JP2020149204A - Driving support device - Google Patents

Abstract

To obtain a driving support device for supporting a passing operation in a scene where a support is surely required.SOLUTION: A driving support device includes: a narrow path passing state determination section for determining whether or not a state is the narrow path passing state where an own vehicle is expected to pass an on-coming vehicle each other on a narrow path, based on own vehicle information, on-coming vehicle information and road information; a support permission determination section for determining whether or not a support for a passing operation of an own vehicle is to be permitted based on speed information of an on-coming vehicle when a state is determined to be the narrow path passing state; and a passing support performance section for allowing a captured video captured by a side surface camera to be displayed on a display when permission of a support for a passing operation is determined.SELECTED DRAWING: Figure 3

Description

The present invention relates to a driving support device that assists a driver while traveling on a narrow road.

In recent years, a technology of a navigation device for assisting a driver's driving when a situation occurs in which a vehicle passes by an oncoming vehicle while traveling on a narrow road (narrow road) has been disclosed (Patent Document). See 1).

Japanese Unexamined Patent Publication No. 2006-106945

In the prior art, it is determined whether or not the road is passing on a narrow road (narrow road passing) mainly based on the road width, the width of the own vehicle, and the width of the oncoming vehicle. When it is determined, the driving support control for supporting the passing driving of the own vehicle is executed. However, even when passing on a narrow road, for example, when an oncoming vehicle passes at a high speed, it is considered that there is a margin for passing, and there is a high possibility that the driver does not need assistance in passing driving. If the driving support control for supporting the passing driving is executed even in such a scene where it is not actually necessary, the driving comfort may be impaired.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a driving support device that supports passing driving only in a scene that is really necessary.

The driving support device of the present invention for solving the above problems includes an own vehicle information acquisition unit that acquires own vehicle information including information on the width and speed of the own vehicle, and an oncoming vehicle based on an image captured by a front camera. An oncoming vehicle information acquisition unit that acquires oncoming vehicle information including information on the width, position, and speed of the vehicle, a speed change of the own vehicle, a speed change of the oncoming vehicle, and a relative position between the own vehicle and the oncoming vehicle. From the information on the road on which the own vehicle is traveling based on the passing speed estimation unit that estimates the speed of the oncoming vehicle when the own vehicle and the oncoming vehicle pass each other and the image captured by the front camera. A road information acquisition unit that acquires road information including at least information on the position of a roadside object, and the own vehicle and the oncoming vehicle on a narrow road based on the own vehicle information, the oncoming vehicle information, and the road information. When the own vehicle and the oncoming vehicle pass each other when the narrow road passing state determination unit for determining whether or not the narrow road passing state is predicted to pass and the narrow road passing state is determined. An image captured by a support permission determination unit that determines whether or not to permit support for passing driving of the own vehicle based on the speed of the oncoming vehicle, and a side camera when it is determined that assistance for passing driving is permitted. It is characterized by including a passing support implementation unit that displays an image on a display.

According to the present invention, in a narrow road passing state where it is predicted that the own vehicle will pass the oncoming vehicle on a narrow road, whether or not to implement driving support control to support the passing driving in consideration of the speed of the oncoming vehicle. Is determined. As a result, for example, when the vehicle speed of the oncoming vehicle is high in a narrow road passing state, the passing driving is not supported, and the passing driving can be supported only when the vehicle speed is low. Therefore, the driving support control can be performed only in the scene where the oncoming vehicle needs to reduce the vehicle speed, and the driver really needs the assistance of passing driving, and the oncoming vehicle passes by the high vehicle speed. It is possible to prevent the driving support control from being carried out in a scene where the driver does not need the support for passing driving. Therefore, it is possible to prevent the driving comfort from being impaired by the driving support control being carried out in an unnecessary scene.

Further features relating to the present invention will become apparent from the description herein and the accompanying drawings. In addition, problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

The block diagram which shows the schematic structure of the narrow road passing support device mounted on the own vehicle. A bird's-eye view showing an example of a situation in which an oncoming vehicle passes by. The figure which shows the processing flow of the program of the narrow road passing support device. The figure which shows the process flow of the program of the support permission determination part. The figure which shows the processing flow of the program of the support unnecessary judgment part. The figure which shows the process flow of the program of the support end determination part. A bird's-eye view showing an example of a situation in which an oncoming vehicle turns left and does not pass each other. The figure which shows the processing flow of the program of the passing support implementation department.

Hereinafter, an embodiment of the present invention will be described. In this embodiment, the case where the vehicle is applied to the area where the vehicle is obliged to pass on the left side of the road will be described as an example, but the present invention is not limited to this, and the vehicle passes on the right side of the road. The same can be applied to areas where it is obligatory.

FIG. 1 is a diagram showing a schematic configuration of a narrow road passing support device mounted on the own vehicle. The narrow road passing support device 1 in the present embodiment is one of the driving support devices that support the driving of the own vehicle, and is the driving support that supports the passing driving of the own vehicle when the own vehicle passes the oncoming vehicle on the narrow road. It controls.

The narrow road passing support device 1 is mounted on the own vehicle and is connected to the front camera 2, the own vehicle information 3, the side camera 10, the display 11, and the vehicle control system 13 as shown in FIG. It has a function to input and output. The side camera 10, the display 11, and the vehicle control system 13 constitute a support device for the narrow road passing support device 1.

The narrow road passing support device 1 is roughly divided into two, a narrow road passing support determination unit 4 and a passing support implementation unit 9.

The narrow road passing support determination unit 4 determines whether or not to implement driving support control to support the passing driving when it is predicted that the own vehicle will pass the oncoming vehicle on the narrow road, and the determination result Is sent to the passing support implementation department 9.

Based on the judgment result of the narrow road passing support judgment unit 4, the passing support implementation unit 9 selects the necessary support content for the scene faced by the own vehicle, and the narrow road passing support judgment unit 9 selects the support signal of the selected content. It is transmitted to 4 and assistive devices 10 and 13.

The front camera 2 is a camera mounted on the vehicle to image the front of the own vehicle, and transmits the captured image to the narrow road passing support device 1. Based on the captured image, the front camera 2 obtains oncoming vehicle information including information on the width, position, and speed of the oncoming vehicle, and information on the road on which the own vehicle is traveling, such as the position of roadside objects and white lines. Any one can be used as long as it can acquire the road information including the stereo camera or the monocular camera. Further, instead of the front camera 2, a sensor capable of detecting an object in front of the vehicle such as a laser radar or Lidar may be used.

The own vehicle information 3 transmits the information of the own vehicle necessary for the support determination and the support implementation to the narrow road passing support device 1. The own vehicle information 3 includes at least one of the speed, accelerator opening degree, width, steering angle, gear position, side brake state, and blinker lighting state of the own vehicle.

The side camera 10 is a camera mounted on the side surface of the own vehicle, and is automatically activated when it is determined by the narrow road passing support device 1 that support for passing driving is necessary, and becomes a blind spot for the driver. Image the area around the tire on the side. In the present embodiment, the side camera 10 is configured to image the periphery of the front wheel on the passenger side. The side camera 10 transmits the captured image to the display 11. The display 11 displays the captured image. The display 11 is installed in the passenger compartment of the own vehicle, and is installed at a position where the driver can check the displayed contents while driving. The captured image of the side camera 10 is used for prevention of derailment and contact with roadside objects, and can support passing driving by the driver or his / her own vehicle.

The vehicle control system 13 includes actuators for operating the steering, accelerator, and brake of the own vehicle, and when support for passing driving is required based on the support signal received from the passing support implementing unit 9, the own vehicle Vehicle control is performed so that the wheel does not come off and contact with oncoming vehicles and roadside objects does not occur. Further, when there is a margin from the side surface of the own vehicle to the roadside object or the side edge of the road, it is possible to perform vehicle control that automatically controls the steering to adjust the width.

Further, FIG. 2 shows a bird's-eye view of a scene in which the own vehicle passes by an oncoming vehicle on a narrow road as an example of a scene in which the present embodiment is applied.

Whether or not the road R is a narrow road is determined based on, for example, the width w10 of the road R, and when the width w10 is smaller than the reference value, it is determined to be a narrow road. In determining whether or not the road is narrow, in addition to the width w10 of the road R, the presence or absence of roadside objects M1 and M2, the width of the oncoming vehicle, and the like may be taken into consideration. As shown in FIG. 2, the road R has white lines L1 and L2 drawn on both the left and right sides, and roadside objects M1 and M2 such as walls, guardrails, and gutters are arranged on both sides thereof. The own vehicle 50 and the oncoming vehicle 60 traveling on the road R are traveling in the directions indicated by the arrows v50 and v60, respectively, in the direction of approaching each other. Therefore, the two vehicles 50 and 60 will later pass each other. That is, the situation shown in FIG. 2 is a situation in which the own vehicle 50 is predicted to pass the oncoming vehicle 60 on a narrow road.

The narrow road passing support device 1 travels on a certain road in a direction approaching each other as shown in this example, and the road width is narrow so that there is almost no margin when two vehicles 50 and 60 pass each other. If it is a road, determine whether support for passing driving is required. Then, based on the determination result that it is necessary to support the passing driving, the side camera 10 captures the vicinity of the tire on the passenger side, which is the blind spot of the driver, and the captured image is displayed on the display 11.

In a state where it is predicted that the own vehicle 50 will later pass the oncoming vehicle 60 on a narrow road, in order to realize support for passing driving, in the narrow road passing support device 1, first, the narrow road passing support determination unit 4 It is determined whether or not it is in the above state. Then, the determination result determined by the narrow road passing support determination unit 4 is transmitted to the passing support implementation unit 9, and the support according to the situation is implemented.

The narrow road passing support determination unit 4 performs determination processing based on the image captured by the front camera 2 and the own vehicle information 3. The narrow road passing support determination unit 4 makes a determination once for each image. That is, for example, when the transmission cycle of the image captured by the front camera 2 is 50 ms, the narrow road passing support determination is performed once every 50 ms. The narrow road passing support determination unit 4 has a support permission determination unit 5, a support unnecessary determination unit 6, a support end determination unit 7, and a support forced end determination unit 8.

Next, the processing operation of the narrow road passing support determination unit 4 will be described with reference to the flowchart of FIG.

First, in step S100, it is determined whether or not the narrow road passing support has already been implemented based on the support signal received from the passing support implementing unit 9. If it is determined in step S100 that the passing support is not implemented (NO), the support permission determination unit 5 executes the support permission determination process S101, and then the support unnecessary determination unit 6 executes the support unnecessary determination process S102. Then, the determination result is output as the support implementation permission flag F1.

In the support permission determination process S101, a process of determining whether or not the own vehicle is in a narrow road passing state in which it is predicted that the vehicle will pass an oncoming vehicle on a narrow road (narrow road passing state determination unit), and a narrow road passing state. When it is determined that there is, a process of determining whether or not to permit the execution of the driving support control that supports the passing driving of the own vehicle is performed based on the speed of the oncoming vehicle. Then, in the support unnecessary determination process S102, a process of determining whether or not the support for passing driving is unnecessary is performed based on the state of the own vehicle.

In step S103, it is determined whether or not the output support execution permission flag F1 is ON. When the support implementation permission flag F1 is ON (YES), it is determined that support is required, and when it is OFF (NO), it is determined that support is unnecessary. In step S103, the following signal is transmitted to the passing support implementing unit 9, and the passing support implementation process 9 or the passing support non-implementation process is performed.
(1) When it is determined that support is required: F1 = ON
(2) When it is determined that support is unnecessary: F1 = OFF
When F1 = ON, the process proceeds to S109, and a signal for executing the passing support is transmitted to the passing support implementing unit 9. When F1 = OFF, the process proceeds to S108, and a signal for not performing passing support is transmitted to the passing support executing unit 9.

If it is determined in step S100 that the passing support has already been implemented (support is being implemented; YES), it is determined in step S104 whether or not the passing has been completed. Whether or not the passing is completed is determined based on at least one piece of information, for example, the speed of the own vehicle 50, the accelerator opening, the mileage, the gear state, the side brake state, and the blinker lighting state.

When it is determined in step S104 that the passing has been completed (YES), the support end determination process S105 is executed by the support end determination unit 7, and the determination result is output as the support end permission flag F2. In the support end determination process S105, it is determined whether or not to end the support. Based on the support implementation status acquired from the passing support implementing unit 9, the support end determination unit 7 determines whether or not to end the passing driving support when the own vehicle 50 has passed the oncoming vehicle 60. I do. In the support end determination process S105, the support is terminated if at least one of the plurality of conditions is satisfied. The detailed contents of the support end determination process S105 will be described later with reference to FIG.

If it is determined in step S104 that the passing has not been completed (NO), the process proceeds to the support forced termination determination process S106. In the support forced termination determination process S106, it is determined whether or not the support is forcibly terminated before the passing, for example, in consideration of the possibility that the oncoming vehicle will turn right or left and the passing will not occur in the future. The support forced termination determination process S106 is executed by the support forced termination determination unit 8, and the support termination permission flag F2 is output.

After executing the support end determination process S105 or the support forced end determination process S106, it is determined in step S107 whether or not to end the support based on the support end permission flag F2. In step S107, the following signal is transmitted to the passing support implementation unit 9.
(3) When the support is continued without ending: F2 = ON
(4) When ending support: F2 = OFF
When F2 = ON, the process proceeds to S109, and a signal for continuing the passing support is transmitted to the passing support implementing unit 9. When F2 = OFF, the process proceeds to S108, and a signal that the passing support is not continuously performed is transmitted to the passing support executing unit 9.

Next, the support permission determination process S101 of the support permission determination unit 5 will be described with reference to the flowchart of FIG.

In steps S200 to S205, processing is performed to acquire information for determining whether or not the own vehicle is in a narrow road passing state where it is predicted that the own vehicle will pass by an oncoming vehicle on a narrow road. Mainly, the own vehicle information And oncoming vehicle information and road information are acquired.

First, in step S200, the own vehicle information of the own vehicle 50 is acquired (own vehicle information acquisition unit). Here, the information of the own vehicle 50 including at least the width is acquired. Specifically, each information of the width w50 of the own vehicle, the own vehicle speed v50, the accelerator opening, the steering angle, the gear state, the side brake state, and the blinker lighting state is acquired. Further, the deceleration of the own vehicle 50 is calculated based on the past change of the own vehicle speed v50.

In step S201, the oncoming vehicle information of the oncoming vehicle 60 is acquired (oncoming vehicle information acquisition unit). Here, at least the width w60 of the oncoming vehicle, the vehicle speed v60, and the position information with respect to the own vehicle 50 are acquired. Then, the distance d100 from the own vehicle 50 to the oncoming vehicle 60 (distance in the front-rear direction of the vehicle) d100 is calculated based on the information on the positions of the own vehicle 50 and the oncoming vehicle 60. Further, the deceleration of the oncoming vehicle 60 is calculated based on the past change in the speed v60 of the oncoming vehicle.

Then, the overlap amount w90 (mm) is calculated based on the information on the width w50 of the own vehicle 50, the width w60 of the oncoming vehicle 60, and the position of the oncoming vehicle 60, and the overlap rate L (%) is calculated from the overlap amount w90. Calculate it. The overlap rate L (%) is calculated by the following equations (1) and (2).
When the oncoming vehicle wraps with the own vehicle L = (w90 / w50) × 100 ... Equation (1)
When the oncoming vehicle does not wrap with the own vehicle L =-(w90 / w50) x 100 ... Formula (2)

The overlap rate is a rate indicating the positional relationship between the own vehicle and the oncoming vehicle in the lateral width direction, and is overlapped in the lateral width direction when the own vehicle and the oncoming vehicle are opposed to each other. If there is a positional relationship, the rate will be positive, and if there is no lap, that is, if the own vehicle and the oncoming vehicle are in a positional relationship that is separated from each other in the width direction, the rate will be negative. Become.

In step S202, the deceleration (speed change) of the own vehicle 50 calculated in step S200, the deceleration (speed change) of the oncoming vehicle 60 calculated in step S201, and the distance d100 (speed change) from the own vehicle 50 to the oncoming vehicle 60 ( Based on the information of the own vehicle 50 and the oncoming vehicle 60), the speed v70 of the oncoming vehicle 60 at the passing position where the own vehicle 50 and the oncoming vehicle 60 pass each other is calculated and estimated as the passing speed (passing speed estimation unit). ).

In step S203, information on the traveling road R in front of the own vehicle 50 is acquired (road information acquisition unit). The information on the road R includes, for example, at least one of information such as the shape of the road R, the road width w10, the slope, the positions of the roadside objects M1 and M2 with respect to the own vehicle 50, and the positions of the white lines L1 and L2 with respect to the own vehicle 50. include. The information on the road R may be acquired from the captured image captured by the front camera 2, may be acquired from map information such as a car navigation system, or may be acquired by inter-vehicle communication or road-to-vehicle communication.

In step S204, based on the information on the position of the oncoming vehicle 60 acquired in step S201 and the position of the roadside object M1 acquired in step S203, the own vehicle 50 can pass through because it passes by the oncoming vehicle 60. The width w70 is calculated (passable width calculation unit). Here, it is calculated as the passable width w70 of the road width between the oncoming vehicle 60 and the roadside object M1.

In step S205, it is necessary for the oncoming vehicle 60 to move closer to the road edge when passing each other based on the information on the position of the oncoming vehicle 60 acquired in step S201 and the position of the roadside object M1 acquired in step S203. The margin width on the road R is calculated as the oncoming vehicle width adjustment margin width w80 (oncoming vehicle width adjustment margin width calculation unit). Here, the width from the side surface of the oncoming vehicle 60 to the roadside object M2 is calculated as the oncoming vehicle width adjustment margin width w80.

Next, in steps S206 to S212, a process of determining whether or not to permit the execution of the driving support control that supports the passing driving of the own vehicle 50 is performed based on a plurality of conditions.

First, in step S206, it is determined whether or not the vehicle speed is OK. Specifically, it is determined whether or not the vehicle speed v50 is within the threshold value, if it is within the threshold value, it is determined that the vehicle speed is OK (YES), and if it is larger than the threshold value, it is determined that the vehicle speed is NG (NO). .. When the own vehicle speed v50 is within the threshold value, it can be determined that the own vehicle 50 has lowered the speed of the own vehicle 50 to some extent in order to drive by passing each other. Therefore, it is determined that the support for passing driving can be permitted, and the process proceeds to step S207. On the other hand, when the own vehicle speed v50 is larger than the threshold value, it can be determined that the own vehicle 50 can easily pass the oncoming vehicle 60 without the own vehicle 50 passing each other. Therefore, it is determined that the support for passing driving is unnecessary, the process proceeds to step S213, and the support execution permission flag F1 is turned off.

In step S207, it is determined whether or not the oncoming vehicle position is OK. Specifically, based on the position information of the oncoming vehicle 60 with respect to the own vehicle 50, it is determined whether or not the oncoming vehicle 60 exists on the front right side of the own vehicle 50 in the area where left-hand traffic is obligatory. Then, when the oncoming vehicle 60 exists on the front right side of the own vehicle 50, it is determined that the oncoming vehicle position is OK (YES) and the support for passing driving can be permitted, and the process proceeds to step S208. On the other hand, when the oncoming vehicle 60 does not exist on the front right side of the own vehicle 50, it is determined that the oncoming vehicle position is NG (NO) and the support for passing driving is unnecessary, the process proceeds to step S213, and the support execution permission flag F1 is turned off. And.

In step S208, it is determined whether or not the oncoming vehicle distance is OK. Specifically, it is determined whether or not the distance d100 from the own vehicle 50 to the oncoming vehicle 60 is within the threshold value, and if it is within the threshold value, the oncoming vehicle distance is OK, and it is determined that the support is permitted, and the step S209 is performed. move on. On the other hand, when the distance d100 is larger than the threshold value (NO), it can be determined that the oncoming vehicle 60 exists in the distance and it is not necessary to provide support yet, so the oncoming vehicle distance is NG (NO) and no support is required. Is determined, the process proceeds to step S213, and the support implementation permission flag F1 is turned off.

In step S209, it is determined whether or not the lap degree is OK. Specifically, it is determined whether or not the overlap rate L of the oncoming vehicle 60 with respect to the own vehicle 50 is within the threshold range between the upper limit value and the lower limit value (− ○○ ≦ L ≦ + ○○). If it is within the threshold range (YES), it can be determined that the own vehicle 50 and the oncoming vehicle 60 may come into contact with each other when they pass each other. Therefore, it is determined that the support is permitted and the process proceeds to step S210. On the other hand, when the overlap rate L is lower than the threshold range or larger than the threshold range (NO), the support is not required, the process proceeds to step S213, and the support execution permission flag F1 is turned off.

The narrow road passing support device 1 of the present embodiment is not only a device for avoiding a collision but also a device for assisting the driver to comfortably pass each other, and the oncoming vehicle 60 and the own vehicle 50 lap. Although it is not done, the purpose is to support passing driving even if they pass each other even if there is a slight gap when they actually pass each other. For this reason, the overlap rate is used as a condition for determining whether or not to support the passing driving, and even if the overlap rate is a negative value, the support is provided if it is within the threshold range. ..

In step S210, it is determined whether or not the passing speed is OK. Specifically, it is determined whether or not the speed v70 when the oncoming vehicle 60 passes the own vehicle 50 is within the threshold value, and if it is within the threshold value, the passing speed is OK (YES) and it is determined that support can be permitted. Then, the process proceeds to step S211. On the other hand, when the speed v70 is larger than the threshold value, it can be determined that the oncoming vehicle 60 can pass the own vehicle 50 with a margin, so that the passing speed is NG (NO), it is determined that support is unnecessary, and the process proceeds to step S213. , The support implementation permission flag F1 is turned off.

In step S211 it is determined whether or not the passable width is OK. Specifically, it is determined whether or not the passable width w70, which is the road width to pass because the own vehicle 50 passes by the oncoming vehicle 60, is within the threshold value, and if it is within the threshold value, the passable width is OK. It is determined that the support can be permitted, and the process proceeds to step S212. On the other hand, when the passable width w70 is larger than the threshold value, it can be determined that the own vehicle 50 can pass each other with a margin. Therefore, the passable width is NG (NO), it is determined that support is unnecessary, and the process proceeds to step S213. The support implementation permission flag F1 is turned off.

In step S212, it is determined whether or not the oncoming vehicle width adjustment margin width is OK. Specifically, it is determined whether or not the oncoming vehicle width alignment margin width w80, which is the margin width on the road required for the oncoming vehicle 60 to align to the roadside object M2 side, is within the threshold value, and is within the threshold value. In the case of the oncoming vehicle width adjustment margin width OK (YES), it is determined that the support can be permitted, and further the support unnecessary determination process S102 is proceeded. Therefore, it is determined that the oncoming vehicle width adjustment margin width is NG (NO) and support is unnecessary, the process proceeds to step S213, and the support implementation permission flag F1 is turned off.

Next, the processing operation of the support unnecessary determination unit 6 will be described with reference to the flowchart of FIG. The support-free determination unit 6 determines whether or not the scene does not require support for passing driving by performing a white line deviation determination, a winker lighting determination, a width adjustment determination, a straight-ahead determination, and a preceding vehicle determination.

Here, based on the own vehicle information acquired in the own vehicle information acquisition process S200 and the road information acquired in the road information acquisition process S203, it is determined whether or not support for passing driving is unnecessary in the scene faced by the own vehicle 50. To do.

First, in step S300, it is determined whether or not the own vehicle 50 deviates from the white line based on the white line information included in the road information. Here, when the white line L1 is detected by the road information acquisition process S203, the position of the white line L1 existing on the side of the own vehicle 50 is determined from the loci of the white lines L1 and L2 existing in the captured image captured by the front camera 2. presume. Next, it is determined whether or not the own vehicle 50 deviates from the white line L1 by comparing the estimated position of the white line L1 with the tire position of the own vehicle 50. If it is determined that the own vehicle 50 deviates from the white line L1 (YES), it is determined that support is required, and the process proceeds to step S301. On the other hand, if it is determined that the own vehicle 50 does not deviate from the white line L1 (NO), it is determined that the support is unnecessary, the process proceeds to step S306, and the support execution permission flag F1 is turned off.

In step S301, it is determined whether or not the blinker of the own vehicle 50 is lit (whether or not the direction indicator is operated). Then, when the blinker is not lit (NO) (when the direction indicator is not operated), it is determined that support is necessary, and the process proceeds to step S302. On the other hand, when the blinker is lit (YES) (when the direction indicator is operated), it is determined that the support is unnecessary, the process proceeds to step S306, and the support execution permission flag F1 is turned off.

In step S302, it is determined whether or not the own vehicle 50 is close to the roadside object M1 based on the information on the width of the own vehicle 50 and the position of the roadside object M1. Here, based on the position information of the roadside object M1 acquired in the road information acquisition process S203, it is determined whether or not the distance w100 from the side surface of the own vehicle 50 to the roadside object M1 is equal to or greater than the threshold value. It is determined that the width has not been adjusted (NO) and support is required, and the process proceeds to step S303. On the other hand, when the distance w100 to the roadside object M1 is smaller than the threshold value, it can be determined that the width has been adjusted (YES). Therefore, it is determined that support is unnecessary, the process proceeds to step S306, and the support implementation permission flag F1 is set. Turn it off.

In step S303, it is determined whether or not the own vehicle 50 is traveling straight based on the information on the steering angle of the own vehicle 50. Here, it is determined whether or not the steering angle of the own vehicle 50 is within the threshold value, and if it is within the threshold value, it can be determined that the own vehicle 50 is traveling straight (YES), and it is determined that support is required. The process proceeds to step S304. On the other hand, if the steering angle is larger than the threshold value, it can be determined that the own vehicle 50 is not traveling straight and is passing through a curved road (NO). Therefore, it is determined that support is unnecessary, and the process proceeds to step S306 to implement support. The permission flag F1 is turned off.

In step S304, it is determined whether or not the preceding vehicle exists. Here, it is determined whether or not there is a preceding vehicle traveling in the same direction as the own vehicle in front of the own vehicle 50 and the width of the preceding vehicle is wider than the width of the own vehicle 50. When the preceding vehicle exists and the width of the preceding vehicle is wider than the width of the own vehicle 50 (YES), the own vehicle 50 passes the oncoming vehicle 60 with a margin when the preceding vehicle can pass the oncoming vehicle 60. It can be judged that it can be done. Therefore, the support for the passing operation becomes unnecessary, and the process proceeds to step S306 to turn off the support execution permission flag F1. If there is no preceding vehicle in front of the own vehicle 50, or if the width of the preceding vehicle is less than or equal to the width of the own vehicle 50 (NO), it is determined that support is necessary, and the process proceeds to step S305 to permit support implementation. The flag F1 is turned ON. Here, the width of the preceding vehicle is calculated based on, for example, an captured image captured by the front camera 2.

Next, the processing operation of the support end determination unit 7 will be described with reference to the flowchart of FIG. The support end determination unit 7 ends the passing between the own vehicle 50 and the oncoming vehicle 60 by using at least one information of the speed, the accelerator opening, the mileage, the gear state, the side brake state, and the blinker lighting state of the own vehicle 50. It is determined that this has been done, and processing is performed to end the support implementation.

Here, it is determined whether or not to end the support for passing driving based on the own vehicle information acquired in the own vehicle information acquisition process S200.

First, in step S400, it is determined whether or not the own vehicle speed v50 is sufficiently fast. Here, it is determined whether or not the own vehicle speed v50 is equal to or higher than the threshold value, and if it is equal to or higher than the threshold value (YES), it can be determined that the own vehicle speed v50 is sufficiently fast and no support is required. Therefore, in order to end the support, step S407 And turn off the support end permission flag F2. On the other hand, when the own vehicle speed v50 is smaller than the threshold value (NO), the process proceeds to step S401 in order to determine another end condition.

In step S401, it is determined whether or not the accelerator opening is sufficiently large. Here, it is determined whether or not the accelerator opening is equal to or greater than the threshold value, and if it is equal to or greater than the threshold value (YES), it can be determined that the own vehicle 50 is about to accelerate and support for passing driving is not required. Therefore, the process proceeds to step S407 and the support end permission flag F2 is turned off. On the other hand, when the accelerator opening degree is smaller than the threshold value, the process proceeds to step S402 in order to determine another end condition.

In step S402, it is determined whether or not the mileage is sufficient. Here, it is determined whether or not the mileage after starting the support is equal to or greater than the threshold value, and if it is equal to or greater than the threshold value (YES), it is determined that the own vehicle 50 has sufficiently advanced and the passing with the oncoming vehicle 60 has been completed. Therefore, in order to end the support, the process proceeds to step S407 and the support end permission flag F2 is turned off. On the other hand, when the mileage is smaller than the threshold value (NO), the process proceeds to step S403 in order to determine another end condition.

In step S403, it is determined whether or not the gear position of the own vehicle 50 is the drive "D" or the reverse "R". When the gear position is other than the drive "D" or the reverse "R" (NO), the process proceeds to step S407 and the support end permission flag F2 is turned off in order to end the support. On the other hand, when the gear positions are the drive "D" and the reverse "R" (YES), it can be determined that the own vehicle 50 is in the passing operation. Therefore, in order to determine another end condition, step S404 is performed. move on.

In step S404, it is determined whether or not the side brake of the own vehicle 50 is applied. Then, when the side brake is applied (YES), it can be determined that the passing is completed and the own vehicle 50 is about to be completely stopped. Therefore, in order to end the support, the process proceeds to step S407 and the support end permission is granted. The flag F2 is turned off. On the other hand, when the side brake is not applied (NO), the process proceeds to step S405 in order to determine another end condition.

In step S405, it is determined whether or not the winker of the own vehicle 50 is lit. Then, when the blinker is lit (YES), it can be determined that the own vehicle is about to turn left or right, so the process proceeds to step S407 and the support end permission flag F2 is turned off. On the other hand, when the blinker is not lit (NO), the process proceeds to step S406 and the support end permission flag F2 is turned ON in order to continue the support.

Next, the processing operation of the support forced termination determination unit 8 will be described. The support forced termination determination unit 8 determines from the change in the position of the oncoming vehicle 60 that the oncoming vehicle 60 does not need support by turning right or left, and performs a process of immediately terminating the support.

As shown in FIG. 7, this process operates to immediately end the support when the oncoming vehicle 60 turns left and no longer passes by the oncoming vehicle 60, and the position of the oncoming vehicle 60 Based on the information, determine the situation where the passing does not occur.

Specifically, as shown in FIG. 7A, the line segment extending parallel to the own vehicle 50 from the center of the oncoming vehicle 60 is defined as the oncoming vehicle center line CL, and the oncoming vehicle center line from the side surface of the own vehicle 50. The vertical distance w110 to the CL is acquired.

Next, as shown in FIG. 3B, when the oncoming vehicle 60 starts to turn left, the oncoming vehicle center line CL is separated from the own vehicle 50, so that the distance w110 to the oncoming vehicle center line CL becomes a large value. ..

In this process, it is determined that the oncoming vehicle 60 has turned left based on the change in the distance w110 to the oncoming vehicle center line CL while the oncoming vehicle 60 is performing a series of operations to turn left, and the oncoming vehicle 60 makes a left turn. When the vehicle turns left, the support end determination flag F2 is turned off.
Although not shown, when the oncoming vehicle 60 turns right, the oncoming vehicle center line CL approaches the own vehicle 50, so that the distance w110 to the oncoming vehicle center line CL becomes a small value. In this case, it is determined that the oncoming vehicle 60 has turned right based on the change in the distance w110 to the oncoming vehicle center line CL while the oncoming vehicle 60 is performing a series of operations to turn right, and the oncoming vehicle 60 has turned right. In that case, the support end determination flag F2 is turned off.

Subsequently, the processing operation of the passing support implementing unit 9 will be described with reference to the flowchart of FIG. When it is determined that the passing support is necessary, the passing support implementing unit 9 causes the side camera 10 and the vehicle control system 13 to provide the passing support based on the judgment result of the narrow road passing support determination unit 4, and the passing support is unnecessary. If it is determined that, the process of ending the implementation of the passing support is performed.

The passing support implementation unit 9 selects support suitable for the scene faced by the own vehicle 50 based on information such as the size of the passable width and the possibility of derailing / contact of the own vehicle 50, and the selected support signal. Is sent to the equipment necessary for the implementation of support. For example, the passing support implementation unit 9 activates the side camera 10 when it is determined that the support is permitted, and performs a process of displaying the image captured by the side camera 10 on the display. The image captured by the side camera 10 includes the vicinity of the road surface on the passenger side, which is a blind spot for the driver.

The passing support implementation unit 9 determines the difficulty level of passing between the own vehicle 50 and the oncoming vehicle 60. Then, when the difficulty level of passing is high, in addition to the side camera 10, the vehicle control system 13 is instructed to carry out passing support. The difficulty level of passing is determined based on the information of the width w50 of the own vehicle 50 and the passable width w70, and is determined by the threshold value. The threshold value may be arbitrarily set by the driver.

First, in step S500, the difficulty level of passing the own vehicle 50 and the oncoming vehicle 60 is determined based on the information of the width w50 of the own vehicle 50 and the passable width w70. Here, it is determined whether or not the passable width w70 and the width w50 of the own vehicle 50 are substantially equal values. When it is determined that the difference between the passable width w70 and the width w50 of the own vehicle 50 is large (NO), it is determined that the difficulty level of passing is low, the process proceeds to step S502, and the side camera 10 is activated. Will be done.

On the other hand, when it is determined in step S500 that the passable width w70 and the width w50 of the own vehicle 50 are substantially equal values (YES), it is determined that the difficulty level of passing is high, and the process proceeds to step S501. In step S501, the width of the own vehicle 50 to the roadside object M1 is insufficient and there is a possibility of contact with the oncoming vehicle 60, or the own vehicle 50 is too wide to the roadside object M1 to cause derailment / contact. It is judged whether there is a possibility.

For example, when the width w50 of the own vehicle 50 is almost the same as the passable width w70, even if it is determined that the passing is possible, the width alignment is insufficient at the time of passing and the own vehicle 50 faces each other. There is a possibility of contact with the vehicle 60, or there is a possibility of derailing or contacting the roadside object M1 due to excessive width adjustment. Therefore, in step S501, the width of the own vehicle 50 to the roadside object M1 is insufficient and there is a possibility of contact with the oncoming vehicle 60, or the own vehicle 50 is too wide to the roadside object M1 to cause derailment / contact. If it is determined that there is a possibility (YES in step S501), it is determined that the difficulty level of passing is high, and the process proceeds to step S504.

In step S501, the determination is made based on the position information of the roadside object M1 and the oncoming vehicle 60. The passing support implementing unit 9 estimates the width of the own vehicle 50 based on the width of the own vehicle 50 and the position information of the roadside object M1, and the width of the own vehicle 50 is insufficiently adjusted so that the vehicle can come into contact with the oncoming vehicle 60. If there is a possibility or the width is too close and there is a possibility of derailing or contacting, the process proceeds to step S504, and a start instruction is output to the side camera. Then, the process proceeds to step S505, and a vehicle control instruction is output to the vehicle control system 13.

For example, if the own vehicle 50 and the oncoming vehicle 60 lap, but the distance w100 from the side surface of the own vehicle 50 to the roadside object M1 is equal to or greater than the threshold value and there is a margin in the left side region of the own vehicle 50, the oncoming vehicle Since there is a possibility of contact with the 60, but it can be determined that there is still a margin for the width adjustment, steering support of the own vehicle 50 is performed so as to adjust the width. Further, if the own vehicle 50 and the oncoming vehicle 60 are not lapped and there is a possibility that the vehicle may come into contact with the roadside object M1 or derail if the vehicle travels at the current steering angle, the side-alignment is terminated. It provides steering support for the own vehicle 50.

As described above, the narrow road passing support device 1 according to the present embodiment determines whether or not the own vehicle passes the oncoming vehicle on the narrow road based on the information acquired by the front camera 2, and sets the faced scene. Suitable driving assistance can be provided.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various designs are designed without departing from the spirit of the present invention described in the claims. It is something that can be changed. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

1 Narrow road passing support device (driving support device)
2 Front camera 3 Own vehicle information 4 Narrow road passing support judgment unit 5 Support permission judgment unit 6 Support unnecessary judgment unit 7 Support end judgment unit 8 Support forced termination judgment unit 9 Passing support implementation unit 10 Side camera 11 Display 13 Vehicle control system 50 Own vehicle 60 Oncoming vehicle

Claims (17)

The own vehicle information acquisition unit that acquires the own vehicle information including the width and speed information of the own vehicle,
An oncoming vehicle information acquisition unit that acquires oncoming vehicle information including information on the width, position, and speed of the oncoming vehicle based on an image captured by the front camera.
From the speed change of the own vehicle, the speed change of the oncoming vehicle, and the relative position of the own vehicle and the oncoming vehicle, the speed of the oncoming vehicle when the own vehicle and the oncoming vehicle pass each other is estimated. Speed estimation unit and
A road information acquisition unit that acquires road information that is information on the road on which the own vehicle is traveling based on an image captured by the front camera and includes at least information on the position of a roadside object.
A narrow road passing state that determines whether or not the own vehicle is in a narrow road passing state in which it is predicted that the own vehicle will pass the oncoming vehicle on a narrow road based on the own vehicle information, the oncoming vehicle information, and the road information. Judgment unit and
Assistance for determining whether or not to allow support for passing driving of the own vehicle based on the speed of the oncoming vehicle when the own vehicle and the oncoming vehicle pass each other when it is determined that the narrow road is in a passing state. Permission judgment unit and
The passing support implementation unit that displays the captured image captured by the side camera on the display when it is determined that the support for the passing driving is permitted.
A driving support device characterized by being equipped with. The road information acquisition unit acquires the position of the roadside object existing on the road in front of the own vehicle, and based on the acquired position of the roadside object and the position of the oncoming vehicle acquired by the oncoming vehicle information acquisition unit. The driving support device according to claim 1, further comprising a passable width calculation unit that calculates a passable width, which is a road width that the own vehicle passes through. The road information acquisition unit acquires the position of the roadside object existing on the road in front of the own vehicle, and based on the acquired position of the roadside object and the position of the oncoming vehicle acquired by the oncoming vehicle information acquisition unit. The first aspect of claim 1, wherein the oncoming vehicle has an oncoming vehicle width adjustment margin width calculation unit that calculates the margin width on the road required for the oncoming vehicle to adjust the width when passing each other as the oncoming vehicle width adjustment margin width. Driving support device. The first aspect of claim 1 is characterized in that it has a support-free determination unit that determines whether or not the support for the passing driving is unnecessary with respect to the passing of the oncoming vehicle based on the own vehicle information and the road information. Driving support device. The support-free determination unit determines whether or not the own vehicle deviates from the white line based on the information of the white line acquired by the road information acquisition unit, and when the own vehicle does not deviate from the white line. The driving support device according to claim 4, wherein it is determined that the support for passing driving is unnecessary. The support-free determination unit determines whether or not the winker of the own vehicle is lit based on the information of the winker lighting state of the own vehicle acquired by the own vehicle information acquisition unit, and the winker of the own vehicle determines whether or not the winker of the own vehicle is lit. The driving support device according to claim 4, wherein it is determined that the support for passing driving is unnecessary when the vehicle is lit. The support-free determination unit refers to the own vehicle with respect to the roadside object based on the width of the own vehicle acquired by the own vehicle information acquisition unit and the position information of the roadside object acquired by the road information acquisition unit. The driving support according to claim 4, wherein it is determined whether or not the width of the vehicle has been adjusted, and when it is determined that the own vehicle has been adjusted to the width, it is determined that the support for the passing driving is unnecessary. apparatus. The support-free determination unit determines whether or not the own vehicle is traveling straight based on the information on the steering angle of the own vehicle acquired by the own vehicle information acquisition unit, and the own vehicle is not traveling straight. The driving support device according to claim 4, wherein it is determined that the support for passing driving is unnecessary in some cases. The support-free determination unit acquires information on at least the width of the preceding vehicle traveling in the same direction as the own vehicle in front of the own vehicle based on the captured image captured by the front camera, and obtains information on at least the width of the preceding vehicle. It is determined whether or not the width is wider than the width of the own vehicle acquired by the own vehicle information acquisition unit, and when the width of the preceding vehicle is wider than the width of the own vehicle, the support for the passing driving is unnecessary. The driving support device according to claim 4, wherein the driving support device is characterized in that. Based on the support implementation state acquired from the passing support implementation unit, the support end determination unit that determines whether or not to end the support for the passing driving when the own vehicle completes passing with the oncoming vehicle. The driving support device according to claim 1, wherein the driving support device comprises. The support end determination unit is based on at least one information of the speed, the accelerator opening, the mileage, the gear state, the side brake state, and the blinker lighting state acquired by the own vehicle information acquisition unit, and the own vehicle is facing the opposite. The driving support device according to claim 10, wherein it is determined whether or not the passing with the vehicle is completed. The driving support device according to claim 10, wherein the passing support implementing unit continues or terminates support for the passing driving based on a determination result acquired by the support end determination unit. Based on the support implementation status acquired from the passing support implementing unit, the support forced termination determination unit that determines whether or not the passing driving support is necessary when the passing vehicle and the oncoming vehicle no longer pass each other. The driving support device according to claim 1, wherein the driving support device comprises. When the oncoming vehicle leaves the road in front of the own vehicle by turning right or left based on the position information acquired by the oncoming vehicle information acquisition unit, the support forced termination determination unit is used. The driving support device according to claim 13, wherein the support for passing driving is terminated. The driving support device according to claim 13, wherein the passing support implementing unit continues or terminates support for the passing driving based on a determination result acquired by the support forced termination determination unit. The passing support implementing unit estimates the width adjustment state of the own vehicle based on the width of the own vehicle and the position information of the roadside object acquired by the road information acquisition unit, and the width adjustment of the own vehicle is insufficient or The driving support device according to claim 1, wherein steering support is provided in an excessive case. The own vehicle information acquisition unit that acquires the own vehicle information including the width and speed information of the own vehicle,
An oncoming vehicle information acquisition unit that acquires oncoming vehicle information including information on the width, position, and speed of the oncoming vehicle based on an image captured by the front camera.
A road information acquisition unit that acquires road information that is information on the road on which the own vehicle is traveling based on an image captured by the front camera and includes at least information on the position of a roadside object.
A narrow road passing state that determines whether or not the own vehicle is in a narrow road passing state in which it is predicted that the own vehicle will pass the oncoming vehicle on a narrow road based on the own vehicle information, the oncoming vehicle information, and the road information. Judgment unit and
Assistance for determining whether or not to allow support for passing driving of the own vehicle based on the speed of the oncoming vehicle when the own vehicle and the oncoming vehicle pass each other when it is determined that the narrow road is in a passing state. Permission judgment unit and
Based on the information on the position of the oncoming vehicle and the position of the roadside object, the oncoming vehicle width is adjusted to the margin width on the road where the oncoming vehicle is aligned with the road edge when the own vehicle passes by the oncoming vehicle. Oncoming vehicle width adjustment margin width calculation unit that calculates as margin width,
When the oncoming vehicle width adjustment margin width is larger than the threshold value, the support unnecessary determination unit that determines that the support for passing driving is unnecessary, and the support unnecessary determination unit.
A driving support device characterized by being equipped with.

Images