JP2022031755A5 - Vehicles and driving support devices - Google Patents

Vehicles and driving support devices Download PDF

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JP2022031755A5
JP2022031755A5 JP2021188569A JP2021188569A JP2022031755A5 JP 2022031755 A5 JP2022031755 A5 JP 2022031755A5 JP 2021188569 A JP2021188569 A JP 2021188569A JP 2021188569 A JP2021188569 A JP 2021188569A JP 2022031755 A5 JP2022031755 A5 JP 2022031755A5
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本発明は、車両、及び運転支援装置に関する。 The present invention relates to a vehicle and a driving support device .

本発明の第１の態様によれば、運転支援装置を搭載した車両であって、前記運転支援装置は、前記車両の外部を撮像する撮像部と、前記車両の外部に存在する物体までの距離を測定する測距部と、前記車両の現在位置を測定する測位部と、前記撮像部と前記測距部と前記測位部からの情報に基づいて前記車両の運転支援を行うためのデータを生成する制御部と、前記撮像部により撮像される他の車両から送信された情報を受信する受信部と、を有し、前記制御部は、前記受信部からの情報に基づいて前記他の車両が自動運転で走行している車両であるか否かを判定し、判定した結果に応じて前記データの生成の態様を変更する。
本発明の第２の態様によれば、運転支援装置を搭載した車両であって、前記運転支援装置は、前記車両の外部を撮像する撮像部と、前記車両の外部に存在する物体までの距離を測定する測距部と、前記車両の現在位置を測定する測位部と、前記撮像部と前記測距部と前記測位部からの情報に基づいて前記車両の運転支援を行うためのデータを生成する制御部と、を有し、前記制御部は、前記撮像部からの情報に基づいて、他の車両が自動運転で走行している車両であるか否かを判定し、判定した結果に応じて前記データの生成の態様を変更する。
本発明の第３の態様によれば、車両の外部を撮像した情報が入力される入力部と、前記車両の外部に存在する物体までの距離を測定する測距部と、前記車両の現在位置を測定する測位部と、前記入力部と前記測距部と前記測位部からの情報に基づいて前記車両の運転支援を行うためのデータを生成する制御部と、前記撮像部により撮像される他の車両から送信された情報を受信する受信部と、を有し、前記制御部は、前記受信部からの情報に基づいて前記他の車両が自動運転で走行している車両であるか否かを判定し、判定した結果に応じて前記データの生成の態様を変更する。
本発明の第４の態様によれば、車両の外部を撮像した情報が入力される入力部と、前記車両の外部に存在する物体までの距離を測定する測距部と、前記車両の現在位置を測定する測位部と、前記入力部と前記測距部と前記測位部からの情報に基づいて前記車両の運転支援を行うためのデータを生成する制御部と、を有し、前記制御部は、前記撮像部からの情報に基づいて前記他の車両が自動運転で走行している車両であるか否かを判定し、判定した結果に応じて前記データの生成の態様を変更する。 According to the first aspect of the present invention, the vehicle is equipped with a driving support device, and the driving support device is a distance between an image pickup unit that captures an image of the outside of the vehicle and an object existing outside the vehicle. Generates data for supporting the driving of the vehicle based on the information from the ranging unit for measuring the distance, the positioning unit for measuring the current position of the vehicle, the imaging unit, the ranging unit, and the positioning unit. The control unit has a control unit for receiving information transmitted from another vehicle imaged by the image pickup unit, and the control unit is such that the other vehicle receives information from the reception unit. It is determined whether or not the vehicle is traveling by automatic driving, and the mode of generating the data is changed according to the determination result.
According to the second aspect of the present invention, the vehicle is equipped with a driving support device, and the driving support device is a distance between an image pickup unit that captures an image of the outside of the vehicle and an object existing outside the vehicle. Generates data for supporting the driving of the vehicle based on the information from the ranging unit for measuring the distance, the positioning unit for measuring the current position of the vehicle, the imaging unit, the ranging unit, and the positioning unit. Based on the information from the image pickup unit, the control unit determines whether or not the other vehicle is a vehicle traveling by automatic driving, and the control unit determines whether or not the other vehicle is a vehicle traveling by automatic driving, and responds to the determination result. The mode of data generation is changed.
According to the third aspect of the present invention, an input unit for inputting information obtained by imaging the outside of the vehicle, a distance measuring unit for measuring the distance to an object existing outside the vehicle, and a current position of the vehicle. A positioning unit that measures the data, a control unit that generates data for supporting the driving of the vehicle based on information from the input unit, the distance measuring unit, and the positioning unit, and an image pickup unit. The control unit has a receiving unit that receives information transmitted from the vehicle, and the control unit determines whether or not the other vehicle is a vehicle that is automatically driven based on the information from the receiving unit. Is determined, and the mode of generating the data is changed according to the determined result.
According to the fourth aspect of the present invention, an input unit for inputting information obtained by imaging the outside of the vehicle, a distance measuring unit for measuring the distance to an object existing outside the vehicle, and a current position of the vehicle. The control unit has a positioning unit for measuring the above, a control unit for generating data for performing driving support of the vehicle based on information from the input unit, the distance measuring unit, and the positioning unit. Based on the information from the image pickup unit, it is determined whether or not the other vehicle is a vehicle traveling by automatic driving, and the mode of generating the data is changed according to the determination result.

Claims (21)

運転支援装置を搭載した車両であって、A vehicle equipped with a driving support device
前記運転支援装置は、The driving support device is
前記車両の外部を撮像する撮像部と、An image pickup unit that captures the outside of the vehicle and
前記車両の外部に存在する物体までの距離を測定する測距部と、A ranging unit that measures the distance to an object that exists outside the vehicle,
前記車両の現在位置を測定する測位部と、A positioning unit that measures the current position of the vehicle, and
前記撮像部と前記測距部と前記測位部からの情報に基づいて前記車両の運転支援を行うためのデータを生成する制御部と、A control unit that generates data for supporting the driving of the vehicle based on information from the image pickup unit, the distance measuring unit, and the positioning unit.
前記撮像部により撮像される他の車両から送信された情報を受信する受信部と、A receiving unit that receives information transmitted from another vehicle imaged by the imaging unit, and a receiving unit.
を有し、Have,
前記制御部は、前記受信部からの情報に基づいて前記他の車両が自動運転で走行している車両であるか否かを判定し、判定した結果に応じて前記データの生成の態様を変更する、The control unit determines whether or not the other vehicle is a vehicle traveling by automatic driving based on the information from the reception unit, and changes the mode of generating the data according to the determination result. do,
車両。vehicle. 前記制御部は、前記撮像部からの情報のうち、自動運転で走行していない車両であると判定された前記他の車両を起源とする情報を、自動運転で走行している車両であると判定された前記他の車両を起源とする情報より重用して前記データを生成する、Among the information from the imaging unit, the control unit determines that the information originating from the other vehicle determined to be a vehicle that is not traveling by automatic driving is a vehicle that is traveling by automatic driving. The data is generated by making more use of the determined information originating from the other vehicle.
請求項１に記載の車両。The vehicle according to claim 1. 前記制御部は、前記受信部が情報を受信できない前記他の車両を、自動運転で走行していない車両であると判定する、The control unit determines that the other vehicle for which the reception unit cannot receive information is a vehicle that is not traveling by automatic driving.
請求項１又は２に記載の車両。The vehicle according to claim 1 or 2. 前記制御部は、前記他の車両が自動運転で走行していると判定した領域を注目領域に設定し、前記注目領域ではない領域を起源とする情報を、前記注目領域を起源とする情報より重用して前記データを生成する、The control unit sets a region determined to be traveling by the other vehicle by automatic driving as a region of interest, and obtains information originating from a region other than the region of interest from information originating from the region of interest. Generate the above data by using it heavily.
請求項２に記載の車両。The vehicle according to claim 2. 前記制御部は、前記注目領域として、第１注目領域と、前記第１注目領域と異なる第２注目領域とを設定し、前記第２注目領域を起源とする情報を、前記第１注目領域を起源とするより重用して前記データを生成する、 The control unit sets a first attention region and a second attention region different from the first attention region as the attention region, and obtains information originating from the second attention region from the first attention region. Generate the data with more weight than the origin,
請求項４に記載の車両。The vehicle according to claim 4. 前記制御部は、制御により第１自動運転を行っている前記他の車両の領域に前記第１注目領域を設定し、前記第１自動運転の制御のうちの少なくとも一部の操作をユーザが行う第２自動運転を行う前記他の車両の領域に前記第２注目領域を設定する、The control unit sets the first attention area in the area of the other vehicle that is performing the first automatic driving by control, and the user performs at least a part of the control of the first automatic driving. The second attention area is set in the area of the other vehicle that performs the second automatic driving.
請求項５に記載の車両。The vehicle according to claim 5. 前記制御部は、制御により前記他の車両の運転を行う第１自動運転と、前記第１自動運転の制御のうちの少なくとも一部の操作をユーザが行う第２自動運転と、で異なる情報量の情報で前記データを生成する、The control unit has a different amount of information between the first automatic driving in which the other vehicle is driven by control and the second automatic driving in which the user performs at least a part of the control of the first automatic driving. Generate the above data with the information of
請求項２に記載の車両。The vehicle according to claim 2. 前記制御部は、前記第１自動運転で走行している車両であると判定された前記他の車両を起源とする情報を、前記第２自動運転で走行している車両であると判定された前記他の車両を起源とする情報よりも重用して前記データを生成する、The control unit has determined that the information originating from the other vehicle determined to be the vehicle traveling in the first automatic driving is the vehicle traveling in the second automatic driving. Generating the data with more weight than information originating from the other vehicle.
請求項７に記載の車両。The vehicle according to claim 7. 運転支援装置を搭載した車両であって、
前記運転支援装置は、
前記車両の外部を撮像する撮像部と、
前記車両の外部に存在する物体までの距離を測定する測距部と、
前記車両の現在位置を測定する測位部と、
前記撮像部と前記測距部と前記測位部からの情報に基づいて前記車両の運転支援を行うためのデータを生成する制御部と、
を有し、
前記制御部は、前記撮像部からの情報に基づいて、他の車両が自動運転で走行している車両であるか否かを判定し、判定した結果に応じて前記データの生成の態様を変更する、
車両。 A vehicle equipped with a driving support device
The driving support device is
An image pickup unit that captures the outside of the vehicle and
A ranging unit that measures the distance to an object that exists outside the vehicle,
A positioning unit that measures the current position of the vehicle, and
A control unit that generates data for supporting the driving of the vehicle based on information from the image pickup unit, the distance measuring unit, and the positioning unit.
Have,
The control unit determines whether or not the other vehicle is a vehicle traveling by automatic driving based on the information from the image pickup unit, and changes the mode of generating the data according to the determination result. do,
vehicle. 前記制御部は、前記撮像部からの情報のうち、自動運転で走行している車両ではないと判定された前記他の車両を起源とする情報を、自動運転で走行している車両であると判定された前記他の車両を起源とする情報より重用して前記データを生成する、It is said that the control unit is a vehicle traveling by automatic driving with information originating from the other vehicle determined not to be a vehicle traveling by automatic driving among the information from the imaging unit. The data is generated by making more use of the determined information originating from the other vehicle.
請求項９に記載の車両。The vehicle according to claim 9. 前記制御部は、所定の識別情報を撮像した撮像結果に基づいて、前記他の車両が自動運転で走行している車両であるか否かを判定する、The control unit determines whether or not the other vehicle is a vehicle traveling by automatic driving based on the image pickup result of capturing the predetermined identification information.
請求項９又は１０に記載の車両。The vehicle according to claim 9 or 10. 前記制御部は、前記車両のボディの前記識別情報を撮像した前記撮像結果に基づいて、前記他の車両が自動運転で走行している車両であるか否かを判定する、The control unit determines whether or not the other vehicle is a vehicle traveling by automatic driving based on the image pickup result of capturing the identification information of the body of the vehicle.
請求項１１に記載の車両。The vehicle according to claim 11. 前記制御部は、前記車両のボディに表示された前記識別情報を撮像した前記撮像結果に基づいて、前記他の車両が自動運転で走行している車両であるか否かを判定する、The control unit determines whether or not the other vehicle is a vehicle traveling by automatic driving based on the image pickup result of capturing the identification information displayed on the body of the vehicle.
請求項１２に記載の車両。The vehicle according to claim 12. 前記制御部は、前記撮像部の撮像結果に基づいて、前記他の車両が自動運転で走行している車両であると判定できない場合、手動運転で走行している車両であると判定する、Based on the image pickup result of the image pickup unit, the control unit determines that the other vehicle is a vehicle traveling by manual driving when it cannot be determined that the other vehicle is a vehicle traveling by automatic driving.
請求項９記載の車両。The vehicle according to claim 9. 前記制御部は、前記他の車両が自動運転で走行していると判定した領域を注目領域と判定し、前記注目領域ではない領域を起源とする情報を、前記注目領域を起源とする情報より重用して前記データを生成する、The control unit determines that the region where the other vehicle is determined to be traveling by automatic driving is the region of interest, and obtains information originating from a region other than the region of interest from information originating from the region of interest. Generate the above data by using it heavily.
請求項９に記載の車両。The vehicle according to claim 9. 前記制御部は、前記注目領域として、第１注目領域と、前記第１注目領域と異なる第２注目領域とを設定し、前記第２注目領域を起源とする情報を、前記第１注目領域を起源とするより重用して前記データを生成する、The control unit sets a first attention region and a second attention region different from the first attention region as the attention region, and obtains information originating from the second attention region from the first attention region. Generate the data with more weight than the origin,
請求項１５に記載の車両。The vehicle according to claim 15. 前記制御部は、制御により第１自動運転を行っている前記他の車両の領域に前記第１注目領域を設定し、前記第１自動運転の制御のうちの少なくとも一部の操作をユーザが行う第２自動運転を行う前記他の車両の領域に前記第２注目領域を設定する、The control unit sets the first attention area in the area of the other vehicle that is performing the first automatic driving by control, and the user performs at least a part of the control of the first automatic driving. The second attention area is set in the area of the other vehicle that performs the second automatic driving.
請求項１６に記載の車両。The vehicle according to claim 16. 前記制御部は、制御により前記他の車両の運転を行う第１自動運転と、前記第１自動運転の制御のうちの少なくとも一部の操作をユーザが行う第２自動運転と、で異なる情報量で前記データを生成する、The control unit has a different amount of information between the first automatic driving in which the other vehicle is driven by control and the second automatic driving in which the user performs at least a part of the control of the first automatic driving. To generate the above data in
請求項９に記載の車両。The vehicle according to claim 9. 前記制御部は、前記第１自動運転で走行している車両であると判定された前記他の車両を起源とする情報を、前記第２自動運転で走行している車両であると判定された前記他の車両を起源とする情報よりも重用して前記データを生成する、The control unit has determined that the information originating from the other vehicle determined to be the vehicle traveling in the first automatic driving is the vehicle traveling in the second automatic driving. Generating the data with more weight than information originating from the other vehicle.
請求項１８に記載の車両。The vehicle according to claim 18. 車両の外部を撮像した情報が入力される入力部と、An input unit where information that is an image of the outside of the vehicle is input, and
前記車両の外部に存在する物体までの距離を測定する測距部と、A ranging unit that measures the distance to an object that exists outside the vehicle,
前記車両の現在位置を測定する測位部と、A positioning unit that measures the current position of the vehicle, and
前記入力部と前記測距部と前記測位部からの情報に基づいて前記車両の運転支援を行うためのデータを生成する制御部と、A control unit that generates data for supporting the driving of the vehicle based on information from the input unit, the distance measuring unit, and the positioning unit.
前記撮像部により撮像される他の車両から送信された情報を受信する受信部と、A receiving unit that receives information transmitted from another vehicle imaged by the imaging unit, and a receiving unit.
を有し、Have,
前記制御部は、前記受信部からの情報に基づいて前記他の車両が自動運転で走行している車両であるか否かを判定し、判定した結果に応じて前記データの生成の態様を変更する、The control unit determines whether or not the other vehicle is a vehicle traveling by automatic driving based on the information from the reception unit, and changes the mode of generating the data according to the determination result. do,
運転支援装置。Driving support device. 車両の外部を撮像した情報が入力される入力部と、An input unit where information that is an image of the outside of the vehicle is input, and
前記車両の外部に存在する物体までの距離を測定する測距部と、A ranging unit that measures the distance to an object that exists outside the vehicle,
前記車両の現在位置を測定する測位部と、A positioning unit that measures the current position of the vehicle, and
前記入力部と前記測距部と前記測位部からの情報に基づいて前記車両の運転支援を行うためのデータを生成する制御部と、A control unit that generates data for supporting the driving of the vehicle based on information from the input unit, the distance measuring unit, and the positioning unit.
を有し、Have,
前記制御部は、前記撮像部からの情報に基づいて前記他の車両が自動運転で走行している車両であるか否かを判定し、判定した結果に応じて前記データの生成の態様を変更する、The control unit determines whether or not the other vehicle is a vehicle traveling by automatic driving based on the information from the image pickup unit, and changes the mode of generating the data according to the determination result. do,
運転支援装置。Driving support device.
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