JP2020004445A - Determination device, determination method, and determination program - Google Patents

Abstract

To allow a vehicle to safely cross a sidewalk.SOLUTION: A determination device is provided in a vehicle to determine a behavior of the vehicle, and comprises: an input part which receives information on a second area adjacent to a first area which is a position in which the vehicle exists, and information on a predetermined object existing in the second area; and a control part which divides the second area into a plurality of partial areas at least including a first partial area adjacent to the first area and a second partial area far from the vehicle than the first partial area on the basis of the information on the second area to determine an area in which the vehicle can travel among the plurality of divided partial areas on the basis of the information on the object.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a determination device, a determination method, and a determination program for determining a traveling of a moving object.

  In recent years, various driving assistance technologies have been developed to assist a driver of a vehicle. For example, when a vehicle approaches an intersection, the area near the intersection is divided into a plurality of areas, and a predetermined mark is displayed in an area of the divided area where a pedestrian exists, thereby driving the position of the pedestrian. There is one that makes a person recognize (for example, see Patent Document 1).

JP 2000-346657 A

  However, the technique of Patent Document 1 does not provide driving assistance when a vehicle crosses a sidewalk and enters a roadway.

  An object of the present invention is to provide a determination device, a determination method, and a determination program that allow a vehicle to safely cross a sidewalk.

  A determination device according to one embodiment of the present invention is a determination device provided in a vehicle and determining a behavior of the vehicle, the determination device including a second region that is a region adjacent to a first region where the vehicle exists. An input unit for receiving information and information on a predetermined object existing in the second area; and a first portion adjacent to the first area, based on the information on the second area. Dividing into a plurality of partial regions including at least a region and a second partial region farther from the vehicle than the first partial region, and based on the information on the object, among the plurality of divided partial regions And a control unit for determining an area in which the vehicle can travel.

  A determination method according to an aspect of the present invention is a determination method for determining a behavior of a vehicle, wherein information on a second area that is an area adjacent to a first area that is a position where the vehicle is present; Receiving information on a predetermined object existing in two regions; and, based on the information on the second region, dividing the second region into a first partial region adjacent to the first region and a first partial region. Dividing into a plurality of partial regions including at least a second partial region farther from the vehicle than the region; and, based on the information on the object, the vehicle travels among the plurality of divided partial regions. Determining a possible region.

  A determination program according to one aspect of the present invention is a determination program for determining a behavior of a vehicle, wherein information on a second area which is an area adjacent to a first area where the vehicle is present, and A process of receiving information on a predetermined object existing in two regions, and, based on the information on the second region, dividing the second region into a first partial region adjacent to the first region and the first portion A process of dividing the vehicle into a plurality of partial regions including at least a second partial region farther from the vehicle than the region; and, based on the information of the object, the vehicle travels among the plurality of divided partial regions. The computer is made to execute the process of determining the area in which it can be performed.

  According to the present invention, the vehicle can safely cross the sidewalk.

1 is a block diagram illustrating an example of a configuration of a driving support system and a determination device according to an embodiment of the present invention. The figure which shows an example of the sidewalk area | region, the non-sidewalk area | region, and a target object which concern on embodiment of this invention. Flow chart showing an example of the flow of the operation of the determination device according to the embodiment of the present invention. FIG. 6 is a diagram illustrating an example of a plurality of partial regions according to a first modification of the present invention. FIG. 6 is a diagram illustrating an example of a plurality of partial regions according to a first modification of the present invention. FIG. 6 is a diagram illustrating an example of a plurality of partial regions according to a first modification of the present invention. FIG. 4 is a block diagram showing an example of a configuration of a driving support system according to a second modification of the present invention. FIG. 13 is a diagram showing an example of a plurality of partial regions according to a third modification of the present invention. The figure which shows the hardware constitutions of the computer which realizes the function of each part with the program

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, in the embodiments, configurations having the same functions are denoted by the same reference numerals, and redundant description will be omitted.

  First, the configurations of the driving support system 100 and the determination device 120 according to the present embodiment will be described using FIG. FIG. 1 is a block diagram illustrating an example of a configuration of the driving support system 100 and the determination device 120 according to the present embodiment. In the present embodiment, a description will be given assuming that driving assistance system 100 is applied to a vehicle.

  The driving support system 100 includes a recognition device 110, a determination device 120, and a vehicle control device 130. Further, the determination device 120 includes an input unit 121 and a control unit 122.

  Further, the driving support system 100 includes a detection device (not shown). The detection device is a sensor mounted inside or outside the vehicle, such as a sensing camera, a laser sensor, or a millimeter wave radar. The detection device detects a surrounding environment of the vehicle (at least an environment in front of the vehicle) and outputs information of a detection result to the recognition device 110. In addition, since the detection technology by the detection device is a known technology, a detailed description thereof is omitted.

  The recognition device 110 recognizes a sidewalk area, a non-sidewalk area, and a predetermined object (for example, a pedestrian, a bicycle, etc.) existing in the sidewalk area, based on the information of the detection result received from the detection apparatus. The non-sidewalk area is an area facing the sidewalk area other than the sidewalk area, such as a roadway, a garage, or a parking lot. Specific examples of the sidewalk area and the non-sidewalk area will be described later with reference to FIG.

  In the recognition processing performed by the recognition device 110, for example, pattern matching or clustering is used according to the type of information of the detection result. Since the recognition technique by the recognition device 110 is a known technique, a detailed description thereof will be omitted.

  The recognition device 110 outputs the sidewalk region information, the non-sidewalk region information, and the target object information as the recognition result to the input unit 121 of the determination device 120. The sidewalk area information includes, for example, information such as a relative position to a non-sidewalk area. The non-sidewalk area information includes information such as a relative position to the sidewalk area. The object information includes information such as the type, position, and speed of the object.

  Here, an example of a sidewalk region, a non-sidewalk region, and an object recognized by the recognition device 110 will be described with reference to FIG. FIG. 2 is a view of the sidewalk area and the non-sidewalk area as viewed from directly above. However, the object present in the sidewalk area is shown with the object viewed from the side.

  In FIG. 2, A and B are non-pedestrian areas, and C is a pavement area. The non-pedestrian area A is, for example, a parking lot or a garage, and the non-pedestrian area B is, for example, a road. In the example of FIG. 2, a vehicle V equipped with the driving support system 100 exists in the non-pedestrian area A.

  The sidewalk area C is between the non-sidewalk area A and the non-sidewalk area B, and faces each of the non-sidewalk areas A and B. In the example of FIG. 2, a pedestrian P1 and a cyclist (hereinafter, referred to as a bicycle) P2 exist in the sidewalk area C.

  The recognition device 110 mounted on the vehicle V recognizes the non-pedestrian area A, the non-pedestrian area B, and the pedestrian area C, and obtains the non-pedestrian area information on the non-pedestrian areas A and B and the pedestrian area information on the pedestrian area C. Is output to the determination device 120.

  In addition, the recognition device 110 mounted on the vehicle V recognizes the pedestrian P1 and the bicycle P2 on the sidewalk area C, and outputs target information on the pedestrian P1 and the bicycle P2 to the determination device 120.

  The example of the sidewalk area, the non-sidewalk area, and the object recognized by the recognition device 110 has been described above. Hereinafter, the description returns to FIG.

  The input unit 121 receives the sidewalk area information, the non-sidewalk area information, and the object information from the recognition device 110, and outputs the information to the control unit 122.

  When receiving the sidewalk area information, the non-sidewalk area information, and the object information from the input unit 121, the control unit 122 performs various processes based on the information. For example, first, the control unit 122 recognizes the sidewalk area by dividing it into a plurality of partial areas based on the sidewalk area information and the non-sidewalk area information. Next, the control unit 122 determines a range that the vehicle can cross, among the plurality of partial areas, based on the object information.

  Here, a specific example of the above processing by the control unit 122 will be described with reference to FIG. The following processing is performed, for example, when the vehicle V existing in the non-pedestrian area A crosses the sidewalk area C and enters the non-pedestrian area B.

  First, the control unit 122 recognizes that the sidewalk area C exists between the non-sidewalk area A (which may be referred to as the current position of the vehicle V) and the non-sidewalk area B.

  Next, the control unit 122 divides the sidewalk area C into a first partial area C1 closest to the vehicle V and a second partial area C2 facing the non-pedestrian area B, and splits the first partial area C1. And the second partial area C2. Note that the number of divisions of the sidewalk area C may be set in advance, or may be determined by the control unit 122 according to the width of the sidewalk area C.

  Next, the control unit 122 determines the presence or absence of the target in the order of the first partial area C1 and the second partial area C2 (ascending order).

  That is, first, the control unit 122 determines whether or not the target exists in the first partial area C1.

  When the target object exists in the first partial area C1, the control unit 122 determines that there is no range in which the vehicle V can cross (in other words, the vehicle V cannot cross the first partial area C1).

  On the other hand, when the target does not exist in the first partial area C1, the control unit 122 determines whether the target exists in the second partial area C2.

  When the target object exists in the second partial area C2, the control unit 122 determines that the range that the vehicle V can cross is the first partial area C1 (in other words, the vehicle V traverses to the first partial area C1). Can be determined). In the case of FIG. 2, the target does not exist in the first partial area C1 and the target (the pedestrian P1 and the bicycle P2) exists in the second partial area C2. This is determined to be the first partial area C1.

  On the other hand, when the target does not exist in the second partial area C2, the control unit 122 determines that the range that the vehicle V can traverse is the first partial area C1 and the second partial area C2 (in other words, the vehicle V Can be traversed to the second partial area C2).

  The specific example of the process performed by the control unit 122 has been described above. Hereinafter, the description returns to FIG.

  Next, control unit 122 outputs determination result information indicating the result of the determination (the range in which the vehicle can cross) to vehicle control device 130.

  The vehicle control device 130 is a device that controls devices used in the vehicle. The devices used in the vehicle include, for example, traveling devices or display devices.

  Here, a specific example in the case where the vehicle control device 130 controls the traveling equipment will be described with reference to FIG.

  For example, when the determination result information indicates that there is no range in which the vehicle V can cross, the vehicle control device 130 outputs a control signal to prohibit the traveling of the vehicle to the traveling equipment. The traveling device controls the vehicle based on the control signal so as to prohibit traveling. As a result, the vehicle cannot travel from the non-pedestrian area A to the first partial area C1.

  Further, for example, when the determination result information indicates that the range that the vehicle V can traverse is the first partial area C1, the vehicle control device 130 allows the vehicle V to travel to the first partial area C1. Is output to the traveling equipment. The traveling device controls the vehicle V based on the control signal so as to permit traveling. Thereby, the vehicle V can proceed to the first partial area C1.

  Further, for example, when the determination result information indicates that the range that the vehicle V can traverse is the first partial area C1 and the second partial area C2, the vehicle control device 130 may control the vehicle up to the second partial area C2. A control signal for permitting the traveling of V is output to the traveling equipment. The traveling device controls the vehicle V based on the control signal so as to permit traveling. Thereby, the vehicle V can proceed to the second partial area C2, and thereafter can enter the non-pedestrian area B.

  Next, a specific example in the case where the vehicle control device 130 controls the display device will be described.

  For example, when the determination result information indicates that there is no range in which the vehicle V can cross, the vehicle control device 130 outputs a control signal indicating that an image indicating that is generated to the display device. The display device generates an image indicating that it is impossible to enter the first partial area C1 based on the control signal, and outputs the image to a predetermined display medium. Thereby, the occupant of the vehicle can know that the vehicle cannot enter the first partial area C1.

  Further, for example, when the determination result information indicates that the range in which the vehicle V can traverse is the first partial area C1, the vehicle control device 130 displays a control signal indicating that an image indicating that is generated is displayed on the display device. Output to The display device generates an image indicating that it is possible to enter the first partial area C1 based on the control signal, and outputs the image to a predetermined display medium. Thereby, the occupant of the vehicle can know that the vehicle can enter the first partial area C1.

  Further, for example, when the determination result information indicates that the range that the vehicle V can cross is the first partial area C1 and the second partial area C2, the vehicle control device 130 generates an image indicating that. A control signal to the effect is output to the display device. The display device generates an image indicating that it is possible to enter the first partial area C1 and the second partial area C2 based on the control signal, and outputs the image to a predetermined display medium. Thereby, the occupant of the vehicle can know that the vehicle can enter the second partial area C2 and can enter the non-pedestrian area B.

  In the above description of the control of the display device, the output of an image has been described as an example. However, the present invention is not limited to this. For example, the occupant of the vehicle can identify the contents of the determination result information (for example, output of sound, Vibration or the like may be used.

  Further, the operation of the determination device 120 described above is effective at the time of executing either the automatic operation or the manual operation.

  The configuration of the driving support system 100 and the determination device 120 has been described above.

  Next, a determination process in the determination device 120 will be described with reference to FIG. FIG. 3 is a flowchart illustrating the flow of the determination process in the determination device 120. This flow is performed, for example, when the vehicle V existing in the non-pedestrian area A crosses the sidewalk area C and enters the non-pedestrian area B.

  First, the input unit 121 receives sidewalk area information, non-sidewalk area information, and target object information from the recognition device 110 (Step S101). Then, the input unit 121 outputs the received information to the control unit 122.

  Next, the control unit 122 divides the sidewalk area into N (N is an integer of 2 or more) based on the sidewalk area information and the non-sidewalk area information received from the input unit 121, and divides the first to Nth partial areas. Recognize (step S102). The sidewalk area to be divided is between the position where the vehicle exists and the non-sidewalk area (an area different from the non-sidewalk area including the position where the vehicle exists). The first partial area is an area closest to the location of the vehicle, and the Nth partial area is an area facing a non-pedestrian area (an area different from the non-pedestrian area including the location of the vehicle).

  Next, the control unit 122 sets a value n representing a partial area to be determined as to the presence or absence of the target object to 1 (step S103).

  Next, the control unit 122 determines whether an object exists in the n-th partial area (Step S104).

  When the target object does not exist in the n-th partial area (step S104: NO), the control unit 122 increments n (step S105), and performs the determination in step S104 again.

  On the other hand, when the target object exists in the n-th partial area (Step S104: YES), the control unit 122 determines whether n is 1 (Step S106).

  When n is 1 (step S106: YES), the control unit 122 determines that the vehicle cannot cross the first partial area (step S107).

  If n is not 1 (step S106: NO), the control unit 122 determines that the vehicle can cross the n-1st partial area (step S108).

  Next, the control unit 122 outputs the determination result information to the vehicle control device 130 (Step S109).

  The determination process in the determination device 120 has been described above.

  According to the embodiment of the present invention, the sidewalk region is recognized by being divided into a plurality of partial regions including at least a first partial region closest to the vehicle and a second partial region facing the non-sidewalk region, Based on the information on the target, a range that the vehicle can cross among the plurality of partial areas is determined. Accordingly, when the vehicle crosses the sidewalk and proceeds to the road, the vehicle can safely cross the sidewalk.

  Note that the present invention is not limited to the above embodiment, and various modifications are possible. Hereinafter, each modified example will be described.

(Modification 1)
In the embodiment, the case where the sidewalk area is divided into two partial areas has been described as an example. However, the sidewalk area may be divided into three or more partial areas. For example, as shown in FIG. 4, the sidewalk area C may be divided into a first partial area C1, a second partial area C2, and a third partial area C3. In this case, the third partial area C3 faces the non-pedestrian area B.

  Further, the shapes and sizes of these partial regions may not be the same. For example, as shown in FIG. 5 or FIG. 6, the shapes and sizes of the first partial region C1, the second partial region C2, and the third partial region C3 may be different.

(Modification 2)
In the embodiment, a case where a sidewalk region and a non-sidewalk region are recognized by the recognition device 110 and sidewalk region information and non-sidewalk region information as a result of the recognition are output from the recognition device 110 to the input unit 121 will be described as an example. Although described, it is not limited to this.

  For example, as shown in FIG. 7, the input unit 121 may receive sidewalk area information and non-sidewalk area information from a storage device 140 that stores a map database including sidewalk area information and non-sidewalk area information.

  In FIG. 7, the storage device 140 is illustrated as being provided in the driving support system 100, but the storage device 140 may be provided outside the driving support system 100. In that case, for example, the driving support system 100 performs wireless communication with the storage device 140 and receives sidewalk area information and non-sidewalk area information.

(Modification 3)
In the embodiment, the case where the sidewalk region is divided only once is described as an example, but it may be performed a plurality of times. This case will be described with reference to FIG. FIG. 8 is a diagram illustrating a state where the vehicle V has entered the first partial area C1 after the control unit 122 determines that the vehicle V can cross the first partial area C1.

  In FIG. 8, the control unit 122 further adds a plurality of sidewalk areas (in the example of FIG. 8, the second partial area C2) between the first partial area C1 where the vehicle V is located and the non-sidewalk area B to a plurality of areas. Divide into partial areas. For example, as shown in FIG. 8, the control unit 122 recognizes the second partial area C2 by dividing it into a partial area C21 and a partial area C22. In this case, the presence or absence of the target is determined in the order of the partial areas C21 and C22.

  Although the number of divisions of the second partial area C2 is set to two, the number of divisions may be three or more.

  Further, when a plurality of partial areas are set between the partial area where the vehicle V has entered and the non-pedestrian area B, the plurality of partial areas are regarded as one partial area, and the one partial area is further defined. It may be divided. For example, in FIG. 4, when the vehicle V enters the first partial area C1, the second partial area C2 and the third partial area C3 are regarded as one partial area, and the partial area is set to a predetermined number. It may be divided.

  Before the vehicle V enters the first partial area C1, the position and the number of the target may change in the second partial area C2. According to the present modified example, even in such a case, after the vehicle V crosses the first partial area C1, the second partial area C2 is further divided into a plurality of partial areas, and objects in those partial areas are divided. Since the presence or absence of an object is determined, a determination according to a change in the situation of the sidewalk area C can be realized.

  As above, each modified example of the present invention has been described. In addition, each modification may be arbitrarily combined.

  The function of each unit in the embodiment and each modification may be realized by a program. FIG. 9 shows an example of a hardware configuration of a computer in that case.

  As shown in FIG. 9, a computer 2100 includes an input device 2101, such as an input button and a touchpad, an output device 2102, such as a display and a speaker, a CPU (Central Processing Unit) 2103, a ROM (Read Only Memory) 2104, and a RAM (Random). Access Memory) 2105. In addition, the computer 2100 includes a reading device that reads information from a recording device such as a hard disk device, a storage device 2106 such as an SSD (Solid State Drive), a DVD-ROM (Digital Versatile Disk Read Only Memory), and a USB (Universal Serial Bus) memory. 2107, a transmission / reception device 2108 for performing communication via a network. The above-described units are connected by a bus 2109.

  Then, the reading device 2107 reads the program from a recording medium that records the program for realizing the function of each unit, and stores the program in the storage device 2106. Alternatively, the transmission / reception device 2108 communicates with a server device connected to the network, and causes the storage device 2106 to store a program downloaded from the server device for realizing the function of each of the above units.

  Then, the CPU 2103 copies the program stored in the storage device 2106 to the RAM 2105, and sequentially reads out and executes the instructions included in the program from the RAM 2105, thereby realizing the functions of the above-described units. When the program is executed, information obtained by the various processes described in the embodiment and the modifications is stored in the RAM 2105 or the storage device 2106, and is appropriately used.

  INDUSTRIAL APPLICABILITY The determination device, the determination method, and the determination program according to the present invention are useful for all techniques for determining the traveling of a vehicle when the vehicle crosses a sidewalk.

REFERENCE SIGNS LIST 100 driving support system 110 recognition device 120 determination device 121 input unit 122 control unit 130 vehicle control device 140 storage device 2100 computer 2101 input device 2102 output device 2103 CPU
2104 ROM
2105 RAM
2106 storage device 2107 reading device 2108 transmitting / receiving device 2109 bus

Claims (7)

A determination device that is provided in a vehicle and determines a behavior of the vehicle,
An input unit that receives information on a second area that is an area adjacent to the first area where the vehicle is located, and information on a predetermined target that is located in the second area;
Based on the information of the second area, the second area includes at least a first partial area adjacent to the first area and a second partial area farther from the vehicle than the first partial area. A control unit that divides the plurality of partial regions and determines a region in which the vehicle can travel among the plurality of divided partial regions based on the information of the target object,
A determination device comprising: The input unit includes:
Receiving information on the second area from a recognition device capable of identifying the first area and the second area;
The determination device according to claim 1. The input unit includes:
Receiving the information of the second area from a storage device storing a map database including the information of the second area;
The determination device according to claim 1. The control unit includes:
Determining the number of divisions of the second region according to the width of the second region;
The determination device according to claim 1. The control unit includes:
After the vehicle has advanced to an area where the determined vehicle can cross, the first area other than the partial area where the vehicle is located is further divided into a plurality of partial areas,
Of the plurality of partial areas, determine a range that the vehicle can cross,
The determination device according to claim 1. A determination method for determining a behavior of a vehicle,
Receiving information on a second area that is an area adjacent to a first area where the vehicle is located, and information on a predetermined target existing in the second area;
Based on the information of the second area, the second area includes at least a first partial area adjacent to the first area and a second partial area farther from the vehicle than the first partial area. Dividing into a plurality of partial regions;
Based on the information of the object, a step of determining an area in which the vehicle can travel, among the plurality of divided partial areas,
A judgment method including: A determination program for determining a behavior of a vehicle,
A process of receiving information on a second area that is an area adjacent to the first area where the vehicle is located, and information on a predetermined target existing in the second area;
Based on the information of the second area, the second area includes at least a first partial area adjacent to the first area and a second partial area farther from the vehicle than the first partial area. Processing to divide into a plurality of partial areas;
Based on the information of the object, a process of determining an area in which the vehicle can travel, among the plurality of divided partial areas,
Program that causes a computer to execute

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