not move, ie, the direction in which the vehicle can move.
When the last parking direction is included in the movable direction of the host vehicle, the dead angle detection control unit 13 performs detection control so as to detect the last parking direction. When the last parking direction is not included in the direction in which the host vehicle can move, the dead angle detection control unit 13 performs detection control so as to perform detection in the direction in which the host vehicle can move.

  DESCRIPTION OF SYMBOLS 1 driving assistance control device, 2 dead angle detection sensor, 3 periphery detection sensor, 4 display device, 5 speaker, 6 shift detector, 7 steering wheel angle detector, 8 road inter-vehicle communication device, 9 self position determination device, 11 peripheral environment detection 12, 12 own vehicle movement direction judgment unit, 13 dead angle detection control unit, 14 object detection unit, 15 alarm control unit, 16 parking direction storage unit, 17 wheel stopper position storage unit, 18 self position-map collating unit, 100 driving assistance apparatus.

Claims (11)

A periphery detection unit that detects the peripheral information of the host vehicle as the host vehicle peripheral information;
A plurality of blind spot detection sensors for detecting, as area object information, objects in respective blind spot detection areas which become blind spots of the vehicle;
A driving support control device for notifying of the presence of an object in the blind spot of the vehicle according to the vehicle peripheral information and the area object information;
Equipped with
The driving support control device
A surrounding environment detection unit that detects surrounding environment information including presence or absence of an object around the own vehicle from the own vehicle surrounding information input from the periphery detecting unit;
A vehicle movement direction determination unit that determines the movement direction of the vehicle from the surrounding environment information from the surrounding environment detection unit;
A blind spot detection control unit that determines a blind spot detection area to be detected from the movement direction of the host vehicle determined by the host vehicle movement direction determination unit;
An object detection unit that performs object detection on an appropriate blind spot detection area according to the area object information acquired from each of the plurality of blind spot detection sensors and the blind spot detection area determined by the blind spot detection control unit;
An alarm control unit that generates an alarm signal and generates an alarm when an object is detected as a result of the object detection in the object detection unit;
Driving assistance device.   The driving support device according to claim 1, wherein the host vehicle movement direction determination unit predicts the movement direction of the host vehicle after a lapse of time from the present time.   The driving support device according to claim 1, wherein the periphery detection unit is configured by at least one sensor, and detects the presence and the position of a solid object around the host vehicle. The surrounding environment detection unit stores, as information included in the surrounding environment information, the parking direction in which the vehicle finally parked,
The vehicle movement direction determination unit determines the movement direction of the vehicle based on the parking direction in which the vehicle contained in the surrounding environment information from the surrounding environment detection unit is finally parked. The driving assistance device according to any one of the above. The surrounding environment detection unit stores, as information included in the surrounding environment information, a position of a wheel stopper of a parking place where the vehicle parked last.
The vehicle movement direction determination unit determines the movement direction of the vehicle on the basis of the position of the ring stop of the parking place where the vehicle contained in the peripheral environment information from the peripheral environment detection unit finally parked. The driving assistance device according to any one of Items 1 to 4. The vehicle-to-vehicle communication apparatus further includes: a first vehicle-periphery road information that indicates road information limited to the vicinity of the vehicle;
The surrounding environment detecting unit obtains a first movable direction from the first own vehicle surrounding road information;
The host vehicle movement direction determination unit determines the movement direction of the host vehicle from the first movable direction.
The driving assistance device according to any one of claims 1 to 5. It further comprises a main storage unit storing map information,
The surrounding environment detection unit obtains a second movable direction of the vehicle from the map information;
The host vehicle movement direction determination unit determines the movement direction of the host vehicle from the second movable direction.
The driving assistance device according to any one of claims 1 to 6. A self position determination device that generates self vehicle position information;
A self position-map collation unit for obtaining second road around the host vehicle according to the host vehicle position information among the map information;
And further
The surrounding environment detecting unit obtains the second movable direction from the second own vehicle surrounding road information from the own position-map comparing unit.
The driving support device according to claim 7. The vehicle further includes a vehicle state detection unit that detects an operation state of the vehicle.
The driving according to any one of claims 1 to 8, wherein the own vehicle moving direction determination unit determines the moving direction of the own vehicle in consideration of the operation state of the own vehicle from the vehicle state detection unit. Support device. The vehicle state detection unit includes a steering wheel angle detector that detects a steering wheel steering angle of the host vehicle, and a shift detector that detects a shift position of a transmission of the host vehicle.
10. The driving support device according to claim 9, wherein the host vehicle movement direction determination unit determines the movement direction of the host vehicle according to the shift position and the steering wheel steering angle. A periphery detection unit that detects the peripheral information of the host vehicle as the host vehicle peripheral information
A plurality of blind spot detection sensors for detecting, as area object information, objects in respective blind spot detection areas which become blind spots of the vehicle;
A driving support control device for notifying of an object in a blind spot of the host vehicle according to the host vehicle peripheral information and the area object information;
A driving support method executed by a controller in a driving support apparatus comprising:
A step of detecting surrounding environment information including presence / absence of an object around the own vehicle from the own vehicle surrounding information input from the periphery detecting unit;
Determining the moving direction of the vehicle from the surrounding environment information;
Determining a blind spot detection area to be detected from the moving direction of the host vehicle;
Performing an object detection on an appropriate blind spot detection area according to the area object information and the blind spot detection area taken in from each of the plurality of blind spot detection sensors;
Generating an alarm when an object is detected as a result of the object detection;
Driving support method equipped with

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