JP2022046881A - Vehicle driving support device, vehicle driving support method and vehicle driving support program - Google Patents

Abstract

To support smooth driving of an autonomous driving vehicle.SOLUTION: A vehicle driving support device that supports driving of an autonomous driving vehicle V is comprised of: an obstacle detection function S21 that detects an obstacle located around the autonomous driving vehicle V using an output of a sensor S1 mounted on the autonomous driving vehicle; a collision prediction function S23 that predicts an influence of the obstacle on the driving of the autonomous driving vehicle V; and a notification determination function S24 and a warning area formation function S22 as a display control function unit that controls a display range by a display device S4 for displaying on a road surface related to the driving of the autonomous driving vehicle V according to a result of the prediction. Since a size and color of the display range are made different depending on a degree of danger of the prediction result, a moving object such as a pedestrian is urged to evacuate, thereby facilitating the driving of the autonomous driving vehicle.SELECTED DRAWING: Figure 4

Description

The present invention relates to a vehicle driving support device for supporting the driving of an autonomous driving vehicle, a vehicle driving support method, and a vehicle driving support program.

Conventionally, there is a technique described in WO2013 / 121570 (Patent Document 1) in order to support the traveling of a vehicle. In this publication, "Unlike the nose sensor 3 that exists on the front side of the own vehicle 100 and detects an approaching moving object approaching the own vehicle 100, and the headlight provided toward the front of the own vehicle 100. , The front side light 9 which is provided in front of the front door panel of the vehicle and can be visually recognized at least in the vehicle width direction, and the support ECU 8 which controls the lighting enhancement level to change the lighting enhancement level X of the front side light 9. The support ECU 8 raises the illumination enhancement level X when an approaching moving object is detected. "

WO2013 / 121570

In Patent Document 1, the existence of the own vehicle can be recognized by illuminating pedestrians and the like approaching from the left and right when entering an intersection. However, when the self-driving vehicle is running, even if the pedestrian recognizes the existence of the vehicle, there may be a case where the self-driving vehicle is unintentionally obstructed and the self-driving vehicle cannot run smoothly. This is because, as a pedestrian, it is not known at which position the autonomous driving is hindered, and if the autonomous driving vehicle cannot avoid the pedestrian, it will travel at an extremely low speed suitable for the pedestrian. Such a problem arises not only for pedestrians but also for moving objects including bicycles and the like.

Therefore, it is an object of the present invention to support the smooth running of the autonomous driving vehicle.

In order to achieve the above object, one of the representative vehicle driving support device, vehicle driving support method and vehicle driving support program of the present invention detects an obstacle located around the autonomous driving vehicle, and the obstacle is generated. Predict the effect on the driving of the autonomous driving vehicle, and control the display range by the display that displays on the road surface related to the driving of the autonomous driving vehicle.

According to the present invention, it is possible to support the smooth running of the autonomous driving vehicle. Issues, configurations and effects other than those described above will be clarified by the following description of the embodiments.

Explanatory drawing about support of vehicle running which concerns on this invention. Configuration diagram of an autonomous vehicle. Functional configuration diagram of the driving support device. Functional configuration diagram of the display control unit. A flowchart showing the processing procedure of the display control unit. A flowchart showing the details of the warning information generation process. Explanatory drawing of the display area.

Hereinafter, examples will be described with reference to the drawings.

FIG. 1 is an explanatory diagram for supporting vehicle traveling according to the present invention. The self-driving vehicle V that travels by automatic driving is equipped with a vehicle driving support device. The vehicle traveling support device includes a display that displays on the road surface related to the traveling of the autonomous driving vehicle V. The display is an LED or the like provided separately from the headlight. The road surface related to the traveling of the self-driving vehicle V includes a road surface on which the self-driving vehicle V is scheduled to travel, a road surface on which the self-driving vehicle V may travel, and a road surface in a region monitored for vehicle traveling control. For example, if the vehicle is traveling on a road with one lane on each side, the traveling lane and the traveling direction side of the own vehicle are the road surfaces for traveling.

The self-driving vehicle V detects obstacles located in the vicinity by sensors, avoids obstacles, and controls speed. For example, when a moving object such as a pedestrian or a bicycle is detected in the warning area of automatic driving, the automatic driving vehicle V considers avoidance, and if it cannot be avoided, it travels at a low speed according to the speed of the moving object. Wait for the moving object to evacuate to the outside of the mobile area.

However, pedestrians and the like do not know the warning area of the self-driving vehicle V and cannot determine how far to evacuate. In particular, if the pedestrian or the like does not recognize that he / she should evacuate, the self-driving vehicle V is forced to travel at an extremely low speed for a long time, which may cause traffic congestion.

Therefore, the self-driving vehicle V illuminates the road surface with a display so that the range corresponding to the caution area can be visually recognized by the surrounding pedestrians W as the display area. With this display area, it is possible to urge the pedestrian W to evacuate from the caution area and prevent the intrusion into the caution area, and to promote the smooth running of the autonomous driving vehicle V.

Further, the self-driving vehicle V predicts the influence of the moving object on the running of the own vehicle, and changes the size and color of the range (display range) included in the display area according to the severity of the prediction result. It is possible to more effectively notify the pedestrian W.
The severity of the predicted result indicates the magnitude of the predicted effect and the margin of time until the predicted effect occurs. For example, the severity is set to increase when a serious accident is predicted to occur, and the severity is set to increase as the time until the predicted effect occurs is shorter. In this embodiment, when a collision with a pedestrian or the like is predicted, a configuration in which the severity is determined in four stages according to the predicted time until the collision will be described as an example.

In FIG. 1, the risk of collision is predicted from the position and moving state of the pedestrian W, and when the position and speed are relatively safe, the display area is large and the display color is blue. On the other hand, when the risk of collision with the pedestrian W increases, the display area is reduced and the display color is red. By changing the size and position of the display area in this way, even if the pedestrian W does not have prior knowledge about the autonomous driving vehicle V, the positional relationship with the pedestrian W has some meaning for the autonomous driving vehicle V. You can recognize that you have it and know in which direction you should move.

FIG. 2 is a configuration diagram of the autonomous driving vehicle V. As shown in FIG. 2, the autonomous driving vehicle V has various sensors S1, a display control unit S2, a vehicle control unit S3, and a display S4 mounted on the vehicle body S0.

The sensor S1 is, for example, a camera, sonar, LIDAR (Laser Imaging Detection and Ranging), a radar, or the like. The display control unit S2 is a unit that controls the display of the caution area. The vehicle control unit S3 is a unit that controls the traveling of the autonomous driving vehicle V. The vehicle control unit S3 formulates a travel plan using map data and position data of the own vehicle, and controls the travel of the autonomous driving vehicle V based on the state of the own vehicle and the surrounding conditions. The display S4 is an LED or the like for displaying on the road surface.

FIG. 3 is a functional configuration diagram of the traveling support device. As shown in FIG. 3, the display control unit S2 acquires the sensor information D1 from the sensor S1 and the travel plan information D3 from the vehicle control unit S3. The travel plan information D3 includes the current location of the self-driving vehicle V, information indicating the route to be traveled, and information indicating the lane to be traveled. The sensor information D1 includes camera images, sonar information, rider data, radar data, and the like. The display control unit S2 generates warning area data D22 using the sensor information D1 and the travel plan information D3, and outputs the warning area data D22 to the display S4.

FIG. 4 is a functional configuration diagram of the display control unit S2. The display control unit S2 has an obstacle detection function S21, a warning area creation function S22, a collision prediction function S23, and a notification determination function S24.

FIG. 5 is a flowchart showing a processing procedure of the display control unit S2. First, in the sensor information acquisition process, the obstacle detection function S21 acquires sensor information D1 from various sensors S1 (step A101).

The obstacle detection function S21 detects obstacles using the sensor information D1 acquired from various sensors S1 (step A102). In this obstacle detection, a moving object located around the autonomous driving vehicle V is detected as an obstacle. If there is no obstacle (step S103; False), the process ends as it is. If there is an obstacle, the obstacle information D21 including the position, the moving direction, and the moving speed of the obstacle is output to the collision prediction function S23 (step A103). In the following description, the case where the determination result is affirmative (True) is referred to as “T”, and the case where the determination result is negative is referred to as “F”.

The collision prediction function S23 acquires a planned travel area based on the travel plan information D3 input from the vehicle control unit S3 (step A104). The planned travel area is a prediction of when and where the vehicle body of the autonomous driving vehicle V is located. The planned travel area is determined by using the size, speed, and steering state of the vehicle body of the autonomous driving vehicle V in addition to the current location, the planned travel route, and the planned travel lane shown in the travel plan information D3. After that, the collision prediction function S23 calculates the TTC information (Time to Collision: collision prediction time) D23 based on the planned travel area and the obstacle information D21 (step A105). The TTC information indicates the time when the collision between the autonomous driving vehicle V and the obstacle is predicted when the moving state of the autonomous driving vehicle V and the obstacle is maintained. The TTC information can be obtained by dividing the distance from the autonomous driving vehicle V to the obstacle by the relative speed.

The notification determination function S24 generates warning information D24 by the TTC information D23 input from the collision prediction function S23, and outputs it to the warning area creation function S22 (step A106). The alert information D24 indicates the alert level and corresponds to the size and color of the display area. The details of the warning information generation process will be described later.

The warning area creation function S22 outputs warning area data D22 from the warning information D24 input from the notification determination function S24 and the sensor information D1 input from various sensors S1 (step A107). The caution area data D22 indicates which range and which color the display S24 illuminates in order to control the operation of the display S24. The color of the irradiation is determined by the level of alert shown in the alert information D24. Similarly, the magnitude of the irradiation range in the traveling direction of the self-driving vehicle V is determined by the alert level indicated in the alert information D24. The size of the irradiation range in the vehicle width direction of the self-driving vehicle V is inside the lane in which the self-driving vehicle V travels. The position of this lane can be determined by a position at an arbitrary safety distance from the side end of the autonomous driving vehicle V, a position obtained from the detection result by the sensor S1, or the like.

The display S4 executes a process of displaying the warning area to the outside of the vehicle by the warning area data D22 input from the display control unit S2 (step A108). The above S101 to A108 are repeatedly executed, for example, at predetermined intervals from the start to the stop of the autonomous driving vehicle V.

FIG. 6 is a flowchart showing the details of the warning information generation process. When the warning information generation process starts, the notification determination function S24 compares the TTC indicated by the TTC information D23 input from the collision prediction function S23 with the three threshold values T1 to T3. T1 is the proximity reference collision prediction time, T2 is the medium distance reference collision prediction time, and T3 is the distance reference collision prediction time. T1 to T3 have a relationship of T1 <T2 <T3. For example, T1 may be 2 seconds, T2 may be 5 seconds, and T3 may be 10 seconds.

If T3 ≦ TTC (step A201; T), the notification determination function S24 sets “blue” in the warning information D24 and outputs it (step A202), and ends the process. The warning information D24 "blue" indicates that blue is used as a display for suppressing intrusion into the planned travel area. Further, the display area at this time is larger than when the warning information D24 has another value. That is, when the warning information D24 is "blue", it is farther in the traveling direction of the autonomous driving vehicle V than any of the warning information D24 "yellow", the warning information D24 "orange", and the warning information D24 "red". Is the display area.

If T3 ≤ TTC is not (step A201; F) and T2 ≤ TTC <T3 (step A203; T), the notification determination function S24 sets the warning information D24 to "yellow" and outputs it (step A204). , End the process. Warning information D24 "yellow" indicates that yellow is used as a display for suppressing intrusion into the planned travel area. Further, the display area at this time is the second largest after the warning information D24 is blue. That is, when the warning information D24 is "yellow", the display range in the traveling direction of the autonomous driving vehicle V is narrower than when the warning information D24 is "blue", but the warning information D24 "orange" and the warning information D24 "red". The display area is farther in the traveling direction of the autonomous driving vehicle V than in the case of "."

If T2 ≤ TTC is not (step A203; F) and T1 ≤ TTC <T2 (step A205; T), the notification determination function S24 sets the warning information D24 to "orange" and outputs it (step A206). , End the process. Warning information D24 "orange" indicates that orange is used as a display for suppressing intrusion into the planned travel area. Further, the display area at this time is the second largest after the warning information D24 is yellow. That is, when the warning information D24 is "orange", the display range in the traveling direction of the autonomous driving vehicle V is narrower than when the warning information D24 is "yellow", but it is more automatic than when the warning information D24 is "red". The display area is a long distance in the traveling direction of the driving vehicle V.

If 0 <TTC <T1 (step A203; T) instead of T1 ≦ TTC (step A205; F), the notification determination function S24 sets the warning information D24 to “red” and outputs it (step A208). , End the process. Warning information D24 "red" indicates that red is used as a display for suppressing intrusion into the planned travel area. Further, the display area at this time is smaller than when the warning information D24 has another value. That is, when the warning information D24 is "red", the display area in the traveling direction of the autonomous driving vehicle V is higher than any of the warning information D24 "blue", the warning information D24 "yellow", and the warning information D24 "orange". Becomes narrower.

Since the TTC predicts the time until the self-driving vehicle V collides with an obstacle, the value is 0 or more in principle. Therefore, when 0 <TTC is not satisfied (step A207; F), the notification determination function S24 sets “abnormality” in the warning information D24 and outputs it (step A209), and ends the process.

FIG. 7 is an explanatory diagram of the display area. As shown in the figure, when T3 ≦ TTC, the size of the display area becomes maximum, and the display S4 displays the display area in blue.
The size of the display area in the traveling direction of the autonomous driving vehicle V is determined by the warning information D24 as described above.
On the other hand, the size of the display area in the vehicle width direction of the autonomous driving vehicle V is inside the lane in which the autonomous driving vehicle V travels. By excluding the outside of the traveling lane from the display area in this way, it is possible to prevent unnecessary notification from being given to other vehicles, pedestrians, and the like.

When T2 ≦ TTC <T3, the size of the display area becomes smaller than when T3 ≦ TTC, and the display S4 displays the display area in yellow.
When T1 ≦ TTC <T2, the size of the display area becomes smaller than when T2 ≦ TTC <T3, and the display S4 displays the display area in orange.
When 0 ≦ TTC <T1, the size of the display area is minimized, and the display S4 displays the display area in red.

As described above, the display control unit S2, which is the vehicle traveling support device according to the embodiment, detects obstacles located around the autonomous driving vehicle V by using the output of the sensor S1 mounted on the autonomous driving vehicle V. Obstacle detection function S21, collision prediction function S23 that predicts the influence of the obstacle on the running of the self-driving vehicle V, and display on the road surface related to the running of the self-driving vehicle according to the result of the prediction. It is provided with a notification determination function S24 and a warning area creation function S22 as a display control function unit for controlling a display range by the display S4. With such a configuration, it is possible to urge the moving body to evacuate or the like and support the smooth running of the autonomous driving vehicle V.

Further, the display control unit S2 controls to change the size of the display range stepwise and change the display color according to the severity of the prediction result. Therefore, regardless of whether or not the pedestrian or the like has prior knowledge about the autonomous driving vehicle V, the positional relationship with the pedestrian or the like is recognized as meaningful for the autonomous driving vehicle V, and in which direction. It is possible to grasp whether it should be evacuated.

Further, the display control unit S2 uses the output of the sensor S1 to detect a moving object that is a moving obstacle, and travels the autonomous driving vehicle based on the traveling schedule of the autonomous driving vehicle and the moving state of the moving object. Predict the impact on. Therefore, it is possible to predict the influence caused by the moving body with high accuracy and contribute to the smooth running of the autonomous driving vehicle V.

Further, the display control unit S2 calculates the collision prediction time between the autonomous driving vehicle V and the moving body, and controls the display range according to the collision prediction time. Therefore, it is possible to urge evacuation or the like by displaying according to the danger of collision.

Further, the display control unit S2 excludes the outside of the lane in which the self-driving vehicle V travels from the display range, and determines the size of the display range in the traveling direction of the self-driving vehicle V according to the prediction result. decide. Therefore, the self-driving vehicle V can be smoothly driven without giving unnecessary notification to other vehicles, pedestrians, and the like.

Further, the display control unit S2 displays by the display S4 on condition that the obstacle is present. Therefore, it is possible to selectively display in a situation where there is a target to be notified.

The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Moreover, not only the deletion of such a configuration but also the replacement or addition of the configuration is possible.

Further, in the above-described embodiment, the case of controlling the display color to be different according to the severity of the prediction result has been described as an example, but the display may be different in shade according to the severity. good. Similarly, the blinking interval of the display may be different depending on the severity.
Further, the display S4 may include other means for notifying a pedestrian, such as a horn. That is, it is not limited to notification by irradiation of light, but "notification is performed by changing the frequency of sound using a horn" and "notification is performed by changing the interval of sound blowing using a horn." It is also possible to carry out with a configuration such as "Do."

Further, the self-driving vehicle is not limited to a vehicle that travels unmanned, and may be a vehicle that is manned and automatically driven, or may be a vehicle that temporarily substitutes a part of the driving by the driver.

Further, the TTC calculation method disclosed in the above-described embodiment is merely an example, and any method can be used. Further, not limited to TTC, any method for evaluating the influence of the target on the running of the own vehicle can be used.

S1: Sensor, S2: Display control unit, S3: Vehicle control unit, S4: Display, S21: Obstacle detection function, S22: Warning area creation function, S23: Collision prediction function, S24: Notification judgment function, T1: Proximity Reference collision prediction time, T2: Medium-range reference collision prediction time, T3: Far reference collision prediction time

Claims (8)

It is a vehicle driving support device that supports the driving of autonomous vehicles.
An obstacle detection function unit that detects obstacles located around the autonomous driving vehicle using the output of a sensor mounted on the autonomous driving vehicle, and an obstacle detection function unit.
A predictive function unit that predicts the influence of the obstacle on the running of the autonomous driving vehicle, and
A vehicle driving support device including a display control function unit that controls a display range by a display that displays on the road surface related to the traveling of the autonomous driving vehicle according to the result of the prediction. The first aspect of the present invention, wherein the display control function unit switches the size of the display range stepwise according to the severity of the prediction result, and controls the display color to be different. Vehicle driving support device. The obstacle detection function unit uses the output of the sensor to detect a moving object that is a moving obstacle, and the prediction function unit automatically performs the automatic operation based on the traveling schedule of the autonomous driving vehicle and the moving state of the moving object. The vehicle traveling support device according to claim 1, wherein the influence on the traveling of the driving vehicle is predicted. The claim is characterized in that the prediction function unit calculates a collision prediction time between the autonomous driving vehicle and the moving body, and the display control function unit controls the display range according to the collision prediction time. Item 3. The vehicle traveling support device according to item 3. The display control function unit excludes the outside of the lane in which the autonomous driving vehicle travels from the display range, and determines the size of the display range in the traveling direction of the autonomous driving vehicle according to the result of the prediction. The vehicle traveling support device according to claim 1. The vehicle traveling support device according to claim 1, wherein the display control function unit performs display by the display on condition that the obstacle is present. It is a vehicle driving support method that supports the driving of autonomous vehicles.
A detection step for detecting an obstacle located around the self-driving vehicle, and
A prediction step for predicting the influence of the obstacle on the running of the autonomous driving vehicle, and
A vehicle traveling support method comprising a display control step for controlling a display range by a display that displays on the road surface related to the traveling of the autonomous driving vehicle according to the result of the prediction. It is a vehicle driving support program that supports the driving of autonomous vehicles.
A detection process in which a computer detects obstacles around the self-driving vehicle,
A prediction process in which the computer predicts the effect of the obstacle on the driving of the self-driving vehicle.
A vehicle traveling support program comprising: a display control process in which the computer controls a display range by a display that displays on the road surface related to the traveling of the autonomous driving vehicle according to the result of the prediction.

Images