JP4561675B2 - Driving support device and computer program - Google Patents

Description

The present invention relates to a driving support device that supports a vehicle operation performed by a driver, and more particularly, to a driving support device and a computer program that support a vehicle operation when it is predicted that a lane is changed to a lane in which a parallel running vehicle travels. Is.

  In recent years, from the viewpoint of preventing accidents when driving a vehicle, the driver detects the obstacles such as people and bicycles located around the vehicle by radar or images of captured cameras and prevents the collision with the obstacles. There are an increasing number of vehicles equipped with driving support devices that perform warning and vehicle control. Conventionally, as one of the driving assistance devices, the distance between the vehicle and the vehicle ahead is recognized using radio wave radar, and the vehicle is accelerated according to the distance between the vehicle and the calculated acceleration or deceleration of the vehicle. There is something that controls deceleration. According to such a technique, it is possible to perform advanced and safe inter-vehicle distance control in consideration of the preceding vehicle, and appropriately follow the sudden acceleration and sudden braking of the preceding vehicle by smooth acceleration and deceleration control. In addition, the inter-vehicle distance control can be smoothly performed even with a sudden change in behavior of the preceding vehicle such as a lane change.

However, the driver is more likely to come into contact with a parallel vehicle that runs parallel to the vehicle than a forward vehicle that can be seen through the windshield or a rear vehicle that can be seen through the rearview mirror or door mirror. It was. In other words, parallel cars that run parallel to the vehicle are more likely to enter the driver's blind spot compared to vehicles that run forward and backward, and lanes change frequently near highways and intersections. High risk of contact. Therefore, for example, in Japanese Patent Application Laid-Open No. 2003-237407, when there is another vehicle running in parallel with the own vehicle, it is assumed that the own vehicle is continuously located in the blind spot area of the other vehicle. There is described a vehicle control device that actively and positively escapes a host vehicle from a blind spot area of a driver of another vehicle by controlling a relative speed between the vehicle and the host vehicle.
Japanese Patent Laid-Open No. 2003-237407 (pages 4 to 5, FIG. 2)

However, in the vehicle control device described in Patent Document 1, the relative speed of the host vehicle is controlled every time the host vehicle enters the blind spot area of the other vehicle. Control is performed even in situations where there is no fear. For example, if the host vehicle and the other vehicle are both traveling at a constant speed on a general road where there are no intersections or other vehicles, there is no risk of contact even if the host vehicle is located in the blind spot area. Vehicle control is not required. Then, if the control is performed even under such a situation where the vehicle control is unnecessary, the driver feels anxiety and stress due to the control frequently performed during traveling.
Even if the host vehicle is located outside the blind spot area of the other vehicle, the driver is not always recognized by the driver of the other vehicle. Contact was likely to occur.

The present invention has been made to solve the above-described conventional problems, and provides vehicle operation support for preventing contact with a parallel running vehicle in a situation where there is a risk of contact with the parallel running vehicle. Accordingly, an object of the present invention is to provide a driving support device and a computer program that enable an appropriate driving to be performed without giving anxiety and stress to the driver by unnecessary guidance and vehicle control.

In order to achieve the above object, the driving assistance device (1) according to claim 1 of the present application includes a parallel running vehicle detection means (5, 6) for detecting a parallel running vehicle that runs parallel to the own vehicle, and the own vehicle situation. Or the situation detection means (3, 4, 5, 6, 11, 12, 17) for detecting the surrounding situation of the own vehicle, and the own vehicle to the lane on which the parallel running vehicle runs based on the detection result of the situation detection means. Vehicle change prediction means (11) for predicting the lane change, and vehicle operation support means for assisting the vehicle operation performed by the driver when the lane change of the vehicle is predicted by the vehicle change prediction means ( and 11, 14, 16), possess the status detecting means detects a headway distance to the rear vehicle traveling behind the vehicle on the traffic lane detects the traveling lane of the own vehicle, the The own vehicle change prediction means is a rear vehicle detected by the situation detection means. Characterized by predicting the lane change of the vehicle based on the inter-vehicle distance in.
Here, the “parallel vehicle” means that the vehicle travels in the same direction as the vehicle in the lane adjacent to the lane in which the vehicle travels, and at least a part of the vehicle body overlaps when viewed from the direction perpendicular to the traveling direction. Other vehicles that are. Depending on the vehicle speed and acceleration, it is desirable to treat it as a parallel car if it is within a predetermined distance from the host vehicle even if the vehicle bodies do not overlap (for example, when traveling at 80 km / h or more) The other vehicles located within 5m in the front and back are assumed to be parallel vehicles).
Further, “supporting vehicle operation” means performing vehicle operation guidance using a display or a speaker, or performing vehicle control related to accelerator, brake, steering wheel, A / T, CVT, and the like.

A computer program according to claim 2 is mounted on a computer and has a parallel vehicle detection function for detecting a parallel vehicle that runs parallel to the vehicle, and a situation for detecting the vehicle situation or the surrounding situation of the vehicle. A detection function, an own vehicle change prediction function for predicting that the own vehicle changes to a lane on which a parallel vehicle runs based on the detection result of the situation detection function, and the own vehicle change prediction function A vehicle operation support function for supporting a vehicle operation performed by a driver when a lane change is predicted, wherein the situation detection function detects a lane in which the host vehicle travels and The inter-vehicle distance to a rear vehicle traveling behind the host vehicle on the lane is detected, and the own vehicle change prediction function is based on the inter-vehicle distance to the rear vehicle detected by the situation detection function. Characterized by predicting a line change.

  In the driving support device according to claim 1 having the above-described configuration, when a parallel vehicle that runs parallel to the own vehicle is detected, the lane in which the parallel vehicle travels from the own vehicle situation or the surrounding situation of the own vehicle. In an appropriate situation where it is predicted that there is a risk of contact with a parallel running vehicle because it assists the vehicle operation performed by the driver when the lane change of the own vehicle is predicted. It becomes possible to assist the vehicle operation to prevent contact with the parallel running vehicle. And, unnecessary guidance and vehicle control do not give the driver anxiety and stress, and it is possible to allow the driver to travel appropriately even when there are parallel vehicles.

In the computer program according to claim 2, when a parallel vehicle running in parallel with the own vehicle is detected, the lane from the own vehicle state or the surrounding state of the own vehicle to the lane where the parallel vehicle runs Predicts that the vehicle will change, and assists the vehicle operation performed by the driver when the vehicle's lane change is predicted, so the parallel vehicle in an appropriate situation where there is a risk of contact with the parallel vehicle It is possible to support vehicle operation to prevent contact with the vehicle. And, unnecessary guidance and vehicle control do not give the driver anxiety and stress, and it is possible to allow the driver to travel appropriately even when there are parallel vehicles.

DETAILED DESCRIPTION Hereinafter, a driving assistance apparatus according to the present invention will be described in detail with reference to the drawings based on an embodiment that is embodied.
First, a schematic configuration of the driving support device 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic configuration diagram of a driving support apparatus 1 according to the present embodiment. FIG. 2 is a block diagram schematically showing a control system of the driving support apparatus 1 according to the present embodiment.

As shown in FIGS. 1 and 2, the driving support device 1 according to this embodiment includes a front radar device (situation detection unit) 3, a rear radar device (situation detection unit) 4 installed on a vehicle 2, and the like. A left camera (parallel running vehicle detection means, situation detection means) 5, a right camera (parallel running vehicle detection means, situation detection means) 6, a vehicle speed sensor 7, and a vehicle ECU (vehicle operation support means) 8. And a navigation device 9.
Further, the navigation device 9 includes a navigation ECU (situation detection means, own vehicle change prediction means, parallel running vehicle change prediction means, vehicle operation support means, destination setting means, route setting means) 11 and a current location detection unit (situation detection). Means) 12, a data recording unit 13, a liquid crystal display (vehicle operation support means) 14, a touch panel 15, a speaker (vehicle operation support means) 16, and a communication device (situation detection means) 17. .

  Here, the front radar apparatus 3 is attached in the vicinity of the upper center of a license plate mounted in front of the vehicle 2 and basically includes a radio wave transmission unit and a radio wave reception unit. Then, a radio wave beam is emitted from the radio wave transmission unit to the front of the vehicle 2 and a reflected radio wave reflected by a front object (specifically, another vehicle) is received by the radio wave reception unit. As a result, the distance and relative speed to the vehicle traveling in front of the vehicle 2 can be detected based on the received reflected radio wave intensity and wavelength.

  Further, the rear radar device 4 is attached near the upper center of the license plate mounted on the rear side of the vehicle 2, and basically includes a radio wave transmission unit and a radio wave reception unit, like the front radar device 3. . Then, a radio wave beam is emitted from the radio wave transmitting unit to the rear of the vehicle 2 and a reflected radio wave reflected by an object behind (specifically, another vehicle) is received by the radio wave receiving unit. As a result, the distance and relative speed to the vehicle traveling behind the vehicle 2 can be detected based on the received reflected radio wave intensity and wavelength.

  The left camera 5 uses a solid-state image sensor such as a CCD, for example, is attached to a door mirror provided on the left side of the vehicle, and is installed with the line-of-sight direction slightly below the horizontal. And the left environment of the vehicle 2 is imaged at the time of driving | running | working of a vehicle. Further, the navigation ECU 11 performs predetermined processing on the captured image as will be described later, thereby turning on a parallel running vehicle that runs parallel to the left of the vehicle 2 and a turn signal lamp of a direction indicator provided in the parallel running vehicle. Detect state.

  The right camera 6 uses a solid-state image sensor such as a CCD, for example, is attached to a door mirror provided on the right side of the vehicle, and is installed with the line-of-sight direction slightly below the horizontal. And the right environment of the vehicle 2 is imaged at the time of driving | running | working of a vehicle. Further, the navigation ECU 11 performs predetermined processing on an image captured as will be described later, so that a parallel running vehicle that runs parallel to the right side of the vehicle 2 and a blinker lamp of a direction indicator included in the parallel running vehicle are turned on. Detect state.

  The vehicle speed sensor 7 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the wheel of the vehicle 2, and outputs a pulse signal to the navigation ECU 11. And navigation ECU11 calculates the rotational speed and movement distance of a wheel by counting the pulse which generate | occur | produces.

The vehicle ECU 8 is an electronic control unit of the vehicle 2 that controls the operation of the engine, transmission, brake, direction indicator, and the like, and is connected to an accelerator 18, a brake 19, and a direction indicator 20. The vehicle ECU 8 adjusts the opening degree of the accelerator 18 and the amount of play of the brake 19 based on an instruction from the navigation ECU 11. As a result, the vehicle ECU 8 may change the lane to the lane in which the parallel running vehicle travels, or the parallel running vehicle may change to the lane in which the parallel running vehicle travels, as will be described later. When predicted, it is possible to prevent the vehicle 2 from contacting the parallel running vehicle.
Further, the direction indicator 20 is composed of blinker lamps 20A and 20B arranged in front of the vehicle 2, and blinker lamps 20C and 20D arranged in the rear of the vehicle 2, and the vehicle ECU 8 is operated by the driver. Based on this, the blinker lamps 20A to 20D are turned on. Further, the navigation ECU 11 detects lighting states of the blinker lamps 20A to 20D, and predicts lane changes as will be described later.

  Next, the components constituting the navigation device 9 will be described. The current location detection unit 12 includes a GPS 31, a geomagnetic sensor 32, a distance sensor 33, a steering sensor 34, a gyro sensor 35 as a direction detection unit, and an altimeter (not shown). ) And the like, and it is possible to detect the current position and direction of the vehicle 2, the distance to the target (for example, an intersection), and the like.

  Specifically, the GPS 31 detects the current location and the current time of the vehicle 2 on the earth by receiving radio waves generated by an artificial satellite, and the geomagnetic sensor 32 measures the direction of the vehicle by measuring the geomagnetism. The distance sensor 33 detects a distance between predetermined positions on the road. Here, as the distance sensor 33, for example, a rotational speed of a wheel (not shown) of the vehicle 2 is measured, a sensor for detecting a distance based on the measured rotational speed, an acceleration is measured, and the measured acceleration is 2 A sensor that integrates the times and detects the distance can be used.

  The steering sensor 34 detects the rudder angle of the host vehicle. Here, as the steering sensor 34, for example, an optical rotation sensor attached to a rotating portion of a steering wheel (not shown), a rotation resistance sensor, an angle sensor attached to a wheel, or the like is used.

  And the gyro sensor 35 detects the turning angle of the own vehicle. Here, as the gyro sensor 35, for example, a gas rate gyro, a vibration gyro, or the like is used. Further, by integrating the turning angle detected by the gyro sensor 35, the vehicle direction can be detected.

  The data recording unit 13 is a driver for reading out an external storage device and a hard disk (not shown) as a recording medium, a map information DB 21 recorded on the hard disk, a predetermined program, etc. and writing predetermined data on the hard disk. And a recording head (not shown). In the present embodiment, a hard disk is used as the external storage device and storage medium of the data recording unit 13, but in addition to the hard disk, a magnetic disk such as a flexible disk can be used as the external storage device. Also, a memory card, magnetic tape, magnetic drum, CD, MD, DVD, optical disk, MO, IC card, optical card, etc. can be used as an external storage device. Details of the map information DB 21 will be described later.

  Further, the navigation ECU (Electronic Control Unit) 11 is used as a working memory when the CPU 41 performs various kinds of arithmetic processing as well as a CPU 41 as an arithmetic device and a control device for controlling the entire navigation device 9. In addition to the RAM 42 that stores route data and the like when a route is searched, a control program, a destination setting processing program that sets a destination for traveling guidance based on a user's operation, up to the set destination Based on the guidance route setting processing program for searching for a route and setting it as a guidance route, the situation of the vehicle 2 and the surrounding situation of the vehicle 2, the vehicle 2 changes its lane to the lane in which the parallel running vehicle travels, Driving support that predicts a lane change to the lane in which the vehicle 2 travels and performs guidance and vehicle control Management program includes an internal storage device such as a flash memory 44 (see FIG. 3) records a program read from the recorded ROM 43, ROM 43. As the RAM 42, ROM 43, flash memory 44, etc., a semiconductor memory, a magnetic core or the like is used. As the arithmetic device and the control device, an MPU or the like can be used instead of the CPU 41.

  In the present embodiment, various programs are recorded in the ROM 43, and various data are recorded in the data recording unit 13. However, the programs, data, and the like are stored in the same external storage device, memory card, and the like. It is also possible to read out a program, data, etc. from the flash memory 44 and so on. Further, the program, data, etc. can be updated by exchanging a memory card or the like.

  The liquid crystal display 14 also has operation guidance, operation menu, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic information, news, weather forecast, time, mail, TV program, and the like. It is a display means to be displayed. In particular, in the navigation device 9 according to the present embodiment, when a lane change of the host vehicle or the parallel running vehicle is predicted, a character or symbol that warns that there is a parallel running vehicle is displayed. Instead of the liquid crystal display 14, it is also possible to use a CRT display, a plasma display, or the like, or a hologram device that projects a hologram on the windshield of a vehicle.

  The touch panel 15 is arranged on the front surface of the liquid crystal display 14, specifies the coordinate position of the part touched by the user, where the user touched based on the specified coordinate position information, and in which direction the touched part moves. Can be determined. Instead of the touch panel 15, a keyboard, a mouse, a remote control device for remote operation, a joystick, a light pen, a stylus pen, or the like can be used.

  In addition, the speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 11. Here, examples of the voice guidance to be guided include “the intersection is 300 m ahead in the right direction” and “there is an uphill lane soon”. In particular, the navigation device 9 according to the present embodiment outputs a sound for warning that there is a parallel running vehicle when a lane change of the host vehicle or the parallel running vehicle is predicted. Note that as the sound output from the speaker 16, in addition to the synthesized sound, various sound effects and various guidance information recorded in advance on a tape, a memory, or the like can be output.

  The communication device 17 is a traffic consisting of various information such as traffic jam information, regulation information, parking lot information, traffic accident information, etc. transmitted from a traffic information center such as a VICS (registered trademark: Vehicle Information and Communication System) center. It is a beacon receiver that receives information as a radio beacon, an optical beacon, or the like via a radio beacon device, an optical beacon device, or the like disposed along a road. The communication device 17 is a network that enables communication in a communication system such as a LAN, WAN, intranet, cellular phone line network, telephone line network, public communication line network, dedicated communication line network, and communication line network such as the Internet. It may be a device. In addition to the information from the information center, the communication device 17 includes an FM receiver that receives FM multiplex information including information such as news and weather forecast as FM multiplex broadcast via an FM broadcast station. The beacon receiver and the FM receiver are unitized and arranged as a VICS receiver, but can be arranged separately.

  Next, the map information DB 21 stored in the data recording unit 13 will be described. Here, map data necessary for route guidance and map display is recorded in the map information DB 21. The map data includes, for example, map display data for displaying a map, intersection data regarding each intersection, and roads (links). Link data 22, node data 23 related to a node point, search data for searching for a route, facility data related to a facility, search data for searching for a point, and the like.

  Here, as the link data 22 in particular, the road attribute of the road to which the link belongs is stored for each link constituting the road. Road attributes specifically represent road width, gradient, cant, bank, road surface condition, number of road lanes, number of lanes increasing or decreasing, number of lanes narrowing, level crossing, etc. In addition to data, data on the corners, such as radius of curvature, intersections, T-junctions, corner entrances and exits, etc., in addition to general roads such as national roads, prefectural roads, narrow streets, etc. Data representing toll roads such as roads, city expressways, general toll roads, and toll bridges are recorded. In addition, for each lane constituting the road, lane types such as a traveling lane, an overtaking lane, and a merging lane are also stored. Furthermore, regarding toll roads, data relating to entrance roads (rampways), toll gates (interchanges) and the like of toll roads are recorded.

  The node data 23 includes road branch points (including intersections, T-junctions, etc.), node point coordinates (positions) set for each road according to a radius of curvature, etc., and nodes. Node attribute indicating whether the node corresponds to the intersection, etc., connection link number list that is a list of link numbers of links connected to the node, and adjacent node number that is a list of node numbers of nodes adjacent to the node via the link A list, data on the height (altitude) of each node point, and the like are recorded.

In addition, as search data, data used for searching and displaying a route to a set destination is recorded, and costs for passing through a node (hereinafter referred to as node cost) and roads are configured. The cost data used to calculate the search cost consisting of the cost of the link to be performed (hereinafter referred to as the link cost), the travel time required to pass the link, and the route selected by the route search are displayed on the map of the liquid crystal display 14 It consists of route display data for displaying on the screen.
Here, the node cost is basically set for the node corresponding to the intersection. In the navigation device 9 according to the present embodiment, the presence or absence of a signal and the travel route of the own vehicle when passing through the intersection (that is, going straight) The value is determined by the type of the right turn and the left turn).
The link cost is calculated using data relating to road attributes (road type, road width, number of lanes, link length), traffic information, and the like constituting the link.

  In addition, as facility data, data related to buildings such as hotels, hospitals, gas stations, parking lots, tourist facilities, interchanges, restaurants, service areas, and the like in each region are recorded together with facility IDs that identify the buildings. The map information DB 21 also records audio output data for outputting predetermined information by the speaker 16 of the navigation device 9.

  Here, in the navigation device 9 according to the present embodiment, when searching for a route, the route is searched from the departure side and the destination side along the link and node of the map data, and the search from the departure side is performed. Value obtained by adding the search cost accumulated from the departure side (node cost and link cost) and the search cost accumulated from the destination side in the overlapping part of the search from the destination side, that is, the cost addition value Is calculated. Then, the route with the minimum cost addition value is set as the guidance route.

  The contents of the map information DB 21 are updated by transferring information from a recording medium such as a DVD or an externally connected memory card, or by downloading information from a specific information center or the like via the communication device 17. Is done.

  Next, a driving support processing program executed by the navigation ECU 11 in the driving support device 1 having the above-described configuration will be described with reference to FIGS. FIG. 3 is a flowchart of the driving support processing program according to the present embodiment. Here, the driving support processing program is executed at predetermined intervals (for example, every 100 ms) after the ignition of the vehicle is turned on, and the vehicle 2 travels as a parallel running vehicle based on the situation of the vehicle 2 and the surrounding situation of the vehicle 2. This is a program that predicts that a lane will be changed to a lane or that a parallel running vehicle will change to a lane in which the vehicle 2 travels, and performs guidance and vehicle control. Note that the programs shown in the flowcharts in FIG. 3 and the following are stored in the RAM 42 and the ROM 43 provided in the navigation device 9 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the driving support processing program, the CPU 41 performs a parallel vehicle detection process (FIG. 4) for detecting a parallel vehicle that runs parallel to the host vehicle. In the parallel running vehicle detection process, another vehicle running in parallel in the left lane or the right lane of the lane on which the host vehicle runs is based on an image captured by the left camera 5 or the right camera 6 as described later. Detect as.

  Next, in S <b> 2, the CPU 41 performs a lane change prediction process (FIGS. 6 and 16 to 20). In the lane change prediction process, as will be described later, the front radar device 3, the GPS 31, various sensors, and the like are used to detect the host vehicle situation and the surrounding situation of the host vehicle, and the parallel running detected in S1 based on the detection result. It is predicted that the host vehicle changes the lane to the lane in which the vehicle travels, or that the parallel running vehicle changes to the lane in which the host vehicle travels. In addition, said S2 is corresponded to the process of the own vehicle change prediction means and a parallel running vehicle change prediction means.

  Subsequently, in S <b> 3, the CPU 41 performs a control pattern selection process (FIG. 21) for selecting a control pattern for specifying the guidance content for the user and the vehicle control content. Specifically, the most appropriate guidance content and vehicle control content are selected from a plurality of control patterns prepared in advance (see FIG. 22) based on the vehicle situation detected in S2 and the surrounding situation of the vehicle. To do.

  In S4, the CPU 41 performs guidance for the user and vehicle control processing (FIG. 23). Specifically, based on the guidance content specified by the control pattern selected in S3 as described later, the fact that there is a possibility of contact with the parallel running vehicle is guided using the liquid crystal display 14 and the speaker 16. Further, the vehicle is controlled so as to prevent contact with the parallel running vehicle based on the control content of the vehicle specified by the control pattern selected in S3.

  Next, the sub-process of the parallel running vehicle detection process executed by the CPU 41 of the navigation device 9 in S1 will be described with reference to FIG. FIG. 4 is a flowchart of the parallel vehicle detection processing program according to the present embodiment.

  First, in the parallel running vehicle detection processing program, in S11, an image captured by the left camera 5 and the right camera 6 is captured and analyzed, and image recognition processing is performed to detect a parallel running vehicle that is running parallel to the host vehicle. Do. Here, the “parallel vehicle that runs parallel to the host vehicle” is another vehicle that travels in the same direction as the host vehicle in a lane adjacent to the lane on which the host vehicle travels, and is perpendicular to the traveling direction. Refers to another vehicle in which at least a part of the vehicle body overlaps with the host vehicle.

Specifically, first, an image captured by the left camera 5 and the right camera 6 is input using analog communication means such as NTSC or digital communication means such as i-link, and jpeg, mpeg, etc. Convert to digital image format. Next, the CPU 41 corrects the luminance of the road surface and the object in the captured image based on the luminance difference. Thereafter, a binarization process for separating the object from the image, a geometric process for correcting distortion, a smoothing process for removing image noise, and the like are performed to detect a boundary line between the road surface and the object. Accordingly, it is possible to detect a parallel running vehicle that runs parallel to the host vehicle.
For example, FIG. 5 is a schematic diagram showing an example when the own vehicle detects a parallel running vehicle by the left camera 5 and the right camera 6. As shown in FIG. 5, when the host vehicle 2 travels in the left lane on a two-lane road, if there is another vehicle 50 running in the right lane, the image captured by the right camera 6 The other vehicle 50 is imaged. Then, the navigation ECU 11 sees the own vehicle from the silhouette position of the other vehicle 50 in the image captured by the right camera 6 when viewed from the direction (right direction in FIG. 5) perpendicular to the traveling direction of the vehicle (upward direction in FIG. 5). 2 and whether or not at least a part of the body of the other vehicle 50 overlaps. If it is determined that they overlap, the other vehicle 50 is detected as a parallel running vehicle.

  Thereafter, in S12, it is determined based on the result of the image recognition process in S11 whether there is a left parallel running vehicle that runs parallel to the left of the host vehicle. Specifically, it is determined whether or not a parallel running vehicle is detected in the image captured by the left camera 5.

As a result, when it is determined that there is a left parallel running vehicle (S12: YES), the parallel running time of the left parallel running vehicle is increased (S13). Here, the parallel running time indicates the time during which the parallel running vehicle detected in S11 runs parallel to the host vehicle, and is stored in the RAM 42. Then, when the parallel running vehicle is detected for the first time in S13, the parallel running time starts to be measured. When the parallel running vehicle is detected following the previous processing, the current parallel running stored in the RAM 42 is detected. The time is added for a predetermined time (for example, 100 ms).
On the other hand, when it is determined that there is no left parallel running vehicle (S12: NO), the parallel running time of the left parallel running vehicle stored in the RAM 42 is cleared (S14).

  Next, in S15, based on the result of the image recognition process in S11, it is determined whether there is a right parallel running vehicle that runs parallel to the right side of the host vehicle. Specifically, it is determined whether or not a parallel running vehicle is detected in the image captured by the right camera 6.

  As a result, when it is determined that there is a right parallel running vehicle (S15: YES), the parallel running time of the right parallel running vehicle is increased (S16). On the other hand, when it is determined that there is no right parallel running vehicle (S15: NO), the parallel running time of the right parallel running vehicle stored in the RAM 42 is cleared (S17).

  Next, the sub-process of the lane change prediction process executed by the CPU 41 of the navigation device 9 in S2 will be described with reference to FIG. FIG. 6 is a flowchart of the lane change prediction processing program according to the present embodiment.

  Here, in the lane change prediction process, the host vehicle situation and the surrounding situation of the host vehicle are detected using the forward radar device 3, the GPS 31, various sensors, and the parallel running vehicle detected in S1 based on the detection result. It is predicted that the host vehicle will change the lane to the lane where the vehicle travels, or that the parallel running vehicle will change the lane to the lane where the host vehicle will travel. Here, FIG. 7 is a diagram showing conditions of eight patterns in which the host vehicle and the parallel running vehicle are predicted to change lanes in the lane change prediction process. 8 to 15 are schematic views showing specific examples of the arrangement of vehicles that satisfy the conditions of each pattern.

  As shown in FIG. 8, for example, when the own vehicle 61 is traveling on the overtaking lane 62 of the highway as the pattern 1, there is a parallel running vehicle 64 in the traveling lane (left lane) 63, and from the rear of the own vehicle 61. When there is another vehicle 65 approaching, if the own vehicle 61 changes the lane to the lane 63 on which the parallel running vehicle 64 travels on the condition that there is no forward vehicle in front of the own vehicle 61 and that there is no traffic jam. Predict.

  In addition, as shown in FIG. 9, when there is a parallel running vehicle 74 that merges from the merging lane 73 while the own vehicle 71 is traveling on the highway lane 72 as the pattern 2-1, It is predicted that the lane will be changed to the lane 72 in which the vehicle 71 travels.

  Further, as shown in FIG. 10, as the pattern 2-2, while the own vehicle 81 is traveling on the traveling lane 82 of the highway, there is a parallel traveling vehicle 84 in the passing lane 83 (right lane), and from the merging lane 85. When there is another vehicle 86 to join, it is predicted that the own vehicle 81 will change the lane to the lane 83 in which the parallel vehicle 84 travels.

  In addition, as shown in FIG. 11, when the host vehicle 91 travels along the junction lane 92 of the expressway as the pattern 2-3 and the parallel vehicle 94 is present in the travel lane 93, the host vehicle 91 is the parallel vehicle 94. It is predicted that the lane will be changed to the lane 93 in which the vehicle travels.

  Also, as shown in FIG. 12, the vehicle 101 guides the lane corresponding to the guidance direction of the guidance route 102 set by the navigation device 9 as the pattern 3 (in FIG. 12, the guidance route 102 guides the route that makes a left turn. If the parallel vehicle 105 is in the corresponding lane 103 while traveling on a lane 104 (the right lane in FIG. 12) 104 that is different from the left lane 103, the own vehicle 101 moves to the lane 103 on which the parallel vehicle 105 travels. And predict lane change.

  Further, as shown in FIG. 13, when the host vehicle 111 travels in the right lane 112 as the pattern 4-1, when the left turn signal lamps 20 </ b> A and 20 </ b> C (see FIG. 1) of the host vehicle 111 are lit, When the parallel vehicle 114 is present in the left lane 113 (ie, the left lane 113), it is predicted that the host vehicle 111 will change the lane to the lane 113 on which the parallel vehicle 114 travels. When the positions of the host vehicle 111 and the parallel running vehicle 114 are opposite, it is predicted that the lane change will be performed when the right blinker lamps 20B and 20D (see FIG. 1) are turned on.

  Further, as shown in FIG. 14, when the own vehicle 121 travels in the right lane 122 as the pattern 4-2, the lighting of the blinker lamp of the parallel running vehicle 124 traveling in the left lane 123 is detected, and the lighting is performed. When the host vehicle 121 is in the direction (that is, the right lane 122 in the case of the right winker ramp), it is predicted that the parallel running vehicle 124 changes the lane to the lane 122 in which the host vehicle 121 travels. In addition, when the positions of the own vehicle 121 and the parallel running vehicle 124 are opposite, it is predicted that the lane change will be performed when the left blinker lamp lighting is detected.

  Further, as shown in FIG. 15, when the own vehicle 131 is traveling in the right lane 132 as the pattern 5 and there is a parallel running vehicle 134 in the left lane 133 and the vehicle travels in parallel for a predetermined time (for example, 1 minute) or more. Indicates that the host vehicle 131 changes the lane to the lane 133 on which the parallel running vehicle 134 travels, or the lane on which the parallel running vehicle 134 travels on the own vehicle 131, provided that there is no forward vehicle and no traffic jam. Predict to change lane to 132.

  In the lane change prediction process shown in FIG. 6, it is determined whether or not the own vehicle situation and the surrounding situation of the own vehicle apply to the above-described conditions of Pattern 1 to Pattern 5. Specifically, first in S21, the CPU 41 determines whether or not there is a parallel running vehicle running in parallel on the left or right side of the host vehicle based on the result of the image recognition process in S11.

  And when it determines with there being no parallel running vehicle (S21: NO), a lane change prediction process is complete | finished, without determining conditions. On the other hand, when it is determined that there is a parallel running vehicle (S21: YES), first, a first lane change prediction pattern determination process is performed to determine whether or not the condition of pattern 1 is satisfied in S22. In S23, a second lane change prediction pattern determination process is performed to determine whether the conditions of patterns 2-1, 2-2, and 2-3 apply. Thereafter, in S24, a third lane change prediction pattern determination process is performed to determine whether the condition of pattern 3 is satisfied. Further, in S25, a fourth lane change prediction pattern determination process for determining whether or not the conditions of the patterns 4-1 and 4-2 are satisfied is performed. And in S26, the 5th lane change prediction pattern determination process which determines whether the conditions of the pattern 5 are applicable is performed.

  First, the first lane change prediction pattern determination process executed by the CPU 41 of the navigation device 9 in S22 will be described with reference to FIG. FIG. 16 is a flowchart of the first lane change prediction pattern determination processing program according to this embodiment.

  In the first lane change prediction pattern determination process, the CPU 41 turns OFF the determination result flag 1 stored in the RAM 42 in S31. Here, the determination result flag 1 is turned on when the conditions of the pattern 1 (see FIG. 7) among the conditions of the eight patterns predicted to change the lane of the host vehicle and the parallel running vehicle are satisfied (S42). .

  Next, in S32, the CPU 41 determines whether or not there is a left parallel running vehicle that runs parallel to the left of the host vehicle based on the result of the image recognition processing in S11. And when it determines with there being no left parallel running vehicle (S32: NO), a 1st lane change prediction pattern determination process is complete | finished. On the other hand, when it is determined that there is a left parallel running vehicle (S32: YES), the road type of the road on which the vehicle travels is detected in S33. Specifically, the current position of the host vehicle is first detected by the GPS 31, and map matching processing is performed based on the map data stored in the map information DB 21. Then, the road type of the road on which the vehicle travels is identified from the position of the vehicle identified on the map and the link data 22.

  Next, in S34, the CPU 41 determines based on the detection result in S33 whether or not the host vehicle is traveling on an expressway (such as a highway automobile national road, an automobile exclusive road, an urban expressway). And when it determines with not drive | working the highway (S34: NO), a 1st lane change prediction pattern determination process is complete | finished. On the other hand, when it determines with driving | running | working on a highway (S34: YES), it transfers to S35.

  In S35, the lane type (for example, travel lane, overtaking lane, merge lane, etc.) on which the host vehicle is traveling is detected from the position of the host vehicle identified on the map by the map matching process and the link data 22.

  Thereafter, in S36, the CPU 41 determines whether or not the host vehicle is traveling on an overtaking lane on the highway, based on the detection result in S35. As a result, when it is determined that the vehicle is not traveling in the overtaking lane (S36: NO), the first lane change prediction pattern determination process is terminated. On the other hand, when it is determined that the vehicle is traveling in the overtaking lane (S36: YES), the process proceeds to S37.

  In S37, based on the detection result of the front radar device 3, the inter-vehicle distance to the front vehicle traveling ahead of the host vehicle and the relative speed of the front vehicle with respect to the host vehicle are detected. Further, based on the detection result of the rear radar device 4, the inter-vehicle distance to the rear vehicle traveling behind the host vehicle and the relative speed of the rear vehicle with respect to the host vehicle are detected.

  Thereafter, in S38, based on the detection result in S37, it is determined whether or not the rear vehicle is approaching, specifically, whether or not the rear vehicle is within a predetermined distance of the host vehicle. Here, in the present embodiment, “the traveling speed of the own vehicle [km / h] × 2” m is used as the predetermined distance. And when it determines with there being no back vehicle within the predetermined distance of the own vehicle (S38: NO), a 1st lane change prediction pattern determination process is complete | finished. On the other hand, when it is determined that there is a rear vehicle within a predetermined distance of the host vehicle (S38: YES), the process proceeds to S39.

  Thereafter, in S39, based on the detection result in S37, it is determined whether or not there is a preceding vehicle within a predetermined distance of the host vehicle. Here, in the present embodiment, “the traveling speed of the own vehicle [km / h] × 2” m is used as the predetermined distance, as in S38. If it is determined that there is a preceding vehicle within the predetermined distance of the host vehicle (S39: YES), the first lane change prediction pattern determination is made by predicting that the lane change is not performed because the road is congested. The process ends. On the other hand, when it is determined that there is no preceding vehicle within the predetermined distance of the host vehicle (S39: NO), the process proceeds to S40.

  In S <b> 40, the CPU 41 acquires traffic information from the traffic information center or the like via the communication device 17. Note that the traffic information acquired in S40 includes traffic information that specifies the traffic status of the link.

  Further, in S41, it is determined based on the traffic information acquired in S40 whether or not the road on which the vehicle is currently traveling is congested. As a result, when it is determined that the vehicle is congested (S41: YES), it is predicted that no lane change will be performed, and the first lane change prediction pattern determination process ends. On the other hand, if it is determined that there is no traffic jam (S41: NO), the process proceeds to S42.

  In S <b> 42, the CPU 41 turns on the determination result flag 1 stored in the RAM 42, assuming that the own vehicle situation and the surrounding situation of the own vehicle satisfy the condition of the pattern 1. Then, as will be described later, guidance and vehicle control corresponding to the pattern 1 are performed in the vehicle 2.

  Next, the second lane change prediction pattern determination process executed by the CPU 41 of the navigation device 9 in S23 will be described with reference to FIG. FIG. 17 is a flowchart of the second lane change prediction pattern determination processing program according to this embodiment.

  In the second lane change prediction pattern determination process, in S51, the CPU 41 turns OFF the determination result flags 2-1, 2-2, 2-3 stored in the RAM. Here, the determination result flag 2-1 is turned on when the conditions of the pattern 2-1 (see FIG. 7) among the conditions of the eight patterns predicted to change the lane of the host vehicle and the parallel running vehicle are satisfied. (S60). The determination result flag 2-2 is turned on particularly when the condition of the pattern 2-2 is satisfied (S61). The determination result flag 2-3 is turned on particularly when the condition of the pattern 2-3 is satisfied (S63).

  Next, in S52, the CPU 41 determines whether or not there is a parallel running vehicle running in parallel on the left or right side of the host vehicle based on the result of the image recognition process in S11. And when it determines with there being no parallel running vehicle (S52: NO), a 2nd lane change prediction pattern determination process is complete | finished. On the other hand, if it is determined that there is a parallel running vehicle in either direction (S52: YES), the road type of the road on which the vehicle travels is detected in S53. Specifically, the current position of the host vehicle is first detected by the GPS 31, and map matching processing is performed based on the map data stored in the map information DB 21. Then, the road type of the road on which the vehicle travels is identified from the position of the vehicle identified on the map and the link data 22.

  Next, in S54, the CPU 41 determines based on the detection result in S53 whether or not the host vehicle is traveling on a highway (a highway automobile national road, an automobile exclusive road, an urban expressway, etc.). And when it determines with not drive | working the highway (S54: NO), a 2nd lane change prediction pattern determination process is complete | finished. On the other hand, when it determines with driving | running | working on a highway (S54: YES), it transfers to S55.

  In S55, the lane type (for example, traveling lane, passing lane, merge lane, etc.) on which the host vehicle is traveling is detected from the position of the host vehicle identified on the map by the map matching process and the link data 22.

  Thereafter, in S56, the CPU 41 determines whether or not the host vehicle is traveling on a highway, particularly on a traveling lane, based on the detection result in S55. As a result, when it is determined that the vehicle is not traveling in the traveling lane (S56: NO), the process proceeds to S61. On the other hand, when it is determined that the vehicle is traveling in the travel lane (S56: YES), the process proceeds to S57.

  In S57, the CPU 41 determines whether or not the left parallel running vehicle running parallel to the left of the host vehicle is traveling on the expressway, particularly in the merged lane, based on the result of the image recognition processing in S11 and the map data. . As a result, when it is determined that the vehicle is not traveling in the merged lane (S57: NO), the second lane change prediction pattern determination process is terminated. On the other hand, when it determines with driving | running | working a merge lane (S57: YES), it transfers to S58.

In S58, the CPU 41 determines whether there is a right parallel running vehicle that runs parallel to the right side of the host vehicle based on the result of the image recognition process in S11. Then, if it is determined that there is no right parallel running vehicle (S58: NO), the determination result flag 2 stored in the RAM 42 that the own vehicle situation and the surrounding situation of the own vehicle satisfy the condition of the pattern 2-1. -1 is turned ON (S59). Then, as will be described later, guidance and vehicle control corresponding to the pattern 2-1 are performed in the vehicle 2.
On the other hand, when it is determined that there is a right parallel running vehicle (S58: YES), the determination result flag 2 stored in the RAM 42 as the vehicle condition and the surrounding condition of the vehicle satisfy the condition of the pattern 2-2. -2 is turned ON (S60). Then, guidance and vehicle control corresponding to the pattern 2-2 are performed in the vehicle 2 as will be described later.

  In S61, the CPU 41 determines whether or not the host vehicle is traveling on a highway, particularly in a merged lane, based on the detection result in S55. As a result, when it is determined that the vehicle is not traveling in the merged lane (S61: NO), the second lane change prediction pattern determination process is terminated. On the other hand, when it is determined that the vehicle is traveling in the merge lane (S61: YES), the process proceeds to S62.

Subsequently, in S62, the CPU 41 determines whether or not there is a right parallel running vehicle that runs parallel to the right side of the host vehicle based on the result of the image recognition processing in S11. And when it determines with there being no right parallel running vehicle (S62: NO), a 2nd lane change prediction pattern determination process is complete | finished.
On the other hand, when it is determined that there is a right parallel running vehicle (S62: YES), the determination result flag 2 stored in the RAM 42 as the vehicle condition and the surrounding condition of the vehicle satisfy the condition of the pattern 2-3. -3 is turned ON (S63). Then, as will be described later, guidance and vehicle control corresponding to the pattern 2-3 are performed in the vehicle 2.

  Next, the third lane change prediction pattern determination process executed by the CPU 41 of the navigation device 9 in S24 will be described with reference to FIG. FIG. 18 is a flowchart of the third lane change prediction pattern determination processing program according to this embodiment.

  In the third lane change prediction pattern determination process, the CPU 41 turns OFF the determination result flag 3 stored in the RAM 42 in S71. Here, the determination result flag 3 is turned on when the conditions of the pattern 3 (see FIG. 7) are satisfied among the conditions of the eight patterns predicted to change the lane of the host vehicle and the parallel running vehicle (S77). .

  Next, in S72, the CPU 41 determines whether or not there is a parallel running vehicle running in parallel on the left or right side of the host vehicle based on the result of the image recognition process in S11. And when it determines with there being no parallel running vehicle (S72: NO), a 3rd lane change prediction pattern determination process is complete | finished. On the other hand, when it is determined that there is a parallel running vehicle in any direction (S72: YES), the distance to the nearest guidance intersection on the guidance route set in the navigation device 9 is acquired (S73). . Specifically, the current position of the host vehicle is first detected by the GPS 31, and map matching processing is performed based on the map data stored in the map information DB 21. Then, the distance to the guidance intersection is acquired by comparing the vehicle position on the map with the set guidance route.

  Subsequently, in S74, it is determined whether or not the distance to the guidance intersection acquired in S73 is within 500 m. As a result, when it is determined that the distance to the guidance intersection is longer than 500 m (S74: NO) or when the guidance route is not set in the navigation device 9, the third lane change prediction pattern determination process is terminated. To do. On the other hand, when it is determined that the distance to the guidance intersection is within 500 m (S74: YES), the process proceeds to S75.

  In S75, the CPU 41 detects the lane type (for example, left lane or right lane in the case of two lanes) from the position of the own vehicle specified on the map by the map matching process and the link data 22. .

  Thereafter, in S76, the CPU 41 guides the lane corresponding to the guidance direction of the guidance route set by the navigation device 9 based on the detection result in S75 (for example, the route in which the guidance route 102 turns left in FIG. 12). Therefore, it is determined whether or not the vehicle travels in a lane different from the left lane 103 in which the vehicle makes a left turn (the right lane 104 in FIG. 12) and the parallel running vehicle is traveling in the corresponding lane. As a result, when it is determined that the lane driving condition is satisfied (S76: YES), the determination result flag 3 stored in the RAM 42 is determined that the own vehicle situation and the surrounding situation of the own vehicle satisfy the condition of the pattern 3. Is turned on (S77). Then, as will be described later, guidance and vehicle control corresponding to the pattern 3 are performed in the vehicle 2.

  On the other hand, when it determines with not satisfy | filling the driving conditions of the said lane (S76: NO), a 3rd lane change prediction pattern determination process is complete | finished.

  Next, the 4th lane change prediction pattern determination process which CPU41 of the navigation apparatus 9 performs by said S25 is demonstrated based on FIG. FIG. 19 is a flowchart of the fourth lane change prediction pattern determination processing program according to this embodiment.

  In the fourth lane change prediction pattern determination process, the CPU 41 turns OFF the determination result flags 4-1 and 4-2 stored in the RAM 42 in S81. Here, the determination result flag 4-1 is turned on when the conditions of the pattern 4-1 (see FIG. 7) among the conditions of the eight patterns predicted to change the lane of the host vehicle and the parallel running vehicle are satisfied. (S86). The determination result flag 4-2 is turned on when the host vehicle and the parallel running vehicle satisfy the condition of the pattern 4-2 (see FIG. 7) (S90).

  Next, in S82, the CPU 41 determines whether there is a parallel running vehicle that runs parallel to the left or right of the host vehicle based on the result of the image recognition process in S11. And when it determines with there being no parallel running vehicle (S82: NO), a 4th lane change prediction pattern determination process is complete | finished. On the other hand, when it is determined that there is a parallel running vehicle in any direction (S82: YES), the process proceeds to S83.

  In S83, the CPU 41 detects the lighting state of the blinker lamps 20A to 20D provided in the host vehicle via the vehicle ECU 8.

In S84, based on the detection result in S83, the CPU 41 determines whether or not the right turn signal lamps 20B and 20D are lit, and if the right turn signal lamps 20B and 20D are lit, the image recognition process in S11. It is determined whether there is a right parallel running vehicle running parallel to the right side of the host vehicle based on the result of the above and the map data.
As a result, when it is determined that the right turn signal lamps 20B and 20D are not lit, or when it is determined that there is no right parallel running vehicle even when the right turn signal lamps 20B and 20D are lit (S84: NO). Shifts to S85.

  In S85, the CPU 41 determines whether or not the left turn signal lamps 20A and 20C are lit based on the detection result in S83, and if the left turn signal lamps 20A and 20C are lit, the image recognition process in S11 is performed. Based on the result and the map data, it is determined whether there is a left parallel running vehicle running parallel to the left of the host vehicle.

Then, when it is determined that the right turn signal lamps 20B and 20D are lit and there is a right parallel running vehicle (S84: YES), and the left turn signal lamps 20A and 20C are turned on and it is determined that there is a left parallel running vehicle. If it is determined (S85: YES), the determination result flag 4-1 stored in the RAM 42 is turned on (S86), assuming that the host vehicle situation and the surrounding situation of the host vehicle satisfy the condition of the pattern 4-1. As will be described later, guidance and vehicle control corresponding to the pattern 4-1 are performed in the vehicle 2.
On the other hand, when it is determined that the left turn signal lamps 20A and 20C are not lit, or when it is determined that there is no left parallel running vehicle even when the left turn signal lamps 20A and 20C are lit (S85: NO). , The process proceeds to S87.

  In S87, the CPU 41 detects the lighting state of the blinker lamp provided in the parallel running vehicle based on the image recognition processing result in S11.

  In S88, the CPU 41 determines whether the left blinker lamp of the right parallel running vehicle is lit based on the detection result in S83. As a result, when it is determined that the left winker lamp of the right parallel running vehicle is not lit (S88: NO), the process proceeds to S89.

  In S89, the CPU 41 determines whether or not the right blinker lamp of the left parallel running vehicle is lit based on the detection result in S83. When it is determined that the left winker lamp of the right parallel running vehicle is lit (S88: YES) and when it is determined that the right winker lamp of the left parallel running vehicle is lit (S89: YES) In step S90, the determination result flag 4-2 stored in the RAM 42 is turned on because the vehicle situation and the surrounding situation of the vehicle satisfy the condition of the pattern 4-2. Then, guidance and vehicle control corresponding to the pattern 4-2 are performed in the vehicle 2 as will be described later.

  On the other hand, when it is determined that the right turn signal lamp of the left parallel running vehicle is not lit (S89: NO), the fourth lane change prediction pattern determination process is terminated.

  Next, the fifth lane change prediction pattern determination process executed by the CPU 41 of the navigation device 9 in S26 will be described with reference to FIG. FIG. 20 is a flowchart of the fifth lane change prediction pattern determination processing program according to this embodiment.

  In the fifth lane change prediction pattern determination process, the CPU 41 turns OFF the determination result flag 5 stored in the RAM 42 in S91. Here, the determination result flag 5 is turned on when the conditions of the pattern 5 (see FIG. 7) among the conditions of the eight patterns predicted to change the lane of the host vehicle and the parallel running vehicle are satisfied (S99). .

  Next, in S92, the CPU 41 determines whether or not there is a parallel running vehicle running in parallel on the left or right side of the host vehicle based on the result of the image recognition process in S11. And when it determines with there being no parallel running vehicle (S92: NO), a 5th lane change prediction pattern determination process is complete | finished. On the other hand, when it is determined that there is a parallel running vehicle in any direction (S82: YES), the process proceeds to S93.

  In S93, the CPU 41 performs the parallel running time in which the left parallel running vehicle counted in S13 runs parallel to the own vehicle, and the parallel running in which the right parallel running vehicle counted in S16 runs parallel to the own vehicle. Each time is acquired from the RAM 42.

  Next, in S94, the CPU 41 determines whether or not the parallel running time of the parallel running vehicle is equal to or longer than a predetermined time (1 minute in the present embodiment) based on the parallel running time acquired in S93. As a result, when it is determined that the time is less than the predetermined time (S94: NO), the fifth lane change prediction pattern determination process ends. On the other hand, when it determines with parallel running time being more than predetermined time (S94: YES), it transfers to S95.

In S95, based on the detection result of the front radar device 3, the inter-vehicle distance to the front vehicle traveling ahead of the host vehicle and the relative speed of the front vehicle with respect to the host vehicle are detected.
Thereafter, in S96, based on the detection result in S95, it is determined whether or not there is a preceding vehicle within a predetermined distance of the host vehicle. Here, in the present embodiment, “the traveling speed of the own vehicle [km / h] × 2” m is used as the predetermined distance, as in S38. If it is determined that there is a vehicle ahead within the predetermined distance of the host vehicle (S96: YES), the fifth lane change prediction pattern determination is made by predicting that the lane change will not be performed because the road is congested. The process ends. On the other hand, when it is determined that there is no preceding vehicle within the predetermined distance of the host vehicle (S96: NO), the process proceeds to S97.

  In S97, the CPU 41 acquires traffic information from the traffic information center or the like via the communication device 17. It should be noted that the traffic information acquired in S97 includes traffic information that particularly specifies the traffic status of the link.

  Further, in S98, based on the traffic information acquired in S97, it is determined whether the road on which the vehicle is currently traveling is congested. As a result, when it is determined that the vehicle is congested (S98: YES), it is predicted that no lane change will be performed, and the fifth lane change prediction pattern determination process ends. On the other hand, if it is determined that there is no traffic jam (S98: NO), the process proceeds to S99.

  In S99, the CPU 41 turns on the determination result flag 5 stored in the RAM 42, assuming that the own vehicle situation and the surrounding situation of the own vehicle satisfy the condition of the pattern 5. Then, as will be described later, guidance and vehicle control corresponding to the pattern 5 are performed in the vehicle 2.

  Next, a sub-process of the control pattern selection process executed by the CPU 41 of the navigation device 9 in S3 will be described with reference to FIG. FIG. 21 is a flowchart of the control pattern selection processing program according to this embodiment.

  First, in the control pattern selection processing program, in S101, one of the determination result flags (1, 2-1, 2-2, 2-) in the first to fifth lane change prediction pattern determination processing (FIGS. 16 to 20). It is determined whether 3, 3, 4-1, 4-2, 5) is ON.

As a result, when it is determined that none of the determination result flags is ON (S101: NO), it is determined that the current situation is that it is not necessary to perform guidance or vehicle control for the user, and the control pattern selection process Exit.
On the other hand, when it is determined that any one of the determination result flags is ON (S101: YES), a control pattern corresponding to the ON flag is selected (S102).
Here, FIG. 22 is a diagram showing a control pattern selected in the process of S102.

As shown in FIG. 22, for example, when the flag of pattern 1 is ON, there is a guidance saying “There is an approaching vehicle from behind. There are parallel vehicles, so please be careful when moving to the lane.” And a control pattern consisting of vehicle control of acceleration assist (increasing the accelerator opening) is selected.
In addition, when the pattern 2-1 flag is ON, the control pattern consisting of the guidance of "There is a merging vehicle. Please be careful" and the vehicle control of deceleration assist (reducing brake play amount) is selected. Is done.
Also, if the pattern 2-2 flag is ON, there will be a guidance and deceleration assist (the amount of brake play) "There are merging vehicles. Be careful when moving to the lane because there are parallel vehicles." The control pattern consisting of vehicle control is selected.
In addition, when the flag of Pattern 2-3 is ON, a vehicle with guidance and deceleration assist (reducing brake play amount) "Please note that there are parallel cars when joining." A control pattern consisting of control is selected.
If the flag of pattern 3 is ON, a control pattern consisting of a guidance “Please be careful when moving lanes because there are parallel cars” is selected.
In addition, when the pattern 4-1 flag is ON, a vehicle with guidance and deceleration assist (reducing the amount of brake play) saying “Be careful when moving to the lane because there are parallel cars”. A control pattern consisting of control is selected.
In addition, when the pattern 4-2 flag is ON, a vehicle with guidance and deceleration assist (reducing brake play amount) that “please be careful when moving to the lane because there are parallel cars”. A control pattern consisting of control is selected.
Further, when the pattern 5 flag is ON, a control pattern consisting of the guidance “There is a parallel running car for one minute. Be careful.” Is selected.
However, when a plurality of flags are turned on simultaneously, 4-1, 4-2, 2-1, 2-2, 2-3, 1, 3, 5 based on urgency and certainty of lane movement. Select one control pattern in order of priority.

  Next, sub-processing of guidance and vehicle control processing executed by the CPU 41 of the navigation device 9 in S4 will be described with reference to FIG. FIG. 23 is a flowchart of the guidance and vehicle control processing program according to this embodiment.

  First, in S111, in the guidance and vehicle control processing program, the CPU 41 determines whether guidance or vehicle control has already been performed. And when it determines with guidance and vehicle control having already been performed in the own vehicle (S111: YES), a guidance and vehicle control processing program is complete | finished. On the other hand, when it is determined that no guidance or vehicle control is performed in the host vehicle (S111: NO), the process proceeds to S112.

  Next, in S112, the CPU 41 selects the guidance content specified by the control pattern selected in S102 (specifically, the guidance text displayed on the liquid crystal display 14 and the voice output from the speaker 16). In S113, the control content of the vehicle specified by the control pattern selected in S102 is selected.

In S <b> 114, the CPU 41 displays a guidance sentence based on the guidance content selected in S <b> 112 on the liquid crystal display 14, and outputs a guidance voice from the speaker 16. Further, the vehicle ECU 8 is instructed to control the accelerator 18 or the brake 19 with the control content selected in S113. In particular, the display and output of guidance based on the control pattern of pattern 3 is preferably performed 700 m before and 300 m before the guidance intersection.
As a result, for example, when the control pattern corresponding to the flag of pattern 1 is selected, there is an approaching vehicle from behind. There are parallel vehicles, so be careful when moving the lane. A sentence is displayed on the liquid crystal display 14, and the same sound is output from the speaker 16. Furthermore, the driver can easily accelerate the vehicle by controlling the accelerator opening to be increased. Thereby, even if the own vehicle or the parallel running vehicle suddenly changes lanes, the driver can surely avoid contact.
When the control pattern corresponding to the flag of pattern 2-1 is selected, the guidance “There is a merging vehicle. The audio of the content is output. Furthermore, by controlling to reduce the amount of brake play, the driver can easily decelerate. Thereby, even if the own vehicle or the parallel running vehicle suddenly changes lanes, the driver can surely avoid contact.

As described above in detail, in the driving support device 1 according to the present embodiment, when a parallel running vehicle that is running in parallel with the host vehicle is detected, the front radar device 3 and various types of surroundings of the host vehicle are displayed. Detected by a sensor or the like, and when the detected situation corresponds to any of the predetermined patterns, the vehicle changes its lane to the lane in which the parallel running vehicle travels, or the parallel running vehicle It is predicted that the lane will be changed to the lane in which the vehicle will travel, and vehicle control related to guidance, accelerator opening, and brake play will be performed to prevent contact with the host vehicle. It is possible to assist vehicle operation to prevent contact with a parallel running vehicle in an appropriate situation. Then, unnecessary guidance and vehicle control do not give the driver anxiety and stress, and it is possible to allow the driver to travel appropriately even when there is a parallel running vehicle.
In particular, in the patterns 1, 2-1, 2-2, and 2-3 (see FIG. 7), the road attributes of the road on which the vehicle travels (specifically, the overtaking lane, the driving lane, and the merging lane of the highway) Because the lane change of the own vehicle or the lane change of the parallel vehicle is predicted based on the lane on which the parallel running vehicle travels, it is predicted that the own vehicle or the parallel running vehicle will suddenly change the lane in consideration of the road attribute. It is possible to appropriately predict the situation.
In particular, pattern 3 (see FIG. 7) is set because the lane change of the own vehicle or the lane change of the parallel running vehicle is predicted based on the guidance route set by the navigation device 9 and the lane on which the parallel running vehicle runs. Therefore, it is possible to appropriately predict a situation where the own vehicle or the parallel running vehicle suddenly changes lanes in consideration of the guidance route.
Furthermore, especially in patterns 4-1 and 4-2 (see FIG. 7), the lane change of the own vehicle or the parallel running vehicle Since the lane change is predicted, it is possible to appropriately predict the situation where the own vehicle or the parallel running vehicle suddenly changes the lane in consideration of the lighting state of the blinker lamp.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, a parallel vehicle that runs parallel to the host vehicle is detected by the left camera 5 and the right camera 6, but the parallel running is performed by a radar device using a millimeter wave radar, a sound wave sensor, or the like. It is good also as detecting a vehicle. Moreover, it is good also as detecting a parallel running vehicle by communicating between vehicles.

  In the present embodiment, as vehicle control for preventing contact with a parallel running vehicle, the accelerator opening and the amount of brake play are adjusted, but a transmission such as A / T or CVT is controlled. It is good also as producing an engine brake by. Further, the traveling direction of the vehicle may be changed by controlling the steering angle.

It is a schematic structure figure of a driving support device concerning this embodiment. It is a block diagram which shows typically the control system of the driving assistance device concerning this embodiment. It is a flowchart of the driving assistance processing program which concerns on this embodiment. It is a flowchart of the parallel running vehicle detection processing program which concerns on this embodiment. It is the schematic diagram which showed an example at the time of the own vehicle detecting a parallel running vehicle with a left camera and a right camera. It is a flowchart of the lane change prediction process program which concerns on this embodiment. In a lane change prediction process, it is the figure which showed the conditions of eight patterns estimated that the own vehicle and a parallel running vehicle change a lane. 5 is a schematic diagram showing a specific example of the arrangement of vehicles that satisfy the condition of pattern 1. FIG. It is the schematic diagram which showed the specific example of arrangement | positioning of the vehicle which satisfy | fills the conditions of the pattern 2-1. It is the schematic diagram which showed the specific example of arrangement | positioning of the vehicle which satisfy | fills the conditions of pattern 2-2. It is the schematic diagram which showed the specific example of arrangement | positioning of the vehicle which satisfy | fills the conditions of pattern 2-3. 5 is a schematic diagram showing a specific example of the arrangement of vehicles that satisfy the condition of pattern 3. FIG. It is the schematic diagram which showed the specific example of arrangement | positioning of the vehicle which satisfy | fills the conditions of the pattern 4-1. It is the schematic diagram which showed the specific example of arrangement | positioning of the vehicle which satisfy | fills the conditions of pattern 4-2. FIG. 6 is a schematic diagram showing a specific example of vehicle arrangement that satisfies the condition of Pattern 5. It is a flowchart of the 1st lane change prediction pattern determination processing program concerning this embodiment. It is a flowchart of the 2nd lane change prediction pattern determination processing program concerning this embodiment. It is a flowchart of the 3rd lane change prediction pattern determination processing program concerning this embodiment. It is a flowchart of the 4th lane change prediction pattern determination processing program concerning this embodiment. It is a flowchart of the 5th lane change prediction pattern determination processing program concerning this embodiment. It is a flowchart of the control pattern selection processing program concerning this embodiment. FIG. 6 is a diagram showing a control pattern selected in the process of step 102. It is a flowchart of the guidance and vehicle control processing program which concerns on this embodiment.

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 2 Vehicle 3 Front radar apparatus 4 Rear radar apparatus 5 Left camera 6 Right camera 8 Vehicle ECU
9 Navigation device 11 Navigation ECU
12 Current Location Detection Processing Unit 14 Liquid Crystal Display 16 Speaker 17 Communication Device 41 CPU
42 RAM
43 ROM

Claims (2)

A parallel vehicle detection means for detecting a parallel vehicle parallel to the vehicle;
A situation detection means for detecting the own vehicle situation or the surrounding situation of the own vehicle;
Based on the detection result of the situation detection means, the own vehicle change prediction means for predicting that the own vehicle changes the lane to the lane where the parallel running vehicle travels,
Have a, and a vehicle operation supporting device for supporting a vehicle operation that the driver performs when the lane change of the vehicle is predicted by the vehicle changes prediction means,
The situation detection means detects a lane in which the host vehicle travels and detects an inter-vehicle distance to a rear vehicle traveling behind the host vehicle on the lane,
The own vehicle change prediction means predicts a lane change of the own vehicle based on the inter-vehicle distance to the rear vehicle detected by the situation detection means . On the computer,
A parallel vehicle detection function that detects a parallel vehicle that runs parallel to the vehicle;
A situation detection function that detects the situation of the vehicle or the surroundings of the vehicle,
Based on the detection result of the situation detection function, the own vehicle change prediction function for predicting that the own vehicle changes the lane to the lane in which the parallel running vehicle, and
A vehicle operation support function that supports a vehicle operation performed by the driver when a lane change of the host vehicle is predicted by the host vehicle change prediction function;
A computer program for executing
The situation detection function detects a lane in which the host vehicle travels and detects an inter-vehicle distance to a rear vehicle that travels behind the host vehicle on the lane.
The host vehicle change prediction function predicts a lane change of the host vehicle based on an inter-vehicle distance to a rear vehicle detected by the situation detection function.

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