JP2021022325A - Drive support control device, drive support system, drive support control method, and program - Google Patents

Abstract

To support proper determination by drivers of vehicles passing each other.SOLUTION: A drive support control device includes: a peripheral situation recognizing unit 53 as an other vehicle information acquisition unit for acquiring other vehicle information of another vehicle located in a periphery of a vehicle; a passing determination unit 54 for determining whether or not the other vehicle may pass the vehicle based on other vehicle information acquired by the peripheral situation recognizing unit 53; a bird's-eye view video generation unit 57 as an information generation unit for generating a bird's-eye view video as passing information including information showing a relative positional relation with a traveling road on which the vehicle is traveling when the passing determination unit 54 determines that the other vehicle may pass; and a transmission control unit 58 for transmitting the bird's-eye view video generated by the bird's-eye view video generation unit 57 to the other vehicle.SELECTED DRAWING: Figure 2

Description

The present invention relates to a driving support control device, a driving support system, a driving support control method and a program.

For example, when vehicles pass each other in a narrow alley, there is known a technique of displaying a place where they can pass each other based on map information or the like (for example, Patent Document 1, Patent Document 2, Patent Document 3). reference).

Japanese Unexamined Patent Publication No. 10-086761 Japanese Unexamined Patent Publication No. 2006-106945 JP-A-2018-151177

If the drivers of both vehicles cannot properly determine the passing point, which is a suitable place for passing, passing may become difficult. In order to properly pass each other, it is desirable that the drivers of both vehicles passing each other check the surrounding conditions and appropriately determine the passing point.

The present invention has been made in view of the above, and an object of the present invention is to support an appropriate judgment by drivers of both vehicles passing each other.

In order to solve the above-mentioned problems and achieve the object, the driving support control device according to the present invention includes another vehicle information acquisition unit that acquires other vehicle information of other vehicles located in the vicinity of the vehicle, and the other vehicle information. When it is determined that the passing determination unit that determines whether or not the other vehicle may pass the vehicle and the passing determination unit may pass each other based on the other vehicle information acquired by the acquisition unit, the vehicle And the information generation unit that generates the passing information including the information indicating the relative positional relationship with the traveling road on which the vehicle is traveling, and the passing information generated by the information generation unit is transmitted to the other vehicle. A transmission control unit is provided.

The driving support system according to the present invention includes at least one of the above-mentioned driving support control device, a photographing unit for photographing the periphery of the vehicle, and a display unit for displaying the passing information generated by the information generating unit.

The driving support control method according to the present invention is based on the other vehicle information acquisition step of acquiring other vehicle information of another vehicle located in the vicinity of the vehicle and the other vehicle information acquired by the other vehicle information acquisition step. When it is determined by the passing determination step for determining whether or not the other vehicle may pass the vehicle and the passing determination step may cause the other vehicle to pass each other, the vehicle and the traveling road on which the vehicle is traveling It includes an information generation step for generating passing information including information indicating a relative positional relationship, and a transmission control step for transmitting the passing information generated by the information generation step to the other vehicle.

The program according to the present invention is based on the other vehicle information acquisition step for acquiring other vehicle information of another vehicle located in the vicinity of the vehicle and the other vehicle information acquired by the other vehicle information acquisition step. When it is determined that there is a possibility of passing by the passing determination step for determining whether or not there is a possibility of passing the vehicle and the passing determination step, the relative between the vehicle and the traveling road on which the vehicle is traveling. A computer that operates as a driving support control device includes an information generation step that generates passing information including information indicating a positional relationship, and a transmission control step that transmits the passing information generated by the information generation step to the other vehicle. Let it run.

According to the present invention, it is possible to support an appropriate judgment by the drivers of both vehicles passing each other.

FIG. 1 is a schematic diagram illustrating an outline of a driving support system according to the first embodiment. FIG. 2 is a block diagram showing a configuration example of the first device of the driving support system according to the first embodiment. FIG. 3 is a block diagram showing a configuration example of the second device of the driving support system according to the first embodiment. FIG. 4 is a diagram showing an example of a bird's-eye view image generated by the first apparatus according to the first embodiment. FIG. 5 is a flowchart showing an example of a processing flow in the first apparatus according to the first embodiment. FIG. 6 is a block diagram showing a configuration example of the first device of the driving support system according to the second embodiment. FIG. 7 is a block diagram showing a configuration example of the first device of the driving support system according to the third embodiment. FIG. 8 is a diagram showing an example of a bird's-eye view image generated by the first apparatus according to the third embodiment. FIG. 9 is a flowchart showing an example of the processing flow in the first apparatus according to the third embodiment. FIG. 10 is a block diagram showing a configuration example of the first device of the driving support system according to the fourth embodiment. FIG. 11 is a block diagram showing a configuration example of the second device of the driving support system according to the fourth embodiment. FIG. 12 is a flowchart showing an example of a processing flow in the first apparatus according to the fourth embodiment.

Hereinafter, embodiments of the control unit 50, the driving support system 1, the driving support control method, and the program as the driving support control device according to the present invention will be described in detail with reference to the accompanying drawings. The present invention is not limited to the following embodiments.

[First Embodiment]
<Driving support system 1>
FIG. 1 is a schematic diagram illustrating an outline of the driving support system 1 according to the first embodiment. FIG. 2 is a block diagram showing a configuration example of the first device 10 of the driving support system 1 according to the first embodiment. FIG. 3 is a block diagram showing a configuration example of the second device 80 of the driving support system 1 according to the first embodiment. When the vehicle V may pass the other vehicle V1, the driving support system 1 transmits the information around the vehicle V to the other vehicle V1 as the passing information. In the present embodiment, the driving support system 1 transmits a bird's-eye view image 100 (see FIG. 4) around the vehicle V to the other vehicle V1 when the vehicle V may pass the other vehicle V1. The driving support system 1 includes a first device 10 as a driving support device mounted on the vehicle V and a second device 80 as an external device mounted on the other vehicle V1.

In the present embodiment, it is assumed that another vehicle V1 is about to enter the traveling road R from the connecting road R1 connected to the traveling road R on which the vehicle V is traveling. The width of the traveling road R shall be slightly wider than the width of two passenger cars. A corner mirror C that reflects the connecting road R1 is arranged on the traveling road R. Fences F1 and F2 are installed on both sides of the road R.

<First device>
The first device 10 may be a portable device that can be used in the vehicle V, in addition to the device mounted on the vehicle V. The first device 10 includes a front bird's-eye view image camera (shooting unit) 11, a rear bird's-eye view image camera (shooting unit) 12, a left bird's-eye view image camera (shooting unit) 13, and a right bird's-eye view image camera (shooting unit). ) 14, an interface unit 21, a recognition dictionary storage unit 31, a display unit 41, and a control unit (driving support control device) 50.

The front bird's-eye view image camera 11 is a bird's-eye view image camera. The front bird's-eye view image camera 11 is arranged in front of the vehicle V and photographs the surroundings centered on the front of the vehicle V. The front bird's-eye view image camera 11 captures, for example, a shooting range of about 180 °. The shooting range includes a wider range in front of the vehicle V than the display range of the bird's-eye view image 100. The front bird's-eye view image camera 11 outputs the captured peripheral image data to the image data acquisition unit 51 of the control unit 50.

The rear bird's-eye view image camera 12 is a bird's-eye view image camera. The rear view image camera 12 is arranged behind the vehicle V and photographs the surroundings centered on the rear of the vehicle V. The rear view image camera 12 captures, for example, a shooting range of about 180 °. The shooting range includes a wider range behind the vehicle V than the display range of the bird's-eye view image 100. The rear view image camera 12 outputs the captured peripheral image data to the image data acquisition unit 51 of the control unit 50.

The left bird's-eye view image camera 13 is a bird's-eye view image camera. The left bird's-eye view image camera 13 is arranged on the left side of the vehicle V, and photographs the surroundings centered on the left side of the vehicle V. The left bird's-eye view image camera 13 captures, for example, a shooting range of about 180 °. The shooting range includes a wider range on the left side of the vehicle V than the display range of the bird's-eye view image 100. The left bird's-eye view image camera 13 outputs the captured peripheral image data to the image data acquisition unit 51 of the control unit 50.

The right bird's-eye view image camera 14 is a bird's-eye view image camera. The right bird's-eye view image camera 14 is arranged on the right side of the vehicle V, and photographs the surroundings centered on the right side of the vehicle V. The right bird's-eye view image camera 14 captures, for example, a shooting range of about 180 °. The shooting range includes a wider range on the right side of the vehicle V than the display range of the bird's-eye view image 100. The right bird's-eye view image camera 14 outputs the captured peripheral image data to the image data acquisition unit 51 of the control unit 50.

The front bird's-eye view image camera 11, the rear bird's-eye view image camera 12, the left bird's-eye view image camera 13, and the right bird's-eye view image camera 14 capture all directions of the vehicle V. The camera 11 for the front bird's-eye view image, the camera 12 for the rear bird's-eye view image, the camera 13 for the left bird's-eye view image, and the camera 14 for the right bird's-eye view image are not limited to this, and may be an all-sky camera that photographs the periphery of the vehicle V.

The interface unit 21 is an interface for transmitting and receiving information to and from the second device 80 mounted on the other vehicle V1. The interface unit 21 connects to, for example, a Wi-Fi (registered trademark) or a communication line such as a telephone, and transmits the generated bird's-eye view image 100 to the second device 80 mounted on the other vehicle V1.

The recognition dictionary storage unit 31 stores, for example, a recognition dictionary capable of collating patterns such as the shape, size, and color of the vehicle V in each direction. The recognition dictionary storage unit 31 is, for example, a semiconductor memory element such as a RAM, ROM, or flash memory, or a storage device such as an external storage device via a hard disk, an optical disk, or a network.

As an example, the display unit 41 is a display device shared with other systems including a navigation system. The display unit 41 is a monitor for checking the periphery of the vehicle V at a required timing. The display unit 41 can take various forms if the surroundings of the vehicle V can be confirmed. As an example of the display panel, it is also possible to use an electronic rear-view mirror or to function as an instrument panel. The display unit 41 is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminence) display. The display unit 41 is arranged at a position that is easily visible to the driver. In the present embodiment, the display unit 41 is arranged on the dashboard, the instrument panel, the center console, or the like in front of the driver of the vehicle V. The display unit 41 displays the bird's-eye view image 100 of the vehicle V based on the image signal output from the display control unit 59 of the control unit 50.

When there is a possibility that the vehicle V may pass the other vehicle V1, the control unit 50 generates a bird's-eye view image 100 for confirming the periphery of the vehicle V and provides it to the second device 80 of the other vehicle V1. The control unit 50 is an arithmetic processing unit (control unit) composed of, for example, a CPU (Central Processing Unit) or a video processing processor. The control unit 50 loads a program stored in a storage unit (not shown) into the memory and executes an instruction included in the program. The control unit 50 includes a video data acquisition unit 51, a vehicle information acquisition unit 52, a peripheral situation recognition unit (other vehicle information acquisition unit) 53, a passing determination unit 54, and a bird's-eye view image generation unit (information generation unit) 57. , A transmission control unit 58, a display control unit 59, and a storage unit which is an internal memory are included. The control unit 50 may be composed of one or a plurality of devices.

The video data acquisition unit 51 acquires peripheral video data obtained by photographing the periphery of the vehicle V. More specifically, the video data acquisition unit 51 acquires peripheral video data output by the front bird's-eye view image camera 11, the rear bird's-eye view image camera 12, the left bird's-eye view image camera 13, and the right bird's-eye view image camera 14. The video data acquisition unit 51 outputs the acquired peripheral video data to the bird's-eye view video generation unit 57.

The vehicle information acquisition unit 52 acquires vehicle information including vehicle speed information of the vehicle V from CAN (Control Area Network) or various sensors that sense the state of the vehicle V. The vehicle information acquisition unit 52 acquires information on the traveling direction of the vehicle V acquired from CAN or various sensors as vehicle information. The vehicle information acquisition unit 52 outputs the acquired vehicle information to the passing determination unit 54.

The surrounding situation recognition unit 53 functions as another vehicle information acquisition unit that acquires information on other vehicles V1 around the vehicle V. In the present embodiment, the surrounding situation recognition unit 53 recognizes the situation around the vehicle V. The peripheral situation recognition unit 53 performs pattern matching using the recognition dictionary stored in the recognition dictionary storage unit 31 with respect to the peripheral video data acquired by the video data acquisition unit 51, and recognizes the other vehicle V1. The surrounding situation recognition unit 53 recognizes another vehicle V1 that may enter the traveling road R of the vehicle V. More specifically, the surrounding situation recognition unit 53 recognizes an oncoming vehicle located in front of the vehicle V as another vehicle V1 on the traveling road R of the vehicle V. In front of the vehicle V, the surrounding situation recognition unit 53 uses, for example, another vehicle V1 that is about to enter the driving road R from a road that intersects or connects with the driving road R of the vehicle V, a parking lot facing the driving road R, or the like. recognize. The surrounding situation recognition unit 53 may recognize the direction indicator of the other vehicle V1 and recognize the other vehicle V1 entering in the direction of passing the vehicle V. The surrounding situation recognition unit 53 outputs the recognition result as other vehicle information to the passing determination unit 54.

The surrounding situation recognition unit 53 reads the characters, numbers, and symbols on the license plate of the recognized other vehicle V1 and recognizes the other vehicle identification information that identifies the other vehicle V1.

The surrounding situation recognition unit 53 recognizes the corner mirror C on which the other vehicle V1 is projected from the peripheral video data acquired by the video data acquisition unit 51, and may enter the driving road R of the vehicle V. May be recognized.

The surrounding situation recognition unit 53 performs image processing on the peripheral video data acquired by the video data acquisition unit 51 to acquire the road width of the traveling road R on which the vehicle V is traveling.

The passing determination unit 54 determines whether or not the vehicle V may pass the other vehicle V1 based on the other vehicle information indicating the other vehicle V1. In the present embodiment, the passing determination unit 54 determines whether or not the vehicle V may pass the other vehicle V1 based on the recognition result of the surrounding situation recognition unit 53. More specifically, the passing determination unit 54 is based on the recognition result of the surrounding situation recognition unit 53, and the road width of the traveling road R of the vehicle V is equal to or less than the threshold value, and the other vehicle may enter the traveling road R of the vehicle V. When V1 is recognized, it is determined that the vehicle V may pass another vehicle V1. The threshold value of the road width is slightly wider than the width of two passenger cars, for example, about 3.8 m.

The bird's-eye view image generation unit 57 has a function as an information generation unit that generates passing information including information indicating a relative positional relationship between the vehicle V and the traveling road R. In the present embodiment, when the passing determination unit 54 determines that the vehicle V may pass another vehicle V1, the bird's-eye view image generation unit 57 converts the viewpoint conversion process and the peripheral image data acquired by the image data acquisition unit 51 into the peripheral image data. The composition process is performed, and a bird's-eye view image 100 displaying a predetermined display range from the vehicle V is generated as passing information. The bird's-eye view image generation unit 57 outputs the generated bird's-eye view image 100 to the transmission control unit 58 and the display control unit 59. The bird's-eye view image generation unit 57 includes a viewpoint conversion processing unit 571, a cutting processing unit 572, and a composition processing unit 573.

The passing information includes information indicating the vehicle width of the vehicle V and the road width of the traveling road R. The passing information may include information indicating obstacles such as utility poles, signs and gutters installed on the road R of the vehicle V.

The viewpoint conversion processing unit 571 performs viewpoint conversion processing on the peripheral video data acquired by the video data acquisition unit 51 so as to look down from above the vehicle V. More specifically, the viewpoint conversion processing unit 571 refers to the viewpoint based on the peripheral image data captured by the front bird's-eye view image camera 11, the rear bird's-eye view image camera 12, the left bird's-eye view image camera 13, and the right bird's-eye view image camera 14. Generates the converted video. The method of the viewpoint conversion process may be any known method and is not limited. The viewpoint conversion processing unit 571 outputs the peripheral video data that has undergone the viewpoint conversion processing to the cutout processing unit 572.

The cutout processing unit 572 performs a cutout process for cutting out a predetermined range of video from the peripheral video data that has undergone the viewpoint conversion process. Which range is to be the cutout range is registered and stored in advance. In the present embodiment, the cutting range is a range in which the road width can be confirmed when the vehicle V is traveling on a road of about 3.8 m. The cutting range includes, for example, a range of about 2 m from the vehicle V. The cutout processing unit 572 outputs the video data of the cutout processed video to the synthesis processing unit 573.

The compositing processing unit 573 performs a compositing process for synthesizing the video data that has been cut out. The compositing processing unit 573 generates a bird's-eye view video 100 in which the vehicle icon 110 is displayed on the composited video.

The bird's-eye view image 100 will be described with reference to FIG. FIG. 4 is a diagram showing an example of a bird's-eye view image 100 generated by the first apparatus 10 according to the first embodiment. The bird's-eye view image 100 displays a range of about 2 m from the vehicle V. As a result, when the vehicle V is traveling in a narrow alley with a road width of 3.8 m or less, the bird's-eye view image 100 displays a wall F1, a wall F2, a gutter, or the like installed at the boundary of the road R. The bird's-eye view image 100 includes a vehicle icon 110 located at the center. The vehicle icon 110 indicates the relative relationship between the vehicle width of the vehicle V and the road width of the traveling road R, and the position and orientation of the vehicle V. The vehicle icon 110 is arranged at the center of the bird's-eye view image 100 with the front-rear direction parallel to the front-rear direction.

The transmission control unit 58 transmits the passing information, which is information for supporting the judgment of the passing, to the passing vehicle. In this embodiment. The transmission control unit 58 uses the second device 80 mounted on the other vehicle V1 that recognizes the bird's-eye view image 100 generated by the bird's-eye view image generation unit 57 based on the recognition result of the surrounding situation recognition unit 53. Send to.

The display control unit 59 causes the display unit 41 to display the passing information. In the present embodiment, the display control unit 59 causes the display unit 41 to display the bird's-eye view image 100 generated by the bird's-eye view image generation unit 57. When the bird's-eye view image 100 generated by the bird's-eye view image generation unit 57 is displayed by the display control unit 59, there is a possibility of passing each other through a speaker (not shown) or the like, and the bird's-eye view image 100 is displayed. Is preferably announced by voice.

<Second device>
The second device 80 may be a portable device that can be used in the other vehicle V1 in addition to the device mounted on the other vehicle V1. The second device 80 includes an interface unit 81, a display unit 82, and a control unit 90.

The interface unit 81 is an interface for transmitting and receiving information to and from the first device 10. The interface unit 81 connects to, for example, a communication line such as Wi-Fi or a telephone, and receives the bird's-eye view image 100 generated from the first device 10.

As an example, the display unit 82 is a display device shared with other systems including a navigation system. The display unit 82 displays the bird's-eye view image 100 of the vehicle V received from the first device 10 based on the image signal output from the display control unit 92 of the control unit 90.

The control unit 90 is an arithmetic processing unit (control unit) composed of, for example, a CPU or a video processing processor. The control unit 90 loads a program stored in a storage unit (not shown) into the memory and executes an instruction included in the program. The control unit 90 includes a passing information acquisition unit 91, a display control unit 92, and a storage unit (not shown) which is an internal memory. The control unit 90 may be composed of one or a plurality of devices.

The passing information acquisition unit 91 acquires the passing information from the passing partner vehicle. In the present embodiment, the passing information acquisition unit 91 acquires the bird's-eye view image 100 as the passing information from the first device 10. The passing information acquisition unit 91 outputs the acquired bird's-eye view image 100 to the display control unit 92.

The display control unit 92 causes the display unit 82 to display the acquired passing information. In the present embodiment, the display control unit 92 causes the display unit 82 to display the acquired bird's-eye view image 100. When the display control unit 92 displays the bird's-eye view image 100 acquired from the first device 10, there is a possibility of passing each other through a speaker (not shown) or the like, and the bird's-eye view image 100 acquired from the first device 10 It is preferable to notify by voice that is displayed.

<Information processing in the first device>
Next, the flow of processing in the control unit 50 of the first device 10 will be described with reference to FIG. FIG. 5 is a flowchart showing an example of a processing flow in the first apparatus 10 according to the first embodiment.

When the driving support system 1 is activated, the front bird's-eye view image camera 11, the rear bird's-eye view image camera 12, the left bird's-eye view image camera 13, and the right bird's-eye view image camera 14 of the first device 10 photograph the periphery of the vehicle V. To do. The control unit 50 of the first device 10 acquires peripheral video data by the video data acquisition unit 51, and recognizes the situation around the vehicle V by the peripheral situation recognition unit 53. The control unit 50 acquires vehicle information by the vehicle information acquisition unit 52.

The control unit 50 determines whether or not the road width of the traveling road R of the vehicle V is narrow by the passing determination unit 54 (step S101). More specifically, the passing determination unit 54 determines whether or not the road width of the traveling road R of the vehicle V is equal to or less than the threshold value based on the recognition result of the surrounding situation awareness unit 53. When the passing determination unit 54 determines that the road width of the traveling road R of the vehicle V is equal to or less than the threshold value (Yes in step S101), the process proceeds to step S102. When the passing determination unit 54 does not determine that the road width of the traveling road R of the vehicle V is equal to or less than the threshold value (No in step S101), the process of step S101 is executed again.

When it is determined that the road width of the traveling road R of the vehicle V is equal to or less than the threshold value (Yes in step S101), the control unit 50 determines by the passing determination unit 54 whether or not there is another vehicle V1 that may pass each other (Yes). Step S102). More specifically, when the passing determination unit 54 recognizes another vehicle V1 that may enter the driving road R of the vehicle V based on the recognition result of the surrounding situation awareness unit 53 (Yes in step S102), the step Proceed to S103. If the passing determination unit 54 does not recognize another vehicle V1 that may enter the driving road R of the vehicle V based on the recognition result of the surrounding situation recognition unit 53 (No in step S102), the process of step S101 is repeated. Execute.

When another vehicle V1 that may enter the driving road R of the vehicle V is recognized (Yes in step S102), the control unit 50 generates a bird's-eye view image 100 of the vehicle V by the bird's-eye view image generation unit 57 (step). S103). The control unit 50 proceeds to step S104.

The control unit 50 transmits the bird's-eye view image 100 to the second device 80 by the transmission control unit 58 (step S104). The control unit 50 proceeds to step S105.

The control unit 50 causes the display control unit 59 to display the bird's-eye view image 100 on the display unit 41 (step S105). The control unit 50 notifies by voice that there is a possibility of passing each other and that the bird's-eye view image 100 is being displayed via the speaker. The driver of the vehicle V confirms the bird's-eye view image 100 displayed on the display unit 41. Then, when the driver of the vehicle V passes by another vehicle V1, he / she confirms the road width and obstacles around the vehicle V from the bird's-eye view image 100 to determine the passing point. The control unit 50 proceeds to step S106.

The control unit 50 determines whether or not to end the bird's-eye view video display (step S106). More specifically, the control unit 50 determines that the bird's-eye view video display is terminated when the other vehicle V1 is no longer recognized based on the recognition result of the surrounding situation recognition unit 53 (Yes in step S106), and ends the process. To do. For example, when the vehicle V has passed the other vehicle V1, or when the driver of the other vehicle V1 confirms the bird's-eye view image 100 displayed on the second device 80 and gives up the passing and detours. The other vehicle V1 is not recognized. Based on the recognition result of the surrounding situation recognition unit 53, the control unit 50 determines that the bird's-eye view image display is not terminated when the other vehicle V1 is recognized (No in step S106), and repeats the process of step S103. Execute.

In the other vehicle V1, the passing information acquisition unit 91 of the second device 80 acquires a bird's-eye view image 100 of the vehicle V from the first device 10. Then, the display control unit 92 of the second device 80 displays the acquired bird's-eye view image 100 of the vehicle V on the display unit 82. The driver of the other vehicle V1 confirms the bird's-eye view image 100 of the vehicle V displayed on the display unit 82 of the second device 80. Then, the driver of the other vehicle V1 confirms the road width and obstacles around the vehicle V from the bird's-eye view image 100, and considers the vehicle width of the other vehicle V1 and the proficiency level of his / her own driving technique. Determine whether to pass V, wait for vehicle V to pass, or detour. When the driver of the other vehicle V1 passes the vehicle V, the driver confirms the road width and obstacles around the vehicle V from the bird's-eye view image 100 to determine the passing point.

In this way, when there is a possibility that the vehicle V may pass the other vehicle V1, the first device 10 mounted on the vehicle V mounts the generated bird's-eye view image 100 on the other vehicle V1 as information around the vehicle V. It is transmitted to the second device 80.

<Effect>
As described above, according to the present embodiment, when the vehicle V may pass the other vehicle V1, the first device 10 mounted on the vehicle V generates a bird's-eye view image as information around the vehicle V. 100 can be transmitted to the second device 80 mounted on the other vehicle V1. The driver of the vehicle V can check the bird's-eye view image 100 and determine the passing point. The driver of the other vehicle V1 can check the acquired bird's-eye view image 100 to determine whether or not to pass each other, and when passing each other, determine the passing point. The driver of the other vehicle V1 can appropriately confirm the situation around the vehicle V, which is difficult to see from the other vehicle V1, by the bird's-eye view image 100. In this way, according to the present embodiment, when there is a possibility that the vehicle V and the other vehicle V1 pass each other, it is possible to support the judgment of both drivers and support the driving. According to this embodiment, smooth traffic can be supported.

[Second Embodiment]
The driving support system 1 according to the present embodiment will be described with reference to FIG. FIG. 6 is a block diagram showing a configuration example of the first device 10A of the driving support system 1 according to the second embodiment. The basic configuration of the driving support system 1 is the same as that of the driving support system 1 of the first embodiment. The first device 10A is different from the first embodiment in that it has a peripheral situation information acquisition unit (other vehicle information acquisition unit) 53A instead of the peripheral situation recognition unit 53, and the interface unit 21A and the passing determination unit 54A.

The interface unit 21A is an interface in which the peripheral situation information acquisition unit 53A connects to an information source for acquiring peripheral situation information including information of another vehicle V1 existing in the vicinity of the vehicle V. The interface unit 21A is an interface for performing vehicle-to-vehicle communication with a second device 80 installed in another vehicle V1 or road-to-vehicle communication with a road device (not shown) installed on the road. In the present embodiment, the interface unit 21A acquires peripheral situation information including information on the other vehicle V1 existing in the vicinity of the vehicle V from the second device 80 mounted on the other vehicle V1.

The peripheral situation information acquisition unit 53A functions as another vehicle information acquisition unit that acquires other vehicle information of the other vehicle V1 around the vehicle V. The peripheral situation information acquisition unit 53A acquires the peripheral situation information including the information of the other vehicle V1 existing in the vicinity of the vehicle V. The information of the other vehicle V1 acquired by the peripheral situation information acquisition unit 53A includes the current position information of the other vehicle V1 and the information indicating the shape and size of the other vehicle V1. In the present embodiment, the peripheral situation information acquisition unit 53A acquires the peripheral situation information by vehicle-to-vehicle communication with the second device 80 installed in the other vehicle V1 or road-to-vehicle communication with the road device.

Based on the peripheral situation information acquired by the peripheral situation information acquisition unit 53A, the passing determination unit 54A has a road width of the vehicle V's traveling road R equal to or less than the threshold value, and may enter the traveling road R of the vehicle V. When indicating that V1 exists, it is determined that the vehicle V may pass another vehicle V1.

<Effect>
As described above, according to the present embodiment, the vehicle V can pass the other vehicle V1 based on the surrounding situation information acquired by the vehicle-to-vehicle communication with the second device 80 or the road-to-vehicle communication with the road device. It is possible to determine whether or not there is a sex. According to the present embodiment, for example, even when the visibility is poor and the other vehicle V1 cannot be seen from the vehicle V, the other vehicle information of the other vehicle V1 can be appropriately acquired.

[Third Embodiment]
The driving support system 1 according to the present embodiment will be described with reference to FIGS. 7 to 9. FIG. 7 is a block diagram showing a configuration example of the first device 10B of the driving support system 1 according to the third embodiment. FIG. 8 is a diagram showing an example of a bird's-eye view image 100 generated by the first apparatus 10B according to the third embodiment. FIG. 9 is a flowchart showing an example of the processing flow in the first apparatus 10B according to the third embodiment. The first apparatus 10B is different from the first embodiment in that it further has a passing point determination unit 55B, and the surrounding situation recognition unit 53B and the synthesis processing unit 573B of the bird's-eye view image generation unit 57B.

The surrounding situation recognition unit 53B performs image recognition on the peripheral video data, and performs image recognition on the shape of the driving road R of the vehicle V, the road width of the driving road R of the vehicle V, and the utility poles, signs and gutters installed on the driving road R of the vehicle V. Recognize obstacles such as. The surrounding situation recognition unit 53B may recognize the shape and size of the other vehicle V1 such as the minimum ground clearance and the vehicle width of the recognized other vehicle V1. The surrounding situation recognition unit 53B recognizes the recognized vehicle type of the other vehicle V1.

When the passing judgment unit 54 determines that the vehicle V and the other vehicle V1 may pass each other, the passing point determination unit 55B is a point suitable for the vehicle V and the other vehicle V1 to pass each other based on the passing information. To judge. In the present embodiment, the passing point determination unit 55B determines a point suitable for the vehicle V and the other vehicle V1 to pass each other based on the recognition result of the surrounding situation recognition unit 53B. For example, the passing point determination unit 55B determines a place where the road width of the traveling road R is wider than the total of the vehicle width of the vehicle V and the vehicle width of the other vehicle V1 as the passing point. For example, the passing point determination unit 55B determines a place where the road width of the traveling road R is wider than the others as a passing point. For example, when the traveling road R has a step D (see FIG. 8), the passing point determination unit 55B can ride on the step D at the minimum ground clearance of the vehicle V or the other vehicle V1. The place including D is determined as a passing point. For example, the passing point determination unit 55B acquires the vehicle width and the minimum ground clearance corresponding to the vehicle type of the other vehicle V1 from the vehicle information storage unit (not shown), and determines the passing point. For example, the passing point determination unit 55B determines a place where there is no obstacle on the traveling road R as a passing point. When there are a plurality of determined passing points, the passing point determination unit 55B gives priority to the difficulty of passing according to the difference between the road width of the driving road R and the total width of the vehicle V and the width of the other vehicle V1. Rank. Then, the passing point determination unit 55B gives priority to the passing points having a high priority and determines the passing points. Further, the passing point determination unit 55B may determine the stop point between the vehicle V and the other vehicle V1 at the passing point.

The passing point determination unit 55B acquires, for example, from a driving history information storage unit (not shown) that stores the proficiency level of the driving technique of the driver of the vehicle V and the driver of the other vehicle V1 and has a low driving proficiency level. The passing point may be determined so that the vehicle driven by the person stops and the vehicle driven by the driver with high driving proficiency passes each other. The passing point determination unit 55B is, for example, acquired from an accident history information storage unit (not shown) that stores accident history information of the driver of vehicle V and the driver of another vehicle V1, and is driven by a driver having an accident history. The passing point may be determined so that the vehicle to be driven stops and the vehicle driven by the driver having no accident history passes each other.

As shown in FIG. 8, the synthesis processing unit 573B of the bird's-eye view image generation unit 57B synthesizes the passing points determined by the passing point determination unit 55B into the bird's-eye view image 100. The compositing processing unit 573B synthesizes the bird's-eye view image 100 in which the passing points are colored. In FIG. 8, the passing points are shown in a wide shaded area. The passing point includes the range up to the front of the step D of the driving road R. When the minimum ground clearance of the other vehicle V1 is lower than the height of the step D, the step D deviates from the passing point.

The compositing processing unit 573B may synthesize the stop points of the vehicle V and the other vehicle V1 at the passing points determined by the passing point determination unit 55B into the bird's-eye view image 100.

The compositing processing unit 573B may synthesize the bird's-eye view image 100 in which the passing points are colored according to the difficulty level of the passing points determined by the passing point determination unit 55B.

Next, the flow of processing in the control unit 50B of the driving support system 1 will be described with reference to FIG. The processing of step S111, step 112, step S115 to step S117 is the same as that of step S101, step S102, step S104 to step S106 of the flowchart shown in FIG.

When another vehicle V1 that may enter the driving road R of the vehicle V is recognized (Yes in step S112), the control unit 50B is based on the recognition result of the surrounding situation recognition unit 53B by the passing point determination unit 55B. , A point suitable for the vehicle V and the other vehicle V1 to pass each other is determined (step S113). The control unit 50B proceeds to step S114.

The control unit 50B generates the bird's-eye view image 100 by synthesizing the passing points by the bird's-eye view image generation unit 57B (step S114). The control unit 50B proceeds to step S115.

The driver of the vehicle V confirms the passing points shown in the bird's-eye view image 100 displayed on the display unit 41, and determines the place where the passing is actually performed.

The driver of the other vehicle V1 confirms the passing point shown in the bird's-eye view image 100 of the vehicle V displayed on the display unit 82 of the second device 80. Then, the driver of the other vehicle V1 determines whether to pass the vehicle V, wait for the vehicle V to pass, or detour. When the driver of the other vehicle V1 passes by the vehicle V, he / she confirms the passing point shown in the bird's-eye view image 100 and determines the place where the passing is actually performed.

<Effect>
As described above, in the present embodiment, it is possible to determine a passing point suitable for passing based on the vehicle information of the vehicle V and the other vehicle V1. In the present embodiment, when the vehicle V may pass the other vehicle V1, the first device 10B mounted on the vehicle V provides a bird's-eye view image 100 showing the passing points to the second device mounted on the other vehicle V1. It can be transmitted to 80. In this way, in the present embodiment, when there is a possibility that the vehicle V and the other vehicle V1 pass each other, the passing points are shown in the bird's-eye view image 100 to support the judgment of both drivers and support the driving. can do.

[Fourth Embodiment]
The driving support system 1 according to the present embodiment will be described with reference to FIGS. 10 to 12. FIG. 10 is a block diagram showing a configuration example of the first device 10C of the driving support system 1 according to the fourth embodiment. FIG. 11 is a block diagram showing a configuration example of the second device 80C of the driving support system 1 according to the fourth embodiment. FIG. 12 is a flowchart showing an example of the processing flow in the first apparatus 10C according to the fourth embodiment. In the driving support system 1, the first device 10C and the second device 80C are different from the third embodiment.

The control unit 50C of the first device 10C further includes a notification acquisition unit 56C. The notification acquisition unit 56C acquires a passing notification, which is information indicating that the passing is performed, from the second device 80C.

The passing point determination unit 55C determines a point suitable for the vehicle V and the other vehicle V1 to pass each other, as in the third embodiment.

Similar to the third embodiment, the synthesis processing unit 573C of the bird's-eye view image generation unit 57C synthesizes the passing points determined by the passing point determination unit 55C with the bird's-eye view image 100. Further, when the synthesis processing unit 573C of the bird's-eye view image generation unit 57C acquires the passing notification including the information of the passing points from the second device 80C by the notification acquisition unit 56C, the synthesis processing unit 573C synthesizes the notified passing points with the bird's-eye view image 100.

The interface unit 81C of the second device 80C transmits a passing notification to the first device 10C.

The operation unit 83C can accept a notification operation for notifying the first device 10C that the passing is performed. More specifically, for example, when the driver of the other vehicle V1 confirms the bird's-eye view image 100 of the vehicle V displayed on the display unit 82 and determines that the vehicle V is passing each other, the notification operation is performed via the operation unit 83C. I do. The operation unit 83C outputs the operation information indicating the received notification operation to the operation reception unit 93C of the control unit 90C. Further, the operation unit 83C can accept a selection operation in which the driver of the other vehicle V1 selects a point at which the other vehicle V1 is stopped or a point at which the other vehicle V1 wants to pass each other when passing each other. For example, the driver of the other vehicle V1 may check the passing points displayed on the bird's-eye view image 100 and select the same place as the passing points, or may select the passing points where the passing points are easier to pass. .. The operation unit 83C outputs operation information indicating an operation such as a received notification operation to the operation reception unit 93C of the control unit 90C.

The operation reception unit 93C of the control unit 90C acquires operation information of operations such as notification operations received by the operation unit 83C. For example, the operation reception unit 93C acquires operation information indicating a notification operation and a selection operation, and outputs a control signal.

The transmission control unit 94C transmits the operation information acquired by the operation reception unit 93C to the first device 10C. In the present embodiment, the transmission control unit 94C transmits a passing notification, which is information indicating that the passing is performed, to the first device 10C. The passing notification may include information selected by the driver indicating a point at which the other vehicle V1 is stopped or a point at which the passing is desired to be performed.

Next, the flow of processing in the control unit 50C of the driving support system 1 will be described with reference to FIG. The processes of steps S121 to S126 and steps S130 to 132 are the same as those of steps S111 to S116 and steps S115 to S117 of the flowchart shown in FIG.

The control unit 50C determines whether or not there has been a passing notification from the second device 80C (step S127). When the notification acquisition unit 56C acquires the information indicating the passing notification (Yes in step S127), the process proceeds to step S128. If the notification acquisition unit 56C has not acquired the information indicating the passing notification (No in step S127), the process proceeds to step S132.

The control unit 50C determines whether or not the second device 80C has notified the passing point (step S128). When the notification acquisition unit 56C acquires the information indicating the notification of the passing point (Yes in step S128), the process proceeds to step S129. If the notification acquisition unit 56C has not acquired the information indicating the notification of the passing point (No in step S128), the process proceeds to step S132.

The control unit 50C generates a bird's-eye view image 100 by synthesizing the passing points notified by the bird's-eye view image generation unit 57C (step S129). The control unit 50C proceeds to step S130.

In the present embodiment, when the passing point determined by the passing point determination unit 55C of the vehicle V is different from the point selected by the driver of the other vehicle V1 to stop the other vehicle V1 or the point at which the passing point is desired to be performed. , Priority is given to the passing points acquired from the second device 80C.

<Effect>
As described above, according to the present embodiment, when the vehicle V may pass the other vehicle V1, the driver of the other vehicle V1 confirms the bird's-eye view image 100 in which the acquired passing points are combined. When it is determined that the vehicles pass each other, it is possible to notify the first device 10C mounted on the vehicle V that the vehicles pass each other. Further, in the present embodiment, it is possible to notify the first device 10C of the point at which the driver of the other vehicle V1 determines to stop the other vehicle V1 or the point at which he / she wants to pass each other. As a result, both drivers can have a common understanding of the points at which they pass each other. In this way, according to the present embodiment, when there is a possibility that the vehicle V and the other vehicle V1 pass each other, it is possible to support the judgment of both drivers and support the driving.

Each component of the illustrated driving support system 1 is a functional concept and does not necessarily have to be physically configured as shown in the figure. That is, the specific form of each device is not limited to the one shown in the figure, and all or part of each device is functionally or physically dispersed or integrated in an arbitrary unit according to the processing load or usage status of each device. You may.

The configuration of the driving support system 1 is realized, for example, by a program loaded in a memory as software. In the above embodiment, it has been described as a functional block realized by linking these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

The components described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Further, the configurations described above can be appropriately combined. Further, various omissions, substitutions or changes of the configuration can be made without departing from the gist of the present invention.

<Modification example>
In the above, the bird's-eye view image generation unit 57 has been described as an example of the information generation unit, but the present invention is not limited to this. Instead of the bird's-eye view image 100, the information generation unit may generate an image showing the road width of the traveling road R and the position of the vehicle V on the traveling road R in a diagram and transmit it to the second device 80 as the passing information. Alternatively, the information generation unit may generate information indicating the road width of the traveling road R and the position of the vehicle V on the traveling road R as the passing information instead of the bird's-eye view image 100 or the image, and transmit the information to the second device 80. Good. The second device 80 may generate and display an image showing a relative positional relationship based on the acquired passing information. As a result, the amount of data transmitted and received between the first device 10 and the second device 80 can be reduced.

In the above description, the bird's-eye view image 100 of the vehicle V is transmitted from the first device 10 of the vehicle V to the second device 80 of the other vehicle V1, but the present invention is not limited to this. For example, the bird's-eye view image may be transmitted from the device mounted on the vehicle traveling on the priority road among the vehicle V and the other vehicle V1.

In the above description, when there is a possibility that the vehicle V may pass the other vehicle V1, the bird's-eye view image 100 of the vehicle V is transmitted from the first device 10 of the vehicle V to the second device 80 of the other vehicle V1. Not limited to this, for example, the bird's-eye view image 100 of the vehicle V may be transmitted to the in-vehicle device of the vehicle following the vehicle V and the in-vehicle device of the following vehicle of the other vehicle V1. As a result, when there is a possibility that the vehicle V and the other vehicle V1 pass each other, it is possible to support the judgment of the drivers of both following vehicles and support the driving. According to this embodiment, it is possible to support smoother traffic.

Further, in the second device 80 of the other vehicle V1, the in-vehicle device of the vehicle following the vehicle V that has acquired the bird's-eye view image 100, and the in-vehicle device of the following vehicle of the other vehicle V1, the bird's-eye view image 100 of the vehicle V and the own vehicle You may combine it with the bird's-eye view image generated in. In this case, it suffices to combine the photographed objects such as the vehicle body and the road of the vehicle V, which are commonly projected in the two bird's-eye views, as a reference. Alternatively, two bird's-eye view images may be superimposed and combined with a detailed aerial photograph or detailed map information so that the width of the traveling road R can be recognized.

In the above description, the first device 10 has been described as having a front bird's-eye view image camera 11, a rear bird's-eye view image camera 12, a left bird's-eye view image camera 13, and a right bird's-eye view image camera 14 as a photographing unit. , The existing cameras of other systems including the navigation system may be shared, and the first device 10 may not have a photographing unit. Further, although the first device 10 has been described as having the display unit 41, for example, the existing display unit may be shared with other systems including the navigation system, and the first device 10 may not be provided with the display unit. ..

1 Driving support system 10 First device (driving support device)
11 Front bird's-eye view camera (shooting section)
12 Rear bird's-eye view camera (shooting section)
13 Left bird's-eye view camera (shooting section)
14 Right bird's-eye view camera (shooting section)
21 Interface unit 31 Recognition dictionary storage unit 41 Display unit 50 Control unit (driving support control device)
51 Video data acquisition unit 52 Vehicle information acquisition unit 53 Surrounding situation awareness unit (other vehicle information acquisition unit)
54 Passing judgment unit 57 Bird's-eye view video generation unit (information generation unit)
58 Transmission control unit 59 Display control unit 80 Second device (external device)
90 Control unit 91 Passing information acquisition unit 92 Display control unit 100 Bird's-eye view video V vehicle V1 Other vehicle

Claims (8)

Other vehicle information acquisition unit that acquires other vehicle information of other vehicles located around the vehicle,
Based on the other vehicle information acquired by the other vehicle information acquisition unit, a passing determination unit that determines whether or not the other vehicle may pass the vehicle, and a passing determination unit.
When the passing determination unit determines that there is a possibility of passing each other, an information generation unit that generates passing information including information indicating a relative positional relationship between the vehicle and the road on which the vehicle is traveling. ,
A transmission control unit that transmits the passing information generated by the information generation unit to the other vehicle, and
A driving support control device equipped with. The information generation unit performs viewpoint conversion processing and composition processing on peripheral image data captured by a plurality of photographing units that photograph the periphery of the vehicle as the passing information, and displays a bird's-eye view image that displays a predetermined display range from the vehicle. To generate,
The driving support control device according to claim 1. When the passing determination unit determines that there is a possibility of passing each other, the passing point determination unit determines a point suitable for passing between the vehicle and the other vehicle based on the passing information.
With
The information generation unit generates points suitable for passing, which are determined by the passing point determination unit, in the passing information.
The driving support control device according to claim 1 or 2. The other vehicle information acquisition unit recognizes the other vehicle from the peripheral image data obtained by photographing the periphery of the vehicle, and acquires the other vehicle information.
The driving support control device according to any one of claims 1 to 3. The other vehicle information acquisition unit acquires the other vehicle information based on the information acquired from the external device installed on the other vehicle or the road device installed on the road.
The driving support control device according to any one of claims 1 to 3. The driving support control device according to any one of claims 1 to 5.
At least one of a photographing unit that photographs the periphery of the vehicle and a display unit that displays the passing information generated by the information generating unit.
A driving support system characterized by being equipped with. Other vehicle information acquisition step to acquire other vehicle information of other vehicles located around the vehicle,
Based on the other vehicle information acquired by the other vehicle information acquisition step, a passing determination step of determining whether or not the other vehicle may pass the vehicle, and a passing determination step.
When it is determined by the passing determination step that there is a possibility of passing each other, an information generation step for generating passing information including information indicating a relative positional relationship between the vehicle and the road on which the vehicle is traveling. ,
A transmission control step for transmitting the passing information generated by the information generation step to the other vehicle, and
Driving support control methods including. Other vehicle information acquisition step to acquire other vehicle information of other vehicles located around the vehicle,
Based on the other vehicle information acquired by the other vehicle information acquisition step, a passing determination step of determining whether or not the other vehicle may pass the vehicle, and a passing determination step.
When it is determined by the passing determination step that there is a possibility of passing each other, an information generation step for generating passing information including information indicating a relative positional relationship between the vehicle and the road on which the vehicle is traveling. ,
A transmission control step for transmitting the passing information generated by the information generation step to the other vehicle, and
Is a program that causes a computer that operates as a driving support control device to execute.

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