JP2019160136A - Preceding vehicle start notification device - Google Patents

Abstract

To provide a preceding vehicle start notification device that can reduce a possibility that a preceding vehicle start notification is made when a driver intentionally stops the own vehicle due to an interruption of an adjacent preceding vehicle; and can reduce a possibility that the driver feels annoyed by the preceding vehicle start notification.SOLUTION: A notification ECU performs a preceding vehicle start notification under such a condition that the own vehicle is stopped after the "immediately preceding vehicle that has stopped", the immediately preceding vehicle has started, and when a notification condition is satisfied in which a subtraction value obtained by subtracting a stop distance from a current inter-vehicle distance is equal to or greater than a threshold distance. However, even if the notification condition is satisfied, when it is predicted that the adjacent preceding vehicle is about to interrupt between the own lane and the immediately preceding vehicle (that is, when the expected interrupt condition is satisfied), the preceding vehicle start notification is not performed.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a preceding vehicle start notification device that notifies a driver of a host vehicle that the preceding vehicle has started when a preceding vehicle located on the same lane as the host vehicle has started.

  Conventionally, when the preceding vehicle has started when the host vehicle has stopped immediately after the preceding vehicle that has stopped, the preceding vehicle has started when a predetermined time has elapsed since the preceding vehicle started. There is known a preceding vehicle start notification device (hereinafter also referred to as a “conventional device”) that performs a preceding vehicle start notification for informing the driver of the host vehicle (for example, Patent Document 1). reference.).

Japanese Unexamined Patent Publication No. 2016-49830 (see paragraphs 0030, 0031, 0038, 0044, etc.)

  Another vehicle on the adjacent lane that is the lane adjacent to the lane in which the own vehicle is located (hereinafter referred to as “own lane”) and located in front of the own vehicle (hereinafter referred to as “adjacent preceding vehicle”) May change from the adjacent lane to the own lane and try to interrupt between the own vehicle and the preceding vehicle. If the driver of the host vehicle determines that the adjacent preceding vehicle that performs this interruption is to be placed in the “space between the preceding vehicle and the host vehicle”, the driver does not intentionally start the host vehicle even if the preceding vehicle starts. . That is, when an adjacent preceding vehicle performs an interruption, there is a situation in which the driver intentionally stops the own vehicle without starting even if the preceding vehicle starts.

  In such a case, as in the conventional device, when the preceding vehicle start notification is made when a predetermined time has elapsed since the preceding vehicle started, the driver intentionally stops the host vehicle. There is a high possibility that the vehicle start notification will be annoying.

  The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to reduce the possibility that the preceding vehicle start notification is made when the driver intentionally stops the own vehicle due to the interruption of the adjacent preceding vehicle. Is to provide a preceding vehicle start notification device that can reduce the possibility of annoying the preceding vehicle start notification.

The preceding vehicle start notification device of the present invention (hereinafter also referred to as “the device of the present invention”)
An immediately preceding vehicle (LV1), which is another vehicle located in front of the own vehicle on the own lane (SL), which is a lane in which the own vehicle (SV) is located, and an adjacent lane that is a lane adjacent to the own lane (AL) Detection unit (21C, 21L, 21R, 20, 22, 10, step for detecting information on the position of the adjacent preceding vehicle (LV2) positioned in front of the host vehicle with respect to the host vehicle. 405 and step 430),
Acquired based on information on the position when the immediately preceding preceding vehicle stops (step 418 “Yes”) and the host vehicle stops immediately after the immediately preceding preceding vehicle (preceding vehicle condition A2 and step 414 “Yes”). The inter-vehicle distance (Lt) between the immediately preceding preceding vehicle and the host vehicle is stored as a stop time distance (Li) (step 422), and then the inter-vehicle distance between the immediately preceding preceding vehicle and the host vehicle is the stop time. When a notification condition that is satisfied when the distance exceeds a distance obtained by adding a predetermined threshold distance (Lth) to the distance is satisfied (step 426 “Yes”), the driver of the host vehicle recognizes that the preceding preceding vehicle has started. A notification unit (31, 32, 10 and step 436) for performing advance vehicle start notification for
Is provided.

Furthermore, the notification unit
Based on the information on the position, it is determined whether or not an expected interrupt condition that is satisfied when the adjacent preceding vehicle is predicted to interrupt between the immediately preceding preceding vehicle on the own lane and the own vehicle. (Step 434 and Step 508), if it is determined that the expected interrupt condition is satisfied (Step 434 “Yes” and Step 508 “Yes”), the preceding vehicle start notification is performed even if the notification condition is satisfied. There is no change or the threshold distance is changed to a value (L2th) larger than a value when it is not determined that the interrupt prediction condition is satisfied (step 510).

  As a result, when the adjacent preceding vehicle is expected to interrupt between the immediately preceding preceding vehicle and the host vehicle, the preceding vehicle start notification is not performed or the threshold distance for establishing the notification condition is changed to a larger value. Therefore, it is possible to reduce the possibility that the preceding vehicle start notification is performed in a state where the driver stops the own vehicle intentionally without starting the own vehicle due to the interruption of the adjacent preceding vehicle, The possibility that the driver feels troublesome that the preceding vehicle has started can be reduced.

  In the above description, in order to facilitate understanding of the invention, names and / or symbols used in the embodiment are attached to the configuration of the invention corresponding to the embodiment described later in parentheses. However, each component of the invention is not limited to the embodiment defined by the names and / or symbols.

FIG. 1 is a schematic system configuration diagram of a preceding vehicle start notification device (present notification device) according to an embodiment of the present invention. FIG. 2 is a plan view of a vehicle (own vehicle) on which the notification device is mounted. FIG. 3 is a diagram for explaining the outline of the operation of the notification device. FIG. 4 is a flowchart showing a routine executed by the CPU of the notification ECU shown in FIG. FIG. 5 is a flowchart showing a routine executed by the CPU of the notification ECU according to the first modification of the notification device. FIG. 6 is a flowchart showing a part of a routine executed by the CPU of the notification ECU according to the second modification of the notification device.

A preceding vehicle start notification device according to an embodiment of the present invention (hereinafter sometimes referred to as “the present notification device”) is referred to as a “own vehicle” in order to distinguish it from other vehicles. It may be called). As shown in FIG. 1, the notification device includes a notification ECU 10 and a radar ECU 20. These ECUs may be integrated into one ECU.

  Each of these ECUs is an electric control unit (Electric Control Unit) including a microcomputer as a main part, and is connected to be able to transmit and receive information to and from each other via a not-shown CAN (Controller Area Network). . The microcomputer includes a CPU, a ROM, a RAM, a nonvolatile memory, an interface (I / F), and the like. The CPU implements various functions by executing instructions (programs, routines) stored in the ROM.

  The radar ECU 20 is connected to millimeter wave radars 21C, 21L, and 21R. As shown in FIG. 2, the millimeter wave radar 21C is attached to the center of the front end FRP of the host vehicle SV in the vehicle width direction, and the millimeter wave radar 21L is attached to the left end of the front end FRP of the host vehicle SV. 21R is attached to the right end of the front end FRP of the host vehicle SV. In addition, when it is not necessary to distinguish each of the millimeter wave radars 21C, 21L, and 20R, they are referred to as “millimeter wave radar 21”.

  The millimeter-wave radar 21 is well-known and transmits a millimeter-wave band radio wave (hereinafter also referred to as “millimeter wave”) toward a detection range, and is reflected by a target existing in the detection range. Receive millimeter waves (reflected waves). Then, the millimeter wave radar 21 determines the time from when the millimeter wave is transmitted until the reflected wave of the millimeter wave is received, the direction of the reflected wave, the phase difference between the transmitted millimeter wave and the received reflected wave, and the like. The included transmission / reception data is transmitted to the radar ECU 20 every time a predetermined time elapses.

  As shown in FIG. 2, the area (detectable area) where the millimeter wave radar 21C can detect a target is a fan-shaped area from the right boundary line RBL1 to the left boundary line LBL1. A detection axis CL1 that is a bisector of an angle θ1 formed by the right boundary line RBL1 and the left boundary line LBL1 coincides with the vehicle longitudinal axis FR of the host vehicle SV. Therefore, the millimeter wave radar 21 </ b> C mainly detects a target on the front side of the host vehicle SV.

  Similarly, the detectable region of the millimeter wave radar 21L is a fan-shaped region from the right boundary line RBL2 to the left boundary line LBL2. A detection axis CL2 that is a bisector of an angle θ2 formed by the right boundary line RBL2 and the left boundary line LBL2 extends leftward from the left end of the front end portion FRP of the host vehicle SV. Therefore, the millimeter wave radar 21L mainly detects the left front target of the host vehicle SV.

  Similarly, the detectable region of the millimeter wave radar 21R is a fan-shaped region from the right boundary line RBL3 to the left boundary line LBL3. A detection axis CL3 that is a bisector of an angle θ3 formed by the right boundary line RBL3 and the left boundary line LBL3 extends rightward and forward from the right end of the front end portion FRP of the host vehicle SV. Therefore, the millimeter wave radar 21R mainly detects the right front target of the host vehicle SV.

  Referring to FIG. 1 again, the radar ECU 20 determines the distance (vertical length) in the vehicle longitudinal axis FR direction from the own vehicle SV to the target based on transmission / reception data transmitted from the millimeter wave radar 21 every time a predetermined time elapses. Distance) and the distance (lateral distance) in the direction perpendicular to the vehicle longitudinal axis FR from the host vehicle SV to the target are calculated. That is, the radar ECU 20 specifies (acquires) the position of the target with respect to the host vehicle SV. Further, the radar ECU 20 calculates the speed of the target with respect to the host vehicle SV (that is, the relative speed of the target). The radar ECU 20 transmits “radar information” including information on the position of the target (vertical distance and lateral distance), relative speed, and the like to the notification ECU 10 every predetermined time.

  As shown in FIG. 2, the camera sensor 22 is provided near the center in the vehicle width direction of the front end of the roof RF of the host vehicle SV. The camera sensor 22 includes a vehicle-mounted stereo camera having a left camera and a right camera and an image processing device (both not shown).

  The left camera captures an area in front of the host vehicle SV and a partial area on the left side every time a predetermined time elapses, and transmits a left image signal representing the captured left image to the image processing apparatus. The right camera captures an area in front of the host vehicle SV and a partial area on the right side of the host vehicle SV each time a predetermined time elapses, and transmits a right image signal representing the captured right image to the image processing apparatus. Note that data represented by the left image signal and the right image signal may be referred to as “image data”.

  Based on the received image data, the image processing apparatus calculates information (vertical distance and lateral distance) regarding the position of the target existing in the area captured by the in-vehicle stereo camera. Further, the image processing apparatus identifies the type of the target (for example, pedestrian, bicycle, two-wheeled vehicle, automobile, etc.) using image data and a template image prepared in advance for each type of target.

  The camera sensor 22 transmits information regarding the position of each target, type information of each target, and image data (hereinafter collectively referred to as “camera information”) to the notification ECU 10 each time a predetermined time elapses.

  The wheel speed sensor 23 generates a signal corresponding to the vehicle speed VS of the host vehicle SV. The notification ECU 10 acquires the vehicle speed VS based on a signal generated by the wheel speed sensor 23 every time a predetermined time elapses.

The display 31 is a liquid crystal display that receives a display signal from the notification ECU 10 and displays information indicated by the display signal to the driver. Therefore, the indicator 31 can perform a preceding vehicle start display described later in response to a signal from the notification ECU 10. The display device 31 may be a head-up display.
The speaker 32 receives the sound generation signal from the notification ECU 10 and generates a sound corresponding to the sound generation signal. Therefore, the speaker 32 can generate a preceding vehicle start notification sound, which will be described later, in response to a signal from the notification ECU 10.

(Overview of operation)
Next, the outline | summary of the action | operation of this alerting | reporting apparatus is demonstrated.
In the situation where the vehicle is stopped immediately after the immediately preceding preceding vehicle being stopped, when the preceding preceding vehicle starts, if the own vehicle remains stopped, the distance between the immediately preceding preceding vehicle and the own vehicle is It becomes bigger than necessary. In this case, there is a possibility that a horn is sounded from the vehicle following the host vehicle. For this reason, the notification device performs a preceding vehicle start notification (ie, display of the preceding vehicle start display and / or pronunciation of the preceding vehicle start notification sound) for notifying the driver that the preceding preceding vehicle has started. . As a result, the driver notices that the immediately preceding preceding vehicle has started, and can start the host vehicle without significant delay after the immediately preceding preceding vehicle starts.

  More specifically, as shown in FIG. 3, the present control device determines that “the distance between the host vehicle SV and the immediately preceding preceding vehicle LV <b> 1 when the situation where both the own vehicle SV and the immediately preceding preceding vehicle LV <b> 1 are stopped is established. The “distance Lt” is stored as the stop distance Li. Thereafter, when the preceding preceding vehicle starts while the host vehicle SV is stopped, the inter-vehicle distance Lt gradually increases. When the subtraction value D obtained by subtracting the stop distance Li from the inter-vehicle distance Lt is equal to or greater than the threshold distance Lth (in other words, the inter-vehicle distance Lt is equal to or greater than the distance obtained by adding the threshold distance Lth to the stop distance Li). When the notification condition is satisfied, the control device performs a preceding vehicle start notification.

  However, when the adjacent preceding vehicle LV2 located in front of the own vehicle SV in the adjacent lane AL adjacent to the own lane SL where the own vehicle SV is located changes the course to the own lane SL side, the own vehicle SV and the immediately preceding preceding vehicle LV1. When trying to interrupt between. In this case, the driver of the own vehicle SV may not intentionally start the own vehicle SV even if the immediately preceding preceding vehicle LV1 starts so as not to obstruct the course of the adjacent preceding vehicle LV2. At this time, if the preceding vehicle start notification is implemented, the driver is likely to feel troublesome about the preceding vehicle start notification.

  Therefore, the present notification device is a blinker on the own lane SL side (in the example shown in FIG. 3) among the blinkers (right direction indicator RBL and left direction indicator LBL) provided at the rear end RRP of the adjacent preceding vehicle LV2. When it is detected that only the left turn signal LBL) is blinking, it is determined that the adjacent preceding vehicle LV2 is about to interrupt the own lane, and execution of the preceding vehicle start notification is prohibited.

  As a result, when the driver intentionally stops the host vehicle SV due to the interruption of the adjacent preceding vehicle LV2, the preceding vehicle start notification is not performed, so that the driver feels that the preceding vehicle start notification is troublesome. Can be prevented.

(Specific operation)
The CPU of the notification ECU 10 executes the routine shown in the flowchart in FIG. 4 every time a predetermined time elapses.

  Therefore, at a predetermined timing, the CPU starts processing from step 400 in FIG. 4, sequentially executes the processing from step 401 to step 405 described below, and then proceeds to step 408.

Step 401: The CPU acquires a vehicle speed VS of the host vehicle SV based on a signal from the wheel speed sensor 23.
Step 402: The CPU acquires radar information from the radar ECU 20.
Step 403: The CPU acquires camera information from the camera sensor 22.

  Step 404: The CPU detects a lane marking on the road surface (lane marker, hereinafter simply referred to as “white line”) based on the image data included in the camera information, and detects a lane based on the detected white line. . More specifically, the CPU extracts a white line based on the extracted edge point by extracting an edge point included in the image data by using a well-known method (see, for example, JP-A-2013-105179). To detect. Then, as shown in FIG. 3, the CPU recognizes the white line closest to the host vehicle SV among the white lines positioned on the left side of the host vehicle SV as the left white line WL <b> 1, and determines the own line among the white lines positioned on the right side of the host vehicle SV. The white line closest to the vehicle SV is recognized as the right white line WL2. Further, the CPU recognizes the area between the left white line WL1 and the right white line WL2 as “own lane SL”. In addition, when a white line is detected further to the left of the left white line WL1, the CPU recognizes a region between the left white line and the white line as a “left adjacent lane LAL (not shown)”. Similarly, when the white line WL3 is detected further to the right of the right white line WL2 of the own lane, the CPU recognizes the area between the right white line WL2 and the white line WL3 as “right adjacent vehicle RAL3”. When it is not necessary to distinguish the left adjacent lane LAL and the right adjacent lane RAL from each other, these lanes are simply referred to as “adjacent lane AL”.

  Step 405: The CPU specifies (recognizes) another vehicle that satisfies all of the following conditions A1 to A3 as “immediate preceding vehicle LV1 (see FIG. 3)” based on the radar information and the camera information.

(Previous preceding vehicle condition)
(A1) The other vehicle is located on the own lane SL.
(A2) The other vehicle is the other vehicle that is closest to the own vehicle SV (that is, has the minimum vertical distance) among the other vehicles positioned in front of the own vehicle SV.
(A3) The inter-vehicle distance (that is, the longitudinal distance) Lt between the other vehicle and the host vehicle SV is not more than a predetermined distance.

  More specifically, the CPU selects all the targets (that is, other vehicles) that are identified as “automobiles” by the type information included in the camera information. Further, the CPU integrates the radar information and the camera information according to a known method (for example, refer to Japanese Patent Application Laid-Open No. 2017-182696), thereby determining the position (that is, the vertical distance and the horizontal distance) of each other vehicle. Identify. Then, the CPU identifies other vehicles satisfying all of the preceding vehicle conditions A1 to A3 described above from the selected other vehicles based on the position of each other vehicle, and designates the identified other vehicle as “previous preceding”. It is recognized as “vehicle LV1”.

  Step 408: The CPU determines whether or not the immediately preceding preceding vehicle exists (whether or not the immediately preceding preceding vehicle is recognized in step 405).

  When there is no immediately preceding preceding vehicle, there is no need to notify the preceding vehicle start. Therefore, in this case, the CPU makes a “No” determination at step 408 to perform the processing of step 438 described below, and proceeds to step 495 to end the present routine tentatively.

  Step 438: The CPU sets the value of the monitoring start flag MF to “0”. The value of the monitoring start flag MF is set to “0” by an initialization routine that is executed when an ignition key switch (not shown) of the host vehicle SV is changed from the off position to the on position. As will be described later, if the value of the monitoring start flag MF is “0”, the preceding vehicle start notification is not made.

  On the other hand, when the immediately preceding preceding vehicle exists, the CPU makes a “Yes” determination at step 408 to proceed to step 410, where the immediately preceding preceding vehicle recognized at step 405 It is determined whether or not the vehicle is the same vehicle as the immediately preceding preceding vehicle recognized in step 405 when the routine is executed (hereinafter referred to as the “preceding immediately preceding preceding vehicle”).

  If the immediately preceding preceding vehicle recognized in step 405 is the same as the immediately preceding preceding vehicle, the CPU makes a “Yes” determination in step 410 to proceed to step 414. On the other hand, if the immediately preceding preceding vehicle recognized in step 405 is not the same as the immediately preceding preceding vehicle, the CPU makes a “No” determination in step 410 to proceed to step 412 and set the value of the monitoring start flag MF to “0”. The process proceeds to step 414. Even in the case where the immediately preceding preceding vehicle has not been recognized, the CPU makes a “No” determination at step 410.

  In step 414, the CPU determines whether or not the vehicle speed VS of the host vehicle SV is “0 km / h” (that is, whether or not the host vehicle SV is stopped). When the vehicle speed VS is not “0 km / h”, it is not necessary to perform advance vehicle start notification. Therefore, the CPU makes a “No” determination at step 414 to perform the process at step 438 described above, proceeds to step 495, and once ends this routine.

  When the vehicle speed VS is “0 km / h”, the CPU makes a “Yes” determination at step 414 to proceed to step 416 to determine whether or not the value of the monitoring start flag MF is “0”.

  If it is immediately after the host vehicle SV stops, the value of the monitoring start flag MF is “0” (refer to the determination of “No” in Step 414 and Step 438). In this case, the CPU makes a “Yes” determination at step 416 to proceed to step 418, in which whether or not the vehicle speed VL of the immediately preceding preceding vehicle is “0 km / h” (that is, whether the immediately preceding preceding vehicle has stopped). Or not). The CPU acquires the vehicle speed VL (ground speed) of the immediately preceding vehicle based on the relative speed of the other vehicle included in the radar information and the vehicle speed VS of the host vehicle SV.

  When the vehicle speed VL of the immediately preceding preceding vehicle is “0 km / h”, the CPU makes a “Yes” determination at step 418 to proceed to step 420, and sets the value of the monitoring start flag MF to “1”. Next, the CPU proceeds to step 422 to store the current inter-vehicle distance Lt between the host vehicle SV and the immediately preceding preceding vehicle in the RAM as a stop distance Li. The current inter-vehicle distance Lt is the inter-vehicle distance when both the host vehicle and the preceding preceding vehicle stop when the value of the monitoring start flag MF is “0”. If the vehicle speed VL of the immediately preceding vehicle is not “0 km / h”, the CPU makes a “No” determination at step 418 to directly proceed to step 495 to end the present routine tentatively. In this case, the value of the monitoring start flag MF is maintained at “0”.

  When the CPU starts the process of this routine and proceeds to step 416 while the host vehicle SV is stopped, the value of the monitoring start flag MF is set to “1”. If “No”, the process proceeds to step 424.

  In step 424, the CPU obtains the current “inter-vehicle distance Lt between the host vehicle SV and the immediately preceding preceding vehicle”. Next, the CPU proceeds to step 426 to determine whether or not the subtraction value D obtained by subtracting the stop distance Li from the current inter-vehicle distance Lt is equal to or greater than the threshold distance Lth (that is, whether or not the notification condition is satisfied). . In other words, the CPU determines whether or not the current inter-vehicle distance Lt is equal to or greater than a distance (Li + Lth) obtained by adding the threshold distance Lth to the stop distance Li. When the immediately preceding preceding vehicle has started and has not traveled more than the threshold distance Lth, the current inter-vehicle distance Lt is less than the distance (Li + Lth). Therefore, in this case, the CPU makes a “No” determination at step 426 to directly proceed to step 495 to end the present routine tentatively. In this case, the preceding vehicle start notification is not made.

  On the other hand, when the immediately preceding preceding vehicle has started running and has traveled more than the threshold distance Lth, the current inter-vehicle distance Lt is not less than the distance (Li + Lth). Therefore, in this case, the CPU makes a “Yes” determination at step 426, performs the processing of step 428 and step 430 described below in order, and proceeds to step 432.

Step 428: The CPU sets the value of the monitoring start flag MF to “0”.
Step 430: The CPU detects (recognizes) an adjacent preceding vehicle. More specifically, the CPU recognizes another vehicle satisfying all of the following right adjacent preceding vehicle conditions B1 to B3 as “right adjacent preceding vehicle LV2 (see FIG. 3)”, and the following left adjacent The other vehicle that satisfies all the preceding vehicle conditions C1 to C3 is recognized as the “left adjacent preceding vehicle”. Further, the CPU recognizes, as the adjacent preceding vehicle, the one having the shorter inter-vehicle distance from the own vehicle among the right adjacent preceding vehicle and the left adjacent preceding vehicle.

(Right adjacent preceding vehicle condition)
(B1) The other vehicle is located in the right adjacent lane RAL.
(B2) The other vehicle is located in front of the host vehicle SV and is closest to the host vehicle SV among the other vehicles positioned in the right adjacent lane RAL.
(B3) The inter-vehicle distance Lt between the other vehicle and the host vehicle SV is not more than a predetermined distance.

(Left adjacent leading vehicle condition)
(C1) The other vehicle is located in the left adjacent lane LAL.
(C2) The other vehicle is located in front of the own vehicle SV and is closest to the own vehicle SV among the other vehicles located in the left adjacent lane LAL.
(C3) The inter-vehicle distance Lt between the other vehicle and the host vehicle SV is equal to or less than a predetermined distance.

  Next, the CPU proceeds to step 432 to determine whether there is an adjacent preceding vehicle (whether the adjacent preceding vehicle has been recognized in step 430). If there is no adjacent preceding vehicle, the CPU makes a “No” determination at step 432 to proceed to step 436, where the preceding vehicle start notification (that is, the display of the preceding vehicle start display and / or the preceding vehicle start notification sound) is displayed. (Pronunciation) is performed for a certain period of time. More specifically, the CPU executes a process of displaying a message that “the preceding vehicle has started” and / or a specific warning mark on the display 31 for a certain period of time and a predetermined amount of time from the speaker 32. A process for outputting a warning sound for a certain period of time is executed.

  On the other hand, if the adjacent preceding vehicle exists at the time when the CPU executes the process of step 432, the CPU determines “Yes” in step 432 and proceeds to step 434. In the image data included in the camera information, whether or not only the blinker on the own lane side of the left and right turn signals (hereinafter referred to as “interrupt blinker” or “own blinker”) is blinking. Judge based on. When the adjacent preceding vehicle is the left adjacent preceding vehicle, the interrupt side blinker is the right turn indicator among the left and right turn signals of the left adjacent preceding vehicle. When the adjacent preceding vehicle is the right adjacent preceding vehicle, the interrupt side blinker is the left blinker among the left and right turn signals of the right adjacent preceding vehicle. The determination condition in step 432 is also referred to as “interrupt side blinker condition”. Furthermore, the interrupt side blinker condition is “an expected interrupt condition that is established when an adjacent preceding vehicle is expected to interrupt between the immediately preceding preceding vehicle and the host vehicle”.

  When the interrupting side blinker of the adjacent preceding vehicle is in a blinking state (that is, when the interrupt prediction condition is satisfied), the driver of the own vehicle maintains the own vehicle in the stopped state even if the immediately preceding preceding vehicle starts. In many cases, the adjacent preceding vehicle is interrupted between the own vehicle and the preceding preceding vehicle. In this case, when the advance vehicle start notification is made, the driver feels troublesome. Therefore, when the interrupt side blinker of the adjacent preceding vehicle is in a blinking state, the CPU makes a “Yes” determination at step 434 to directly proceed to step 495 to end the present routine tentatively. In this case, since the process of step 436 is not performed, the preceding vehicle start notification is not made.

  As can be understood from the above, according to the present notification device, when the host vehicle SV is stopped after the “previous immediately preceding vehicle”, the immediately preceding preceding vehicle has started, and the current inter-vehicle distance When the notification condition that the subtraction value D obtained by subtracting the stop distance Li from Lt is equal to or greater than the threshold distance Lth is satisfied, the preceding vehicle start notification is performed. However, even if the notification condition is satisfied, it is predicted that the adjacent preceding vehicle is going to interrupt between the own lane and the immediately preceding preceding vehicle (that is, when the interrupt prediction condition is satisfied) The preceding vehicle start notification is not performed. As a result, when the driver intentionally stops the host vehicle due to an interruption of the adjacent preceding vehicle, the preceding vehicle start notification is not performed, so that the driver may feel annoying the preceding vehicle start notification. Can be reduced.

<First Modification>
A first modification of the preceding vehicle start notification device according to the embodiment of the present invention will be described.
In the first modified example, if the notification condition is satisfied, the preceding vehicle start notification is performed even when the predicted interrupt condition is satisfied. However, in the first modified example, when the predicted interrupt condition is not satisfied, a relatively short normal threshold distance L1th is set to the threshold distance Lth, and when the predicted interrupt condition is satisfied, the threshold distance is set. A relatively long interrupt threshold distance L2th is set to Lth. As a result, when the adjacent preceding vehicle is about to interrupt, the timing for performing the preceding vehicle start notification is delayed (that is, when the immediately preceding preceding vehicle starts moving, compared to the case where the adjacent preceding vehicle does not attempt to interrupt). When the vehicle is away from the host vehicle by a "longer distance", a preceding vehicle start notification can be performed. Therefore, it is possible to reduce the possibility that the preceding vehicle start notification is implemented when the driver intentionally stops the own vehicle due to the interruption of the adjacent preceding vehicle, and the driver feels that the preceding vehicle start notification is troublesome. The possibility can be reduced.

  Next, a specific operation of the first modification will be described. The CPU of the notification ECU 10 of the first modified example executes the routine shown by the flowchart in FIG. 5 every time a predetermined time elapses instead of the routine shown in FIG. Of the steps shown in FIG. 5, steps in which the same processing as the steps shown in FIG. 4 is performed are denoted by the same reference numerals as those assigned to such steps in FIG. 4. Detailed description of these steps will be omitted.

  In a situation where the value of the monitoring start flag MF is set to “1” (see step 420 in FIG. 5), the CPU proceeds to step 416 in FIG. 5 to determine “No” in step 416. To do. Then, the CPU proceeds from step 416 to step 502, and recognizes (detects) an adjacent preceding vehicle by executing a process similar to the process of step 430 in FIG.

  Next, the CPU proceeds to step 504 to determine whether or not there is an adjacent preceding vehicle (whether or not the adjacent preceding vehicle has been recognized in step 502). If there is no adjacent preceding vehicle, the CPU makes a “No” determination at step 504 to proceed to step 506, sets the normal threshold distance L1th to the threshold distance Lth, and then proceeds to step 512.

  On the other hand, if there is an adjacent preceding vehicle, the CPU makes a “Yes” determination at step 504 to proceed to step 508 and execute the same process as the process at step 434 in FIG. It is determined whether or not the interruption side blinker of the preceding vehicle is in a blinking state (that is, whether or not an expected interrupt condition is satisfied). When the interruption side blinker of the adjacent preceding vehicle is not blinking, the CPU makes a “No” determination at step 508 to set the normal threshold distance L1th as the threshold distance Lth at step 506 and then proceeds to step 512.

  On the other hand, when the interrupting side blinker of the adjacent preceding vehicle is in a blinking state, the CPU makes a “Yes” determination at step 508 to proceed to step 510, where the threshold distance Lth is “interrupt larger than the normal threshold distance L1th” After the threshold distance L2th is set, the process proceeds to step 512.

  In step 512, the CPU executes a process similar to the process in step 424 in FIG. 4 to obtain the “inter-vehicle distance Lt between the host vehicle and the immediately preceding preceding vehicle” at the present time. Next, the CPU proceeds to step 514 and performs processing similar to the processing in step 426 in FIG. That is, the CPU determines whether or not a subtraction value D obtained by subtracting the stop distance Li from the current inter-vehicle distance Lt is equal to or greater than the threshold distance Lth. In other words, the CPU determines whether or not the current inter-vehicle distance Lt is equal to or greater than a distance (Li + Lth) obtained by adding the threshold distance Lth to the stop distance Li.

  If the current inter-vehicle distance Lt is less than the distance (Li + Lth), the CPU makes a “No” determination at step 514 to directly proceed to step 595 to end the present routine tentatively. Therefore, in this case, the advance vehicle start notification is not made.

  On the other hand, if the current inter-vehicle distance Lt is greater than or equal to the distance (Li + Lth), the CPU makes a “Yes” determination at step 514 to sequentially perform the processing of step 516 and step 518 described below, and then proceeds to step 595. This routine is finished once.

Step 516: The CPU sets the value of the monitoring start flag MF to “0”.
Step 518: The CPU performs a process similar to that of step 436 in FIG. 4 to perform a preceding vehicle start notification (that is, display of the preceding vehicle start display and / or sound of the preceding vehicle start notification sound) for a certain period of time.

  As understood from the above, according to the first modified example, when the adjacent preceding vehicle is about to interrupt, the immediately preceding preceding vehicle starts moving compared to the case where the adjacent preceding vehicle is not about to interrupt. When the vehicle is separated from the host vehicle by a longer distance (Li + L2th), the preceding vehicle start notification is performed. That is, the first modification can delay the timing at which the preceding vehicle start notification is implemented. As a result, the first modified example can reduce the possibility that the driver feels annoying the preceding vehicle start notification.

<Second Modification>
A second modification of the preceding vehicle start notification device according to the embodiment of the present invention will be described.
In countries with regulations that require vehicles to pass in the left lane, if a vehicle turns right at an intersection, it must cross the opposite lane. For this reason, the vehicle needs to end the right turn while there is no oncoming vehicle entering the intersection. Therefore, when there is a preceding vehicle that is going to make a right turn in front of the own vehicle that is going to make a right turn, if the preceding vehicle starts and the vehicle does not start immediately, The driver of the following vehicle is likely to sound a horn at a timing earlier than normal (when the preceding preceding vehicle goes straight without turning right).

  Therefore, in the second modified example, when the immediately preceding preceding vehicle is not going to change the course to the right side, the normal threshold distance L1th is set to the threshold distance Lth, and the immediately preceding preceding vehicle is going to change the course to the right side. The threshold distance Lth is set to “a right turn threshold distance L3th smaller than the normal threshold distance L1th”. Except for this point, the second modified example is the same as the above-described notification device. This second modified example is effective in a country (for example, Japan, the United Kingdom, etc.) having a statute that stipulates that the vehicle passes the left lane.

  Next, a specific operation of the second modification will be described. The CPU of the notification ECU 10 of the second modified example performs a routine in which steps 610 to 630 shown in FIG. 6 are added between step 424 and step 426 of the routine shown in FIG. Execute.

  That is, when the CPU obtains the current “inter-vehicle distance Lt between the host vehicle SV and the immediately preceding preceding vehicle” in step 424, the CPU proceeds to step 610, and only the right blinker of the right and left blinkers of the immediately preceding preceding vehicle blinks. Is determined based on the image data included in the camera information.

  When the blinker on the right side of the immediately preceding preceding vehicle is not blinking, the CPU makes a “No” determination at step 610 to proceed to step 620 to set the normal threshold distance L1th as the threshold distance Lth. Thereafter, the CPU proceeds to step 426. On the other hand, when only the blinker on the right side of the immediately preceding preceding vehicle is in a blinking state, the CPU makes a “Yes” determination at step 610 to proceed to step 630 and sets the right turn smaller than the normal threshold distance L1th to the threshold distance Lth. “Threshold distance L3th” is set. Thereafter, the CPU proceeds to step 426.

  As a result, when the immediately preceding preceding vehicle is about to make a right turn, the CPU starts moving away from the host vehicle by “shorter distance (Li + L3th)” than when the immediately preceding preceding vehicle is not making a right turn. When the car starts, the start vehicle is notified. Therefore, the timing of the advance vehicle start notification can be advanced.

  Note that when traveling in a country with laws and regulations that stipulate that the vehicle passes the right lane (for example, the United States, Germany and the People's Republic of China, etc.) The normal threshold distance L1th is set to the threshold distance Lth when the vehicle is not going to be moved. When the immediately preceding preceding vehicle is going to change the course to the left side, the “left turn threshold distance L3th smaller than the normal threshold distance L1th” is set to the threshold distance Lth. It is preferable to set.

  As described above, the present notification device and the modification thereof do not perform the preceding vehicle start notification when the adjacent preceding vehicle is expected to interrupt between the own vehicle and the immediately preceding preceding vehicle, or The implementation timing can be delayed. Therefore, when the adjacent preceding vehicle interrupts between the own vehicle and the immediately preceding preceding vehicle, the possibility that the driver of the own vehicle feels that the preceding vehicle start notification is troublesome can be reduced.

  The present invention is not limited to the notification device and its modifications, and various modifications can be employed. For example, in the above-described embodiment, the radar information and the camera information are integrated, and the position of each target is specified based on the integrated information, but each target is determined only by the camera information acquired from the camera sensor 22. The position of may be specified.

The present notification device and the modification thereof may employ either or both of the condition G and the condition F described below as the expected interrupt condition. Furthermore, the present notification device and its modification may determine that the expected interrupt condition is satisfied when at least one of the condition G and the condition F and the above-described interrupt-side blinker condition are both satisfied.
(Condition G) A state in which the magnitude of the lateral speed (change amount per unit time of the lateral distance) of the adjacent preceding vehicle toward the own lane is equal to or greater than a predetermined value continues for a predetermined time or more.
(Condition F) The lateral distance of the adjacent preceding vehicle has become a predetermined distance or more and less than a predetermined distance.

  Further, the sensor for detecting the target is not limited to the millimeter wave radar 21, and is a sensor that detects information on the position of the target by radiating the wireless medium and receiving the reflected wireless medium. May be. For this reason, instead of the millimeter wave radar 21, an infrared radar, a sonar radar, or the like may be employed.

  DESCRIPTION OF SYMBOLS 10 ... Notification ECU, 20 ... Radar ECU, 21C, 21L, 20R ... Millimeter wave radar, 22 ... Camera sensor, 23 ... Wheel speed sensor, 31 ... Display, 32 ... Speaker, LV1 ... Preceding vehicle, LV2 ... Adjacent preceding vehicle , SL ... Own lane, AL ... Adjacent lane.

Claims (1)

Positioned in front of the host vehicle on an adjacent lane that is a lane adjacent to the own lane, and an immediately preceding preceding vehicle that is another vehicle positioned in front of the host vehicle on the lane that is the lane in which the host vehicle is located A detection unit that detects information related to a position of the adjacent preceding vehicle with respect to the host vehicle,
The inter-vehicle distance between the immediately preceding preceding vehicle and the own vehicle acquired based on the information related to the position when the immediately preceding preceding vehicle stops and the own vehicle stops immediately after the immediately preceding preceding vehicle is defined as a stopping distance. Storing, and then the immediately preceding preceding vehicle has started when a notification condition is satisfied that the inter-vehicle distance between the immediately preceding preceding vehicle and the host vehicle is equal to or greater than a distance obtained by adding a predetermined threshold distance to the stopping distance. A notification unit for performing a preceding vehicle start notification for recognizing the driver of the host vehicle,
With
The notification unit
Based on the information on the position, it is determined whether or not an expected interrupt condition that is satisfied when the adjacent preceding vehicle is predicted to interrupt between the immediately preceding preceding vehicle on the own lane and the own vehicle. If it is determined that the predicted interrupt condition is satisfied, the preceding vehicle start notification is not performed even if the notification condition is satisfied, or the threshold distance is not determined as the predicted interrupt condition is satisfied. Configured to change to a value greater than the time value,
Advance vehicle start notification device.

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