JP2021149291A - Vehicle motion support control device, vehicle motion support device, vehicle motion support control method, and program - Google Patents

Abstract

To provide a vehicle motion support control device, a vehicle motion support device, a vehicle motion support control method, and a program in order to improve safety when passing and overtaking a moving object.SOLUTION: A vehicle motion support device includes: a moving object detection unit 42 that detects a moving body moving in front of a vehicle and detects a degree of wobbling the detected moving body in left and right directions; a vehicle motion detection unit 43, which detects that the vehicle passes or overtakes the moving object detected by the moving object detection unit 42; and a projection control unit 44 that functions as a motion support unit that supports the motion of the vehicle based on the degree of wobbling of the moving body in the left and right directions detected by the moving body detection unit 42, when the vehicle motion detection unit 43 detects that the moving object detection unit 42 passes or overtakes the detected moving object.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vehicle motion support control device, a vehicle motion support device, a vehicle motion support control method, and a program.

A technique is known in which a contact danger zone is set on the side of an obstacle in front and an alarm device is activated when the intrusion of the own vehicle into the contact danger zone is detected (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2009-166691

For example, depending on the condition of a two-wheeled vehicle such as a motorcycle or a bicycle driven by an elderly person or the like, or the load of the two-wheeled vehicle, the two-wheeled vehicle may be traveling while swaying. In addition, even a pedestrian may be walking while swaying depending on the physical condition or the surrounding conditions.

The technique of Patent Document 1 sets a predetermined danger zone on an obstacle. However, when overtaking or overtaking a moving object such as a two-wheeled vehicle or a pedestrian traveling while swaying, there is a possibility that the response will be insufficient in the preset danger zone.

The present invention has been made in view of the above, and an object of the present invention is to improve safety when overtaking and overtaking a moving body.

In order to solve the above-mentioned problems and achieve the object, the vehicle motion support control device according to the present invention detects a moving body moving in front of the vehicle and determines the degree of wobbling of the detected moving body in the left-right direction. The moving body detecting unit to detect, the vehicle motion detecting unit for detecting that the vehicle overtakes or overtakes the moving body detected by the moving body detecting unit, and the vehicle motion detecting unit to detect the moving body. When it is detected that overtaking or overtaking is performed, it is provided with an operation support unit that supports the operation of the vehicle based on the degree of wobbling in the left-right direction of the moving body.

The vehicle motion support device according to the present invention includes the vehicle motion support control device described above, and a detection unit that detects a moving body moving in front of the vehicle and outputs a detection signal to the moving body detection unit. ..

The vehicle motion support control method according to the present invention includes a moving body detection step of detecting a moving body moving in front of the vehicle and detecting the degree of wobbling of the detected moving body in the left-right direction, and the moving body of the vehicle. When it is detected in the vehicle motion detection step that detects overtaking or overtaking of the moving body detected by the body detection step and that the moving body is overtaken or overtaken in the vehicle motion detection step, the moving body is said to be overtaken or overtaken. Includes a motion support step that assists the motion of the vehicle based on the degree of wobbling in the left-right direction.

The program according to the present invention has a moving body detection step of detecting a moving body moving in front of the vehicle and detecting the degree of wobbling of the detected moving body in the left-right direction, and the moving body detecting step of the vehicle. When it is detected in the vehicle motion detection step that detects overtaking or overtaking of the detected moving body and the overtaking or overtaking of the moving body in the vehicle motion detection step, the movement is in the left-right direction of the moving body. Based on the degree of wobbling, the motion support step for supporting the motion of the vehicle is executed by the computer operating as the vehicle motion support device.

According to the present invention, there is an effect that the safety at the time of overtaking and overtaking of a moving body can be enhanced.

FIG. 1 is a block diagram showing a configuration example of a vehicle operation support device according to the first embodiment. FIG. 2 is a diagram for explaining the wobbling of the moving body in the left-right direction. FIG. 3 is a diagram illustrating support for vehicle operation in the vehicle operation support device according to the first embodiment. FIG. 4 is a diagram illustrating an example of display by the vehicle motion support device according to the first embodiment. FIG. 5 is a flowchart showing an example of a processing flow in the vehicle motion support device according to the first embodiment. FIG. 6 is a block diagram showing a configuration example of the vehicle operation support device according to the second embodiment. FIG. 7 is a diagram illustrating support for vehicle operation in the vehicle operation support device according to the second embodiment. FIG. 8 is a block diagram showing a configuration example of the vehicle operation support device according to the third embodiment. FIG. 9 is a diagram illustrating support for vehicle operation in the vehicle operation support device according to the third embodiment.

Hereinafter, embodiments of the vehicle motion support control device 40, the vehicle motion support device 1, the vehicle motion support control method, and the program 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]
<Vehicle operation support device>
FIG. 1 is a block diagram showing a configuration example of the vehicle operation support device 1 according to the first embodiment. The vehicle motion support device 1 is mounted on the vehicle. The vehicle motion support device 1 may be a portable device that can be used in the vehicle, in addition to the device mounted on the vehicle. When overtaking or overtaking a moving body such as a two-wheeled vehicle or a pedestrian, the vehicle movement support device 1 supports the movement of the vehicle based on the degree of wobbling of the moving body in the left-right direction.

Overtaking means that a vehicle traveling in the second lane adjacent to the first lane changes lanes and exits in front of a moving body traveling in the first lane.

Overtaking means that a vehicle traveling in the second lane adjacent to the first lane goes out in front of a moving body traveling in the first lane without changing lanes.

The vehicle motion support device 1 includes a camera 10 that functions as a detection unit that detects a moving body moving in front of the vehicle and outputs a detection signal to the moving body detection unit 42, a moving body recognition dictionary storage unit 20, and a moving body recognition dictionary storage unit 20. It has a head-up display (hereinafter referred to as "HUD device") 30 and a vehicle motion support control device 40.

The camera 10 captures a range including the front of the vehicle. A plurality of cameras 10 may be arranged. In the present embodiment, the camera 10 is arranged in front of the vehicle and captures video data of the periphery centered on the front of the vehicle. The video data is, for example, a moving image composed of an image of 30 frames per second. The camera 10 outputs the captured video data to the captured data acquisition unit 41 of the vehicle motion support control device 40.

The moving object recognition dictionary storage unit 20 provides a recognition dictionary capable of collating patterns such as the shape, size, and color of each direction view such as front view, back view, and side view of a moving body including a two-wheeled vehicle and a pedestrian. I remember. The mobile recognition dictionary storage unit 20 is, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a ROM (Read Only Memory), or a storage device such as a hard disk, an optical disk, or an external storage device via a network.

The HUD device 30 functions as a display device that can be visually recognized by the driver of the vehicle. The HUD device 30 makes the information supporting the operation of the vehicle visually recognized as a virtual image in front of the driver of the vehicle. The HUD device 30 projects an image based on the image signal output from the projection control unit 44 of the vehicle motion support control device 40. The HUD device 30 may be dedicated to the vehicle motion support device 1, or may be used jointly with other systems including, for example, a navigation system.

The HUD device 30 has a projection unit 31. The HUD device 30 reflects the display image projected on the projection unit 31 by a combiner or windshield (not shown) to make the driver visually recognize it as a virtual image.

The projection unit 31 is, for example, a system including a liquid crystal display element or an organic EL (Electro-Luminescence) display element, which optically projects an image onto a combiner or a windshield. In this embodiment, the projection unit 31 is arranged inside the dashboard of the vehicle. The projection unit 31 displays the display image on the display element based on the image signal from the projection control unit 44 of the vehicle motion support control device 40. The image display light of the display image displayed on the display surface of the display element is projected onto the combiner or the windshield through, for example, a concave mirror (not shown).

The combiner or windshield reflects the image display light projected from the projection unit 31 and causes the driver to recognize it as a virtual image. The combiner or windshield is a plate-like material that is arranged so as to be convexly curved forward in the traveling direction.

The vehicle operation support control device 40 is, for example, an arithmetic processing device composed of a CPU (Central Processing Unit), a video processing processor, and the like. The vehicle motion support control device 40 loads a program stored in a storage unit (not shown) into the memory and executes an instruction included in the program. The vehicle motion support control device 40 includes a photographing data acquisition unit 41, a moving body detection unit 42, a vehicle motion detection unit 43, and a projection control unit (motion support unit) 44. The vehicle motion support control device 40 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the vehicle motion support control device 40 and the like. The vehicle motion support control device 40 may be composed of one or a plurality of devices.

The shooting data acquisition unit 41 acquires video data obtained by shooting a range including the front of the vehicle. More specifically, the shooting data acquisition unit 41 acquires the video data output by the camera 10 and outputs it to the moving object detection unit 42.

The moving body detection unit 42 detects a moving body moving in front of the vehicle, and detects the degree of wobbling of the detected moving body in the left-right direction. More specifically, the moving body detection unit 42 recognizes a moving body moving in front of the vehicle by image processing from the video data acquired by the shooting data acquisition unit 41. In the present embodiment, the moving body detection unit 42 recognizes the moving body by performing image processing on the video data using the vehicle recognition dictionary stored in the moving body recognition dictionary storage unit 20. Further, the moving body detecting unit 42 detects the relative positional relationship between the vehicle and the moving body, including the distance between the vehicle and the moving body and the position of the moving body in the left-right direction. The method for recognizing a moving object may be any known method and is not limited. The moving object detection unit 42 outputs the recognition result to the projection control unit 44.

The moving body detection unit 42 detects, as the degree of wobbling of the moving body, the degree of wobbling that moves in the left-right direction in which the moving body has no linearity. Further, the moving body detection unit 42 detects the degree of wobbling due to the inclination of the moving body in the left-right direction as the degree of wobbling of the moving body.

The distance between the vehicle and the moving body may be calculated by, for example, the ground contact position of the moving body in the display range of the video data. Alternatively, the distance between the vehicle and the moving body may be detected by, for example, a sensor installed in the vehicle including a radar.

FIG. 2 is a diagram for explaining the wobbling of the moving body in the left-right direction. The moving body detecting unit 42, for example, is based on the fluctuation of the distance between the moving body and the linear reference object L such as the side line L1 or the center line L2 located on the left and right sides of the moving body in the display range of the video data. Whether or not the moving body is swaying in the left-right direction is determined based on whether or not the fluctuation of the distance is equal to or greater than the reference value.

The moving body detection unit 42 may determine whether or not the moving body is swaying in the left-right direction depending on whether or not the fluctuation of the position of the moving body in the left-right direction is within a predetermined range on the left and right sides of the moving body. In the moving body detection unit 42, for example, in the display range of video data, when the fluctuation of the position of the moving body in the left-right direction is in the range of 50 cm or more on either the left or right side of the moving body, the moving body is swaying in the left-right direction. Detect that. For example, in the display range of video data, the moving body detection unit 42 does not sway in the left-right direction when the variation of the position of the moving body in the left-right direction is less than 50 cm on either the left or right side of the moving body. Detect that.

In the moving body detection unit 42, the moving body fluctuates in the left-right direction depending on whether or not the change in the position of the moving body in the left-right direction is within a predetermined range defined by the height h of the moving body on the left and right sides of the moving body. It may be determined whether or not it is. For example, in the display range of video data, the moving body detection unit 42 wobbles the moving body in the left-right direction when the fluctuation of the position of the moving body in the left-right direction is in the range of h / 2 or more on either the left or right side of the moving body. Detects that. For example, in the display range of video data, the moving body detection unit 42 wobbles the moving body in the left-right direction when the fluctuation of the position of the moving body in the left-right direction is less than h / 2 on either the left or right side of the moving body. Detect that it is not.

The moving body detection unit 42 tracks the detected moving body in the video data according to the shape of the moving body or the like. The moving body detection unit 42 may stop tracking the moving body when the distance between the vehicle and the moving body continues to be separated by a threshold value or more for a predetermined time.

The vehicle motion detection unit 43 detects that the vehicle overtakes or overtakes the moving body detected by the moving body detecting unit 42. More specifically, the vehicle motion detection unit 43 CANs the steering operation information including the operation amount of the steering operation of the vehicle, the accelerator operation information including the operation amount of the accelerator operation, and the vehicle information including the operation information of the direction indicator. It is acquired from (Control Area Information) and various sensors that sense the state of the vehicle. The vehicle motion detection unit 43 detects that the vehicle overtakes or overtakes the moving body based on the vehicle information and the transition of the position of the moving body in the video data indicated by the detection result of the moving body detecting unit 42. .. The vehicle motion detection unit 43 outputs the detected detection result to the projection control unit 44.

Based on the vehicle information and the transition of the position of the moving body, the vehicle motion detection unit 43, for example, causes a vehicle traveling in the second lane adjacent to the first lane to change lanes and travel in the first lane. If it is predicted that the vehicle will move in front of the moving vehicle, it detects that the vehicle is overtaking.

Based on the vehicle information and the transition of the position of the moving body, the vehicle motion detection unit 43, for example, allows a vehicle traveling in the second lane adjacent to the first lane to move to the first lane without changing lanes. When it is predicted that the vehicle will come out in front of the traveling moving body, it is detected that the vehicle overtakes.

When the vehicle motion detection unit 43 detects that the vehicle overtakes or overtakes the moving body, the projection control unit 44 operates as a motion support unit that supports the motion according to the degree of wobbling of the moving body. .. More specifically, when the projection control unit 44 detects that the vehicle overtakes or overtakes the moving body and the moving body does not wobble in the left-right direction, or when the degree of wobbling in the left-right direction of the moving body is small, the projection control unit 44 determines. Support the first movement. The projection control unit 44 supports the second operation when it is detected that the vehicle overtakes or overtakes the moving body and the degree of wobbling of the moving body in the left-right direction is large.

The small degree of wobbling means that the position of the moving body fluctuates in the left-right direction to the extent that the moving body detecting unit 42 detects that the moving body does not wobble in the left-right direction. Specifically, it is a case where there is a variation in the left-right direction of, for example, less than 50 cm, which is generated by the normal running of the moving body. Even if the movement in the left-right direction caused by the normal running of the moving body is derived from the value recorded in the left-right direction of the other moving body when the moving body detection unit 42 detects the other moving body. Often, it may be referred to in advance as a general value.

The large degree of wobbling means that the position of the moving body fluctuates in the left-right direction to the extent that the moving body detecting unit 42 detects that the moving body is wobbling in the left-right direction. Specifically, this is a case where the left-right fluctuation is larger than the left-right fluctuation that occurs due to the normal running of the moving body.

The operation support by the projection control unit 44 as the operation support unit will be described in detail with reference to FIGS. 3 and 4. FIG. 3 is a diagram illustrating support for vehicle operation in the vehicle operation support device 1 according to the first embodiment. FIG. 4 is a diagram illustrating an example of display by the vehicle motion support device 1 according to the first embodiment.

The projection control unit 44 detects that the vehicle overtakes or overtakes the moving body, and when there is no left-right wobbling of the moving body, or when the degree of left-right wobbling of the moving body is small, the first overtaking Or provide overtaking support. The projection control unit 44 assists the vehicle to overtake or overtake the moving body when it is detected that the vehicle overtakes or overtakes the moving body and the degree of left-right wobbling of the moving body is large. , Second overtaking or overtaking support. That is, the second overtaking or overtaking support provides overtaking or overtaking support in a state further away from the moving body as compared with the first overtaking or overtaking support.

As shown in FIG. 4, the first overtaking or overtaking support assists the vehicle to travel, for example, about 1.0 m away from the moving body when the vehicle overtakes or overtakes the moving body. This distance may be changed depending on the traveling speed or the relative speed of the moving body or the vehicle, but the distance is set so as not to affect the traveling of the moving body. The second overtaking or overtaking support varies depending on the degree of wobbling of the moving body, but the distance between the moving body and the vehicle is increased by about 150% to 200% with respect to the first overtaking or overtaking support, for example, the vehicle Support is provided so that the vehicle travels at a distance of, for example, 1.5 m to 2 m from the moving body.

As the first overtaking or overtaking support, the projection control unit 44 may hide, for example, a virtual image indicating an overtaking path or an overtaking path. The projection control unit 44 may display a virtual image 110 indicating a normal overtaking path or overtaking path as the first overtaking or overtaking support. The normal overtaking route is indicated by, for example, the dashed arrow in FIG. The normal overtaking route is, for example, a route that passes by the side of the moving body with a distance of about 1 m between the vehicle and the moving body.

As a second overtaking or overtaking support, the projection control unit 44 uses the HUD device 30 to support the overtaking or overtaking in a state of being farther from the moving body. More specifically, the projection control unit 44 displays a virtual image 100 indicating an overtaking route or an overtaking route as a second overtaking or overtaking support so as to travel with a longer distance between the vehicle and the moving body than usual. To do so. The overtaking route in this case is indicated by, for example, the solid arrow in FIG. The overtaking route in this case is, for example, a route that passes by the side of the moving body with a distance of about 1.5 m between the vehicle and the moving body. Also, for comparison, a virtual image 110 showing a normal overtaking route may be displayed. Furthermore, textual information such as "Please overtake farther than usual" may be displayed, or a voice alert may be given.

Next, the flow of processing in the vehicle motion support control device 40 of the vehicle motion support device 1 will be described with reference to FIG. FIG. 5 is a flowchart showing an example of a processing flow in the vehicle operation support device 1 according to the first embodiment.

While the vehicle motion support device 1 is activated, the vehicle motion support control device 40 acquires video data from the camera 10 by the shooting data acquisition unit 41. In the flowchart shown in FIG. 5, overtaking will be described, but the same applies to overtaking.

The vehicle motion support control device 40 determines whether or not a moving body has been detected forward (step S101). When it is determined that the moving body detecting unit 42 performs image processing on the video data acquired by the shooting data acquisition unit 41 to detect a moving body moving in front of the vehicle (Yes in step S101), step S102. Proceed to. When the moving body detection unit 42 performs image processing on the video data acquired by the shooting data acquisition unit 41 and determines that the moving body moving in front of the vehicle is not detected (No in step S101). The process proceeds to step S107.

When it is determined that the moving body moving in front of the vehicle is detected (Yes in step S101), the vehicle motion support control device 40 starts detecting the degree of wobbling of the moving body by the moving body detecting unit 42 (step). S102). More specifically, the moving body detecting unit 42 starts detecting a change in the position of the detected moving body in the left-right direction. The vehicle motion support control device 40 proceeds to step S103.

The vehicle motion support control device 40 determines whether or not the vehicle motion detection unit 43 has detected an overtaking motion with respect to the moving body (step S103). When it is determined that the vehicle motion detection unit 43 has detected an overtaking motion with respect to the moving body based on the vehicle information and the transition of the position of the moving body (Yes in step S103), the process proceeds to step S104. If it is not determined by the vehicle motion detection unit 43 that the overtaking motion with respect to the moving body has been detected based on the vehicle information and the transition of the position of the moving body (No in step S103), the process proceeds to step S107.

When it is determined that the overtaking motion with respect to the moving body has been detected (Yes in step S103), the vehicle motion support control device 40 determines whether or not the degree of wobbling of the moving body is large based on the detection result of the moving body detecting unit 42. Determine (step S104). When the vehicle motion support control device 40 determines from the detection result of the moving body detecting unit 42 that the degree of wobbling of the moving body is large (Yes in step S104), the vehicle operation support control device 40 proceeds to step S106. If the vehicle motion support control device 40 does not determine from the detection result of the moving body detection unit 42 that the degree of wobbling of the moving body is large (No in step S104), the vehicle operation support control device 40 proceeds to step S105.

When it is not determined that the degree of wobbling of the moving body is large (No in step S104), the vehicle motion support control device 40 executes the first overtaking support (step S105). More specifically, the projection control unit 44 prevents, for example, displaying a virtual image indicating an overtaking path. Alternatively, the projection control unit 44 may display, for example, a virtual image 110 showing a normal overtaking path shown by a broken line in FIG.

For example, the driver confirms the virtual image 110 shown by the broken line in FIG. 4, and overtakes the moving body by a normal overtaking route.

When it is determined that the degree of wobbling of the moving body is large (Yes in step S104), the vehicle motion support control device 40 executes the second overtaking support (step S106). More specifically, the virtual image 100 indicating the overtaking route is displayed so as to travel with a longer distance between the vehicle and the moving body than usual.

For example, the driver confirms the virtual image 100 shown by the solid line in FIG. 4, and overtakes the moving body by the normal overtaking route.

Alternatively, for example, the driver confirms the virtual image 100 shown by the solid line in FIG. 4, and overtakes by an overtaking route that bulges away from the moving body than usual.

The vehicle motion support control device 40 determines whether or not the vehicle has finished traveling (step S107). In the vehicle motion support control device 40, for example, the shift position is "parking", the speed is zero for a predetermined time of several minutes or more, the engine is stopped, or the side brake or foot is used. When it is determined that the vehicle has finished running, such as when a brake operation is detected (Yes in step S107), the process ends. If the vehicle motion support control device 40 does not determine that the vehicle has finished traveling (No in step S107), the vehicle motion support control device 40 re-executes the process of step S101.

As described above, when it is detected that the vehicle overtakes or overtakes the moving body, the present embodiment can support the operation of the vehicle based on the degree of left-right wobbling of the detected moving body. In the present embodiment, when the detected degree of wobbling in the left-right direction of the moving body is large, a route in which the vehicle and the moving body travel with a longer distance than usual can be displayed as the virtual image 100. According to the present embodiment, when the moving body is staggering, it is possible to support the overtaking or overtaking of the moving body more safely.

[Second Embodiment]
The vehicle motion support device 1A according to the present embodiment will be described with reference to FIGS. 6 and 7. FIG. 6 is a block diagram showing a configuration example of the vehicle operation support device 1A according to the second embodiment. FIG. 7 is a diagram illustrating support for vehicle operation in the vehicle operation support device 1A according to the second embodiment. The basic configuration of the vehicle motion support device 1A is the same as that of the vehicle motion support device 1 of the first embodiment. In the following description, the same components as those of the vehicle operation support device 1 are designated by the same reference numerals or corresponding reference numerals, and detailed description thereof will be omitted. The vehicle motion support device 1A is different from the first embodiment in that the vehicle motion support device 1A has a steering operation unit 30A and that the vehicle motion support control device 40A has a steering operation support section 44A that functions as a motion support section.

When the vehicle is being driven by the driver, the steering operation unit 30A drives an actuator based on a control signal from the steering operation support unit 44A to temporarily control the amount of steering operation.

The steering operation support unit 44A does not intervene in the steering operation as the first operation support. Alternatively, as the first operation support, the steering operation support unit 44A sets the distance between the vehicle and the moving body to be equal to or greater than the first predetermined distance when the distance between the vehicle and the moving body is less than the first predetermined distance at the time of overtaking or overtaking. Assist the steering operation so that it becomes. The first predetermined interval is, for example, 50 cm.

Assisting the steering operation means informing the driver by displaying an image or outputting a voice so as to perform an appropriate steering operation, or outputting a control signal for assisting the steering operation.

The distance between the vehicle and the moving body can be calculated in the same manner as in the first embodiment. Alternatively, the distance between the vehicle and the moving body may be estimated from the amount of steering movement at the start of overtaking or overtaking and the relative positional relationship between the vehicle and the moving body.

The steering operation support unit 44A supports the steering operation amount of the vehicle based on the positional relationship between the vehicle and the moving body when overtaking or overtaking the moving body. As a second operation support, the steering operation support unit 44A assists the steering operation when the distance from the moving body is less than the second predetermined interval, which is longer than the first predetermined interval, at the time of overtaking or overtaking. The second predetermined interval is, for example, 75 cm.

As described above, in the present embodiment, when the detected degree of wobbling in the left-right direction of the moving body is large, the steering operation can be assisted so that the vehicle travels with a longer distance than usual.

[Third Embodiment]
The vehicle motion support device 1B according to the present embodiment will be described with reference to FIGS. 8 and 9. FIG. 8 is a block diagram showing a configuration example of the vehicle operation support device 1B according to the third embodiment. FIG. 9 is a diagram illustrating support for vehicle operation in the vehicle operation support device 1B according to the third embodiment. The basic configuration of the vehicle motion support device 1B is the same as that of the vehicle motion support device 1 of the first embodiment. The vehicle motion support device 1B is different from the first embodiment in that the vehicle motion support device 1B has a steering operation unit 30B and the vehicle motion support control device 40B has a steering control unit 44B that functions as a motion support unit.

The steering operation unit 30B drives an actuator to control the amount of steering operation based on a control signal from the steering control unit 44B when the vehicle is automatically driven.

The steering control unit 44B does not intervene in the steering operation as the first operation support. Alternatively, as the first operation support, the steering control unit 44B sets the distance from the moving body to be greater than or equal to the first predetermined distance when the distance from the moving body is less than the first predetermined distance at the time of overtaking or overtaking. , Outputs a control signal for steering operation.

As a second operation support, the steering control unit 44B has a second predetermined interval or more when the distance from the moving body is longer than the first predetermined interval and less than the second predetermined interval at the time of overtaking or overtaking. A control signal for steering operation is output so as to be.

As described above, in the present embodiment, when the detected degree of wobbling in the left-right direction of the moving body is large, the steering operation can be assisted so that the vehicle travels with a longer distance than usual.

By the way, although the vehicle operation support device 1 according to the present invention has been described so far, it may be implemented in various different forms other than the above-described embodiment.

Each component of the illustrated vehicle motion support device 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 and usage status of each device. You may.

The configuration of the vehicle motion support device 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 cooperation of 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.

In the above description, the moving body is detected from the video data captured by the camera 10, but the method of detecting the moving body is not limited to this. For example, a sensor may detect a moving object in front of the vehicle. As the sensor, various methods such as a combination of a plurality of types of sensors such as an infrared sensor, an ultrasonic sensor, a millimeter wave sensor, and a sensor by image recognition can be applied.

The above-mentioned moving body detection unit may determine the type and attributes of the moving body and the occupants riding on the moving body by recognizing the moving body. For example, if the type of mobile is a children's bicycle, or if the occupant of the mobile is an elderly person, the second motion support may be further separated from the mobile when overtaking or overtaking.

In addition to the above vehicle motion support, image processing is performed on the video data to remove obstacles that affect overtaking or overtaking of other vehicles, such as oncoming vehicles, diagonal lines, medians, and roadsides. It may have a determination unit that recognizes and determines whether or not overtaking or overtaking is possible. When the judgment unit determines that overtaking or overtaking is difficult due to the presence of an obstacle, the motion support unit notifies the driver that overtaking or overtaking is difficult, or overtakes unreasonably. Alternatively, the operation of the vehicle may be assisted so as not to overtake.

1 Vehicle motion support device 10 Camera (detector)
20 Mobile recognition dictionary storage unit 30 HUD device (display device)
40 Vehicle motion support control device 41 Shooting data acquisition unit 42 Moving object detection unit 43 Vehicle motion detection unit 44 Projection control unit (motion support unit)

Claims (7)

A moving body detection unit that detects a moving body moving in front of the vehicle and detects the degree of wobbling of the detected moving body in the left-right direction.
A vehicle motion detection unit that detects that the vehicle overtakes or overtakes a moving body detected by the moving body detection unit.
When the vehicle motion detection unit detects that the moving body is overtaking or overtaking, the motion support unit that supports the motion of the vehicle based on the degree of wobbling of the moving body in the left-right direction is used.
A vehicle motion support control device. When the degree of wobbling of the moving body in the left-right direction is larger than the wobbling that occurs during the normal running of the moving body, the motion support unit is said to support overtaking or overtaking during the normal running of the moving body. Helping to overtake or overtake away from the moving object,
The vehicle operation support control device according to claim 1. The motion support unit assists the driver of the vehicle to overtake or overtake by using a display device that can be visually recognized.
The vehicle operation support control device according to claim 2. The motion support unit supports the steering motion amount of the vehicle based on the positional relationship between the vehicle and the mobile body when overtaking or overtaking the moving body.
The vehicle operation support control device according to claim 2. The vehicle motion support control device according to any one of claims 1 to 4.
A detection unit that detects a moving body moving in front of the vehicle and outputs a detection signal to the moving body detection unit.
A vehicle motion support device. A moving body detection step that detects a moving body moving in front of the vehicle and detects the degree of wobbling of the detected moving body in the left-right direction.
A vehicle motion detection step for detecting that the vehicle overtakes or overtakes a moving body detected by the moving body detection step, and a vehicle motion detection step.
When it is detected in the vehicle motion detection step that the moving body is overtaken or overtaken, the motion support step for supporting the motion of the vehicle is based on the degree of wobbling of the moving body in the left-right direction.
A vehicle motion support control method comprising. A moving body detection step that detects a moving body moving in front of the vehicle and detects the degree of wobbling of the detected moving body in the left-right direction.
A vehicle motion detection step for detecting that the vehicle overtakes or overtakes a moving body detected by the moving body detection step, and a vehicle motion detection step.
When it is detected in the vehicle motion detection step that the moving body is overtaken or overtaken, the motion support step for supporting the motion of the vehicle is based on the degree of wobbling of the moving body in the left-right direction.
Is a program to be executed by a computer that operates as a vehicle motion support control device.

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