JP5663438B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a driving support device having a function of determining the possibility of future contact between a host vehicle and an obstacle existing in the vicinity thereof.

  Conventionally, obstacles such as other vehicles existing around the host vehicle are detected by an obstacle detection device including a radar device or a camera mounted on the host vehicle, and between the detected obstacle and the host vehicle. Judging the possibility of future contact, if contact with an obstacle and the vehicle is predicted, or if it is determined that the possibility of contact is high, countermeasure processing to avoid the contact (for the driver) There is known a driving support device that performs warning, control of braking force or driving force of the host vehicle, and the like (see, for example, Patent Document 1).

Japanese Patent No. 4179135

  By the way, paying attention to the situation where the driver's driving operation of the vehicle changes the lane of the host vehicle and the situation where the host vehicle makes a right / left turn (right turn or left turn), the lane change to the right side of the host vehicle is changed. In both the situation and the situation where the host vehicle makes a right turn, the turning of the vehicle to the right (turning in the clockwise direction) is started in the same manner immediately after the start of each behavior. Similarly, in the situation where the lane change to the left side of the own vehicle and the situation where the left turn of the own vehicle is performed, the vehicle turns to the left side immediately after the start of each behavior (counterclockwise direction). ) Is started in the same way.

  However, in the situation where the lane of the host vehicle is changed and the situation where a right or left turn is made, even if the turning direction of the host vehicle immediately after the start of each behavior is the same, the future target course of the host vehicle The directions are very different from each other. For this reason, in general, in the situation where the lane of the host vehicle is changed and the situation where a left / right turn is performed, the possibility of future contact between the individual obstacles around the host vehicle and the host vehicle is low. Are different from each other.

  Therefore, the situation in which the lane change of the host vehicle is performed and the situation in which the host vehicle makes a right / left turn are distinguished from each other, and the determination of the possibility of contact between the host vehicle and the surrounding obstacles is different from each other. It is considered preferable to judge based on conditions.

  However, in the conventional driving support apparatus as shown in Patent Document 1, the situation where the lane change of the host vehicle is performed and the situation where the host vehicle turns right and left are not distinguished, and the host vehicle and the obstacle are distinguished. In order to determine the possibility of contact with the vehicle, the future travel route of the host vehicle is predicted based on the current vehicle speed and the steering angle of the host vehicle.

  For this reason, in the conventional driving assistance apparatus as seen in Patent Document 1, the judgment result of the possibility of contact between the host vehicle and the obstacle is inaccurate in a situation where the lane of the host vehicle is changed or a left / right turn is performed. There is an inconvenience that the possibility that the contact is likely to occur is likely to occur although the possibility of the contact is actually low.

  The present invention has been made in view of such a background, and appropriately determines the possibility of contact between the own vehicle and an obstacle existing in the vicinity in a situation where the lane of the own vehicle is changed or a left / right turn is performed. An object of the present invention is to provide a driving support device capable of performing the above.

In order to achieve the above object, the vehicle driving support apparatus according to the first aspect of the present invention detects an obstacle including at least another vehicle existing around the vehicle, and is detected by the obstacle detecting means. Contact possibility judging means for judging the possibility of future contact between the obstacle and the vehicle, and for avoiding contact between the vehicle and the obstacle according to the judgment result of the contact possibility judging means; A vehicle driving support device that executes contact avoidance countermeasure processing,
Based on the driving operation state of the vehicle, it is detected whether or not a specific situation, which is a situation in which either a lane change or a left or right turn of the vehicle is performed, and when the occurrence of the specific situation is detected Specific situation detection means for detecting whether the initial turning direction of the vehicle in the specific situation is the right or left turn direction of the vehicle;
When the occurrence of the specific situation is detected by the specific situation detection means, the type of the specific situation is any of a situation where the lane of the vehicle is changed and a situation where the vehicle turns right and left Specific situation type determination means for determining whether or not using at least information related to the obstacle detected by the obstacle detection means;
In accordance with the type of the specific situation determined by the specific situation type determination unit, each includes a travel route prediction unit that predicts a future travel route of the vehicle in the specific situation,
The contact possibility determination means is configured to determine the obstacle based on the travel path of the vehicle predicted by the travel path prediction means and the motion state of the obstacle detected by the obstacle detection means with respect to the vehicle. Determine the possibility of future contact with the vehicle,
The specific situation type determination means includes at least the other vehicle traveling in the same direction as the vehicle on the same side as the turning direction of the vehicle detected by the specific situation detection means among the right side and the left side of the vehicle. When the first condition that is detected by the obstacle detection means is satisfied, it is determined that the detected specific situation is a situation where a lane change to the same side as the turning direction of the vehicle is performed ,
Based on a captured image of a camera mounted on the vehicle, recognizes a traveling region dividing line on a road surface around the vehicle and whether the recognized traveling region dividing line is a traveling region dividing line that prohibits the vehicle from protruding. The vehicle further comprises a travel area dividing line recognition means for specifying
The specific situation type determination means is a lane area adjacent to the lane area where the vehicle exists on the same side as the turning direction of the vehicle detected by the specific situation detection means, on the right side and the left side of the vehicle. In the meantime, when the fourth condition that the travel area lane marking that prohibits the protrusion is recognized is satisfied by the travel area lane marking recognition means, the detected specific situation is on the same side as the turning direction of the vehicle. It is determined that there is a right / left turn to
The specific situation type determination means is a lane area adjacent to the lane area where the vehicle exists on the same side as the turning direction of the vehicle detected by the specific situation detection means, on the right side and the left side of the vehicle. In the meantime, the travel area parting line recognition means recognizes a travel area parting line that is allowed to protrude, and the travel area parting line recognition means establishes a distance between the adjacent lane area and the next lane area. When the fifth condition that the traveling area division line for which the protrusion is prohibited is recognized is satisfied, the detected specific situation is a situation where the lane is changed to the same side as the turning direction of the vehicle. it characterized by determining the.

  According to the first aspect of the present invention, when a specific situation that is a situation in which either a lane change or a right / left turn of the vehicle is performed, the occurrence is detected by the specific situation detecting means. At this time, the specific situation detection means also detects whether the initial turning direction of the vehicle in the specific situation is the turning direction to the right side or the left side of the vehicle.

  Such a detection can be detected based on, for example, the operating state of the turn indicator of the vehicle.

  Then, the type of the specific situation that has occurred is determined by the specific situation type determination means. Here, the other vehicle traveling in the same direction as the vehicle is detected by the obstacle detection unit on the same side as the turning direction of the vehicle detected by the specific situation detection unit among the right side and the left side of the vehicle. When the first condition is satisfied, a lane region where the vehicle (own vehicle) can travel exists on the same side as the initial turning direction of the vehicle in the specific situation that has occurred.

  In such a situation, it is generally very unlikely that the vehicle will make a right or left turn (right turn or left turn) to the same side as the initial turning direction of the vehicle in the specific situation that has occurred.

  Therefore, the specific situation type determination means, when the first condition is satisfied, the detected specific situation is not the situation where the vehicle turns right or left, but the turning direction of the vehicle (the specific situation can be determined). It is determined that the lane is changed to the same side as the initial turning direction.

  Thereby, when at least the first condition is satisfied, the type of the specific situation can be determined by distinguishing between the lane change and the left / right turn.

  In the first aspect of the invention, a future travel route of the vehicle in the specific situation is predicted by the travel route prediction means according to the type of the specific situation determined by the specific situation type determination means. Further, the contact possibility determination means may determine whether the obstacle and the vehicle are based on the predicted travel path of the vehicle and the movement state of the obstacle detected by the obstacle detection means with respect to the vehicle. Determine the potential for future contact.

  Thus, according to the first aspect of the present invention, when at least the first condition is satisfied, the possibility of contact between the obstacle and the vehicle (own vehicle) is determined based on the type of the specific situation that has occurred (lane change ). That is, in a situation where the lane of the vehicle is changed, an obstacle that is unlikely to come into contact with the host vehicle is judged to have a high possibility of contact, or the lane of the vehicle is changed. It is possible to prevent an obstacle that is likely to be in contact with the host vehicle from being judged as having a low possibility of contact with the own vehicle. .

  Therefore, according to the first invention, when a specific situation in which the lane change of the host vehicle occurs, it is possible to appropriately determine the possibility of contact between the host vehicle and an obstacle existing in the vicinity thereof. As a result, the said contact avoidance countermeasure process can be performed at an appropriate timing.

In the first aspect of the invention, based on a captured image of a camera mounted on the vehicle, a travel region segmentation line that recognizes a travel region segmentation line on the road surface around the vehicle and that recognizes the travel region segmentation line prohibits the vehicle from protruding. You may make it further provide the travel area division line recognition means which specifies whether it is a line. In this case, the specific situation type determination means is a lane area where the vehicle exists on the same side as the turning direction of the vehicle detected by the specific situation detection means, on the right side and the left side of the vehicle. When the fourth condition that the traveling area division line that prohibits the protrusion is recognized between the adjacent lane areas and the adjacent lane area is satisfied, the detected specific situation is determined by the vehicle It is determined that this is a situation in which a right or left turn to the same side as the turning direction is performed.

In other words, when the fourth condition is satisfied, on the same side as the turning direction of the vehicle detected by the specific situation detecting means, it protrudes between the lane area adjacent to the lane area where the vehicle exists. There is a running area dividing line that prohibits And in such a situation, possibility that the lane change of the said vehicle (own vehicle) to the said same side will be performed very low.

Therefore, when the fourth condition is satisfied, it is determined that the detected specific situation is a situation in which a right / left turn to the same side as the turning direction of the vehicle is performed, and thus the type of the specific situation is determined. It can be determined appropriately. For this reason, it is possible to appropriately determine the possibility of contact between the obstacle and the host vehicle.

In the first invention, the specific situation type determination means further includes a lane region in which the vehicle exists on the same side as the turning direction of the vehicle detected by the specific situation detection means among the right side and the left side of the vehicle. Between the adjacent lane area and the adjacent lane area of the adjacent lane area, and the adjacent lane area of the adjacent lane area is recognized. When the fifth condition that the traveling area parting line for which the protrusion is prohibited is recognized by the traveling area parting line recognition means is satisfied, the detected specific situation is the lane to the same side as the turning direction of the vehicle. It is determined that the change is being made.

In other words, when the fifth condition is satisfied, it protrudes between the lane area adjacent to the lane area where the own vehicle exists on the same side as the turning direction of the vehicle detected by the specific situation detecting means. There is a travel area parting line that is permitted to travel, and there is a travel area parting line that is prohibited from protruding between the adjacent lane area and the adjacent lane area. In such a situation, it is very unlikely that the vehicle (own vehicle) makes a right or left turn to the same side.

Therefore, by determining that the detected specific situation is a situation where a lane change to the same side as the turning direction of the vehicle is performed when the fifth condition is satisfied, the type of the specific situation is determined. It can be determined appropriately. For this reason, it is possible to appropriately determine the possibility of contact between the obstacle and the host vehicle.

In the first invention, when the possibility of contact between the obstacle and the host vehicle is determined for each type of the specific situation that has occurred, for example, the travel route predicting means is predicted corresponding to the type of the specific situation. When a contact possibility determination area having a shape corresponding to the travel path of the vehicle is set, and an approach of the obstacle detected by the obstacle detection means to the contact possibility determination area is estimated It can be considered that the possibility of contact between the obstacle and the vehicle is high.

On the other hand, if the condition for determining the type of the specific condition that has occurred is not satisfied, the specific situation cannot be determined correctly, but even in such a case, the obstacle and the vehicle (own vehicle) It is desirable to be able to judge the possibility of contact with a certain degree of validity.

Therefore, the vehicle driving support device of the second invention is:
Obstacle detection means for detecting obstacles including at least other vehicles existing in the vicinity of the vehicle, and contact possibility for judging the possibility of future contact between the obstacle detected by the obstacle detection means and the vehicle A vehicle driving support device for performing contact avoidance countermeasure processing for avoiding contact between the vehicle and an obstacle according to a determination result of the contact possibility determination unit,
Based on the driving operation state of the vehicle, it is detected whether or not a specific situation, which is a situation in which either a lane change or a left or right turn of the vehicle is performed, and when the occurrence of the specific situation is detected Specific situation detection means for detecting whether the initial turning direction of the vehicle in the specific situation is the right or left turn direction of the vehicle;
When the occurrence of the specific situation is detected by the specific situation detection means, the type of the specific situation is any of a situation where the lane of the vehicle is changed and a situation where the vehicle turns right and left Specific situation type determination means for determining whether or not using at least information related to the obstacle detected by the obstacle detection means;
In accordance with the type of the specific situation determined by the specific situation type determination unit, each includes a travel route prediction unit that predicts a future travel route of the vehicle in the specific situation,
The contact possibility determination means is configured to determine the obstacle based on the travel path of the vehicle predicted by the travel path prediction means and the motion state of the obstacle detected by the obstacle detection means with respect to the vehicle. Determine the possibility of future contact with the vehicle,
The specific situation type determination means includes at least the other vehicle traveling in the same direction as the vehicle on the same side as the turning direction of the vehicle detected by the specific situation detection means among the right side and the left side of the vehicle. When the first condition that is detected by the obstacle detection means is satisfied, it is determined that the detected specific situation is a situation where a lane change to the same side as the turning direction of the vehicle is performed,
The specific situation type determination means determines that the specific situation is a condition for determining that the lane change of the vehicle is performed, and that the specific situation is a situation where the vehicle turns right or left. If none of the conditions for this is satisfied, the determination of the type of the specific situation is omitted.
The advancing route prediction means, when the determination of the type of the specific situation is omitted by the specific situation type determination means, the case where it is assumed that the specific situation is a situation where the lane of the vehicle is changed It is a means for predicting two types of travel paths: a future travel path of the vehicle and a future travel path of the vehicle assuming that the specific situation is a situation where the vehicle turns right or left. Features.

In the vehicle driving support apparatus according to the second aspect of the present invention, the contact possibility determination means corresponds to the type of the specific situation when the specific situation type is determined by the specific situation type determination means. The contact possibility determination region having a shape corresponding to the travel route of the vehicle predicted by the travel route prediction unit is set, and the contact possibility determination region of the obstacle detected by the obstacle detection unit is set. When the approach to the vehicle is estimated, it is determined that there is a high possibility of contact between the obstacle and the vehicle. Furthermore, the contact possibility determination means, when the determination of the type of the specific situation is omitted by the specific situation type determination means, each of the two types of travel paths of the vehicle predicted by the travel path prediction means Two types of contact possibility determination areas having shapes corresponding to the two types of contact, and at least immediately after the occurrence of the specific situation, the two types of contact of the obstacle detected by the obstacle detection means are possible When the approach to the overlapping area of the sex determination area is estimated, it is determined that the possibility of contact between the obstacle and the vehicle is high.

According to the second invention, when the condition for determining the type of the specific situation is not satisfied, at least immediately after the occurrence of the specific situation, the obstacle detected by the obstacle detection means, When the approach to the overlapping area of the two types of contact possibility determination areas is estimated, it is determined that the possibility of contact between the obstacle and the vehicle is high.

Here, regardless of whether the specific situation is a situation where the lane of the vehicle is changed or a situation where the vehicle turns right or left, an obstacle enters the overlapping area. When this occurs, it can be said that there is a high possibility of contact between the obstacle and the host vehicle. Therefore, it is possible to contact the obstacle with the host vehicle regardless of whether the specific situation is a situation where the lane of the vehicle is changed or a situation where the vehicle is turning left or right. When the possibility is high, the possibility can be appropriately determined.

In the second aspect of the present invention, the contact possibility determination means, when the determination of the type of the specific situation is omitted by the specific situation type determination means, the specific situation type during the behavior of the vehicle in the specific situation. If the type of the specific situation is determined by the determination unit, the detected possibility to the contact possibility determination area corresponding to the specific situation type out of the two types of contact possibility determination areas is detected. When the approach of an obstacle is estimated, it is preferable to determine that the possibility of contact between the obstacle and the vehicle is high (third invention).

That is, immediately after the occurrence of the specific situation, even if the type of the specific situation cannot be determined, if the behavior of the vehicle (the host vehicle) under the specific condition proceeds to some extent, generally, the type of the specific situation is It is possible to make a determination based on a change form of the steering amount of the steering wheel. Therefore, in the third invention, as described above, when the type of the specific situation is determined by the specific situation type determination means during the behavior of the vehicle in the specific situation, the two types of contact possibility determination are used. In the area, when the approach of the detected obstacle to the contact possibility determination area corresponding to the specific situation type is estimated, the possibility of contact between the obstacle and the vehicle is high. Judge.

Thereby, after the determination of the type of the specific situation, the possibility of contact between the obstacle and the host vehicle can be determined with higher reliability.

In any one of the first to third aspects of the invention, the turning direction of the vehicle detected by the specific situation detection unit turns to the same side as the side where the oncoming lane may exist, on the right side and the left side of the vehicle. The other vehicle traveling in the opposite direction to the vehicle on the same side as the turning direction of the vehicle detected by the specific situation detection means among the right side and the left side of the vehicle. When the second condition is detected, the oncoming lane region in which the oncoming vehicle can travel exists on the same side as the initial turning direction of the vehicle in the specific situation that has occurred.

In such a situation, it is generally unlikely that the lane of the host vehicle will be changed to the same side as the initial turning direction of the vehicle in the specific situation that has occurred.

Therefore, the specific situation type determination unit determines that the detected specific situation is a situation where a right / left turn to the same side as the turning direction of the vehicle is performed when the second condition is satisfied. (4th invention).

According to the fourth aspect of the invention, it is possible to determine the type of the specific situation (right / left turn) when the second condition is satisfied. For this reason, the possibility of contact between the obstacle and the vehicle (the host vehicle) can be determined according to the type of the specific situation that has occurred (right or left turn). That is, in a situation where the vehicle turns right or left, an obstacle that has a low possibility of contact with the host vehicle is judged to have a high possibility of contact, or the vehicle makes a right or left turn. It is possible to prevent an obstacle that is likely to be in contact with the host vehicle from being judged as having a low possibility of contact with the own vehicle. .

Therefore, according to the fourth aspect of the invention, even when a specific situation occurs in which the host vehicle turns right or left, it is possible to appropriately determine the possibility of contact between the host vehicle and an obstacle existing in the vicinity thereof. . As a result, the said contact avoidance countermeasure process can be performed at an appropriate timing.

Further, in any one of the first to fourth inventions described above, on the same side as the turning direction of the vehicle detected by the specific situation detection means, on the right side and the left side of the vehicle, the side ends of the vehicle A third condition that an obstacle (a structure such as a median strip or a wall) installed so as to extend from the end to the rear side of the vehicle is detected by the obstacle detection means Is established, the obstacle exists on the same side as the turning direction of the vehicle detected by the specific situation detection means (the initial turning direction of the vehicle in the specific situation that has occurred), so the same side It is very unlikely that the lane of the vehicle (own vehicle) will be changed.

Therefore, the specific situation type determination unit determines that the detected specific situation is a situation where a right / left turn to the same side as the turning direction of the vehicle is performed when the third condition is satisfied. It is preferable (5th invention).

According to the fifth aspect, even when the first condition and the second condition are not satisfied, the type of the specific situation (right / left turn) can be determined when the third condition is satisfied. For this reason, the possibility of contact between the obstacle and the vehicle (the host vehicle) can be determined according to the type of the specific situation that has occurred (right or left turn).
In the second or third aspect of the invention, based on a captured image of a camera mounted on the vehicle, the vehicle recognizes the road area dividing line on the road surface around the vehicle and the recognized road area dividing line prohibits the vehicle from protruding. A travel region lane marking recognition unit that identifies whether or not the vehicle is a travel region lane marking, and the specific situation type determination unit is configured to detect the specific situation detection unit between the right side and the left side of the vehicle. Fourth condition that on the same side as the turning direction of the vehicle, a traveling area dividing line forbidden from protruding by the traveling area dividing line recognition means is recognized between the lane area adjacent to the lane area where the vehicle exists. When is established, it is preferable to determine that the detected specific situation is a situation where a right / left turn to the same side as the turning direction of the vehicle is performed (sixth invention).

The block diagram which shows the structure of the driving assistance apparatus of one Embodiment of this invention. The flowchart which shows the process of the arithmetic processing unit shown in FIG. FIGS. 3A and 3B are views for explaining processing of the specific situation type determination unit shown in FIG. The figure for demonstrating the process of the specific condition classification determination part of the arithmetic processing unit shown in FIG. FIGS. 5A and 5B are diagrams for explaining the processing of the specific situation type determination unit shown in FIG. 6A and 6B are diagrams for explaining processing of the specific situation type determination unit shown in FIG. The figure for demonstrating the process of the advancing path | route prediction part and contact possibility judgment part of the arithmetic processing unit shown in FIG.

  An embodiment of the present invention will be described below with reference to FIGS.

  Referring to FIG. 1, the driving support device 1 of the present embodiment shows the operation state of a camera 3 that captures a predetermined monitoring area around a vehicle 2 (own vehicle) and a winker that is a direction indicator of the vehicle 2. A winker sensor 4 to detect, a vehicle speed sensor 5 to detect the vehicle speed of the vehicle 2, a steering sensor 6 to detect the steering state (steering amount and steering direction) of the steering wheel of the vehicle 2, various calculation processes, And an arithmetic processing unit 9 for controlling the braking force of the brake device 8 of the vehicle 2.

  The camera 3 is constituted by a CCD camera, a CMOS camera, or the like. The captured image of the camera 3 is a color image in the present embodiment. The camera 3 is mounted on the vehicle 2 so that a predetermined monitoring area around the vehicle 2, for example, an area on the front side of the vehicle 2 can be imaged.

  A plurality of cameras 3 are mounted on the vehicle 2, and the entire camera 3 includes not only the area on the front side of the vehicle 2 but also the area on the side and rear side of the vehicle 2. You may enable it to image the wide area | region of the periphery of.

  The notification device 7 notifies the driver by a visual signal or an audio signal, and includes, for example, a display (liquid crystal display or the like), a lamp, a speaker, and the like.

  The winker sensor 4, the vehicle speed sensor 5, and the steering sensor 6 are known general sensors. The detailed description of the structure of the brake device 8 is omitted. For example, the brake pressure that generates the braking force can be increased or decreased with respect to the brake pressure corresponding to the operation amount of the brake pedal of the vehicle 2. It is of a known known structure.

  The arithmetic processing unit 9 is an electronic circuit unit composed of a CPU, a RAM, a ROM, an interface circuit, and the like, and is disposed at an appropriate place on the vehicle 2. In this embodiment, the arithmetic processing unit 9 includes an image processing unit 10 that performs processing related to a captured image of the camera 3 as a function realized by an installed program or the like.

  In this case, as a function realized by the image processing, the image processing unit 10 detects an obstacle existing in the imaging region of the camera 3 in the periphery of the vehicle 2 from the captured image of the camera 3. 11 and a travel region lane marking recognition unit 12 that recognizes a travel region lane marking on the road surface on which the vehicle 2 is traveling from the captured image of the camera 3.

  In addition, the obstacle detection part 11 is the movement state (position and moving speed of each obstacle with respect to the own vehicle 2) with respect to the own vehicle 2, and the spatial size (horizontal width and vertical width) of each obstacle. It also includes a function to specify In addition, the travel area lane marking recognition unit 12 includes a function of specifying the color of each travel area lane marking in the present embodiment.

  In addition to the image processing unit 10, the arithmetic processing unit 9 has a specific situation in which either a lane change (lane change to the right or left side) or a right / left turn (right turn or left turn) of the vehicle 2 is performed. A specific situation detection unit 13 for detecting whether or not it occurred, a specific situation type determination unit 14 for judging whether the generated specific situation is a lane change of the vehicle 2 or a right / left turn situation, and an occurrence And a travel route prediction unit 15 that predicts a future travel route of the vehicle 2 in the specified situation.

  Further, the arithmetic processing unit 9 includes a contact possibility determination unit 16 that determines the possibility of future contact between the obstacle detected by the obstacle detection unit 11 and the host vehicle 2, and an obstacle according to the determination result. A contact avoidance measure processing unit 17 that executes a contact avoidance measure process for avoiding contact between an object and the host vehicle 2 is provided.

  In the present embodiment, as the contact avoidance countermeasure process, an alarm process for issuing a warning to the driver by the alarm device 7 and a brake pressure of the brake device 8 are provided. And a braking control process that increases (and consequently increases the braking force) more than usual.

  Supplementally, the obstacle detection unit 11, the travel area lane marking recognition unit 12, the specific situation detection unit 13, the specific situation type determination unit 14, the travel route prediction unit 15, the contact possibility determination unit 16, and the contact avoidance countermeasure processing unit 17. Are respectively equivalent to the obstacle detection means, travel area lane marking recognition means, specific situation detection means, specific situation type judgment means, travel route prediction means, contact possibility judgment means, and contact avoidance countermeasure processing means in the present invention. is there.

  Next, the overall processing of the arithmetic processing unit 9 will be described in detail, including details of the processing of each functional unit.

  The arithmetic processing unit 9 executes the control processing shown in the flowchart of FIG. 2 at a predetermined arithmetic processing cycle. Specifically, the arithmetic processing unit 9 first executes the processing of STEP1. In STEP 1, the arithmetic processing unit 9 uses the obstacle detection unit 11 to execute a process of detecting an obstacle existing in the imaging region (monitoring region) of the camera 3 in the vicinity of the vehicle 2, and the traveling A process of recognizing the road area dividing line on the road surface is executed by the area dividing line recognition unit 12.

  In this case, the obstacle type detected by the obstacle detection unit 11 is another vehicle, a person, or a structure on or around the road in this embodiment. Then, the obstacle detection unit 11 detects these obstacles from the captured image of the camera 3 based on the feature amount such as each shape. Various methods are known as such an obstacle detection method, and the obstacle may be detected using the known method.

  Further, the obstacle detection unit 11 uses a technique such as stereo matching or motion stereo, for example, to detect the position and movement speed (positional change rate of the position) of each obstacle with respect to the host vehicle 2, and the obstacle. Identify the spatial size of the object.

  Further, the travel area lane marking recognition unit 12 recognizes a travel area lane marking existing on the road surface by extracting the travel area lane marking from the captured image of the camera 3 using, for example, Hough transform. Furthermore, the traveling area lane marking recognition unit 12 also specifies the color of each traveling area lane marking based on the color information of the captured image that is a color image.

  Here, for example, in Japan, the color of the travel region dividing line is white or yellow. And when the color of a travel area division line is yellow, it is prohibited by the legislation to run out of the yellow travel area division line. Therefore, in the present embodiment, the traveling area lane marking recognition unit 12 recognizes the color of the traveling area lane marking as an index for specifying whether or not the traveling area lane marking is prohibited from protruding. I am doing so.

  Supplementally, the obstacle detection unit 11 in the present embodiment detects an obstacle around the vehicle 2 from the captured image of the camera 3, but it is detected by a radar device such as a laser radar or a millimeter wave radar, or a radar. Both the apparatus and the image captured by the camera 3 are used together to detect obstacles around the vehicle 2 and to specify the position and moving speed of each obstacle relative to the host vehicle 2 and the size of the obstacle. May be.

  Next, the arithmetic processing unit 9 performs the processing of STEP2. In STEP 2, the arithmetic processing unit 9 executes the process of the specific situation detection unit 13, so that the specific situation is a situation where the driver of the own vehicle 2 changes the lane of the own vehicle 2 or makes a right / left turn. Whether or not it has occurred is detected including whether the initial turning direction of the vehicle 2 in the specific situation is the right side or the left side.

  In this case, in this embodiment, the specific situation detection unit 13 detects whether or not a specific situation has occurred based on the output of the blinker sensor 4. That is, when the signal indicating that the winker on the right side of the vehicle 2 is turned on from the OFF state is output from the winker sensor 4, the specific situation detection unit 13 performs a lane change or a right turn to the right side of the vehicle 2. Detect that a specific situation has occurred. In this case, the initial turning direction of the vehicle 2 in this specific situation is the turning direction to the right side of the vehicle 2.

  When the signal indicating that the winker on the left side of the vehicle 2 has been turned on from the OFF state is output from the winker sensor 4, the specific situation detection unit 13 makes a lane change or left turn to the left side of the vehicle 2. Detect that a specific situation has occurred. In this case, the initial turning direction of the vehicle 2 in this specific situation is the turning direction to the left side of the vehicle 2.

  The detection of the occurrence of the specific situation is performed in consideration of the output of the steering sensor 6 indicating the steering state of the steering wheel (steering) of the vehicle 2 in addition to the output of the winker sensor 4 indicating the operating state of the winker. Also good. For example, when an ON operation of the right winker is detected and it is detected that the steering amount of the steering wheel of the vehicle 2 starts to increase in the direction of turning the vehicle 2 to the right side, It is detected that a specific situation has occurred in which a lane change or a right turn has occurred, and an ON operation of the left winker is detected, and the steering amount of the steering wheel of the vehicle 2 begins to increase in a direction to turn the vehicle 2 to the left. When it is detected that the vehicle 2 has detected a specific situation in which a lane change to the left side of the vehicle 2 or a left turn is performed, it may be detected.

  When the occurrence of a specific situation is detected in STEP 2, the arithmetic processing unit 9 next executes the process of STEP 3 and the subsequent processes of STEP 4 to 6.

  In STEP 3, the arithmetic processing unit 9 executes the processing of the specific situation type determination unit 14, so that the specific situation where the occurrence has been detected is changed to the right or left side of the vehicle 2, It is determined which type of situation a situation where a right / left turn (right turn or left turn) of the vehicle 2 is performed. However, in this process, when the condition for determining the type of the specific situation is not satisfied, specifying the type of the specific situation as one of the types is omitted (determination is impossible).

  In the present embodiment, the process of the specific situation type determination unit 14 determines the movement state of the obstacle detected by the obstacle detection unit 11 and the color of the travel area parting line recognized by the travel area parting line recognition unit 12. It is executed as follows.

  That is, the specific situation type determination unit 14 displays the figure when, for example, a specific situation in which a lane change to the right side of the own vehicle 2 or a right turn is performed is detected (in this embodiment, the right winker is turned on). As shown in FIG. 3 (a), on the same side as the initial turning direction of the own vehicle 2 in the specific situation (that is, on the right side), the same direction as the own vehicle 2 at a time within a period from the current time to a predetermined time. When the condition that the other vehicle 20 traveling at the time is detected by the processing of the obstacle detection unit 11 is satisfied, the detected specific situation is a situation in which the lane change to the right side of the own vehicle 2 is performed. Judge that there is.

  In addition, the specific situation type determination unit 14 detects the specific situation in which the lane change to the left side or the left turn of the host vehicle 2 is detected (when the left winker is turned on in the present embodiment), FIG. As shown in (b), on the same side as the initial turning direction of the own vehicle 2 in the specific situation (that is, the left side), the same direction as the own vehicle 2 at a time within a period from the current time to a predetermined time before. When the condition that the traveling other vehicle 20 is detected by the processing of the obstacle detection unit 11 is satisfied, the detected specific situation is a situation in which the lane change to the left side of the host vehicle 2 is performed. judge.

  In this case, whether or not the traveling direction of the other vehicle 20 is the same as that of the host vehicle 2 is determined based on the relative moving speed of the other vehicle with respect to the host vehicle 2. In addition, the predetermined time is set to a relatively short time so that the possibility that the layout form of the lane area of the road on which the host vehicle 2 is traveling is sufficiently changed within that time is sufficiently low. The The predetermined time may be a constant value, but may be changed according to the vehicle speed of the host vehicle 2, for example.

  Here, when a specific situation occurs in which the initial turning direction of the host vehicle 2 is the right direction of the host vehicle 2, the other vehicle 20 traveling in the same direction as the host vehicle 2 is located on the right side of the host vehicle 2. When the vehicle exists, a lane region 21 in which the host vehicle 2 can travel (a lane region 21 adjacent to the right side of the lane region where the host vehicle 2 exists) is located on the right side of the host vehicle 2 as shown in FIG. ) Exists. In such a situation, it is extremely unlikely that the vehicle 2 will make a right turn over the lane region 21 on the right side of the vehicle 2.

  Similarly, when a specific situation occurs in which the initial turning direction of the host vehicle 2 is the left direction of the host vehicle 2, the other vehicle 20 traveling in the same direction as the host vehicle 2 is located on the left side of the host vehicle 2. When it exists, it means that the lane area 21 where the own vehicle 2 can travel (the lane area 21 adjacent to the left side of the lane area where the own vehicle 2 exists) exists on the left side of the own vehicle 2. In such a situation, it is extremely unlikely that the left turn of the host vehicle 2 will be made after jumping over the left lane region 21 of the host vehicle 2.

  Therefore, as described above, the specific situation type determination unit 14 is the same as the own vehicle 2 at a time within a period from the current time to a predetermined time on the same side as the initial turning direction of the own vehicle 2 in the specific situation. When the condition that the other vehicle 20 traveling in the direction is detected by the processing of the obstacle detection unit 11 is satisfied, the detected specific situation is the same as the initial turning direction of the host vehicle 2 in the specific situation. It is determined that the lane change to the side (right side or left side) is performed. Hereinafter, a method for determining that the specific situation is a situation in which the lane change to the right side or the left side is performed in this way is referred to as a first determination method.

  The specific situation type determination unit 14 determines the initial turning direction of the host vehicle 2 in the detected specific situation when the condition for determining the type of the specific situation is not satisfied by the first determination method. The turning direction to the side (right side in the present embodiment) on which the opposite lane of the right side and the left side of the host vehicle 2 may exist, and in the detected specific situation of the right side and the left side of the host vehicle 2 On the same side as the initial turning direction of the host vehicle 2 (right side in the present embodiment), the vehicle travels in the opposite direction to the host vehicle 2 as shown in FIG. When the condition that the other vehicle 20 is detected by the obstacle detection unit 11 is satisfied, the detected specific situation is a right or left turn to the same side as the turning direction of the host vehicle 2 in the initial stage (in this embodiment, (Right turn) And it determines that there is.

  In this case, whether or not the traveling direction of the other vehicle 20 is opposite to the own vehicle 2 is determined based on the relative moving speed of the other vehicle 20 with respect to the own vehicle 2. The predetermined time is set similarly to the case described with reference to FIGS. 3 (a) and 3 (b).

  Here, when the left side of the road is a travel permission area of the host vehicle 2 as in Japan, the side on which the opposite lane may exist is the host vehicle 2 among the right side and the left side of the host vehicle 2. On the right side. Therefore, when a specific situation occurs in which the initial turning direction of the host vehicle 2 is the right direction of the host vehicle 2, there is an other vehicle 20 that runs in the opposite direction to the host vehicle 2 on the right side of the host vehicle 2. In this case, as shown in FIG. 4, it means that there is an oncoming lane area 22 (an oncoming lane area adjacent to the right side of the lane area where the own vehicle 2 exists) on the right side of the own vehicle 2. In such a situation, it is unlikely that the lane change to the opposite lane area 22 on the right side of the host vehicle 2 will be performed.

  Therefore, in the present embodiment, the specific situation type determination unit 14, when a specific situation occurs in which the initial turning direction of the host vehicle 2 is on the right side, on the right side of the host vehicle 2 from the current time to a predetermined time before. If the condition that another vehicle 20 (opposite vehicle) traveling in the opposite direction to the host vehicle 2 is detected by the processing of the obstacle detection unit 11 at the time within the period is satisfied, the detected specific situation However, it is determined that the vehicle 2 is making a right turn. Hereinafter, a method for determining that the specific situation is a situation where the host vehicle 2 is turned right is referred to as a second determination method.

  Supplementally, in a country where the right side of the road is the travel permission area of the host vehicle 2, the side where an oncoming lane may exist when a specific situation occurs in which the initial turning direction of the host vehicle 2 is on the left side. On the left side of the host vehicle 2, another vehicle 20 (an oncoming vehicle) traveling in the opposite direction to the host vehicle 2 at a time within a period from the current time to a predetermined time ago is processed by the obstacle detection unit 11. What is necessary is just to make it determine with the detected specific condition being the lane change to the left side of the own vehicle 2, when the conditions detected are satisfied.

  In addition, the specific situation type determination unit 14, when the conditions for determining the type of the specific situation by the first determination method and the second determination method are not satisfied, On the same side as the initial turning direction of the host vehicle 2 in the detected specific situation, as shown in FIG. 5 (a) or FIG. When the condition that the structure 23 installed so as to extend to the rear side of the host vehicle 2 is detected by the obstacle detection unit 11 is satisfied, the detected specific situation is the host vehicle 2 in the initial stage. It is determined that a right / left turn to the same side as the turning direction is performed.

  Here, when the left side of the road is a travel permission area of the host vehicle 2 as in Japan, it exists on the right side of the host vehicle 2 as shown in FIG. The structure 23 is a structure that constitutes a central separation band, and the structure 23 that exists on the left side of the host vehicle 2 as shown in FIG. 5B is a road shoulder wall, guardrail, or the like. It is the structure which comprises.

  Then, when a specific situation occurs in which the initial turning direction of the host vehicle 2 is the right direction of the host vehicle 2, in the situation where the structure 23 as described above exists on the right side of the host vehicle 2, Since there is no lane area adjacent to the right side of the vehicle 2 (a lane area in which the host vehicle 2 can travel), the lane change to the right side of the host vehicle 2 is not performed.

  Similarly, when a specific situation occurs in which the initial turning direction of the host vehicle 2 is the direction to the left side of the host vehicle 2, in the situation where the structure 23 as described above exists on the left side of the host vehicle 2, Since there is no lane area adjacent to the left side of the own vehicle 2 (a lane area in which the own vehicle 2 can travel), the lane change to the left side of the own vehicle 2 is not performed.

  Therefore, as described above, the specific situation type determination unit 14 has an end portion on the side of the host vehicle 2 on the same side as the initial turning direction of the host vehicle 2 in the specific situation. If the condition that the structure 23 installed so as to extend to the rear side of the host vehicle 2 is detected by the obstacle detection unit 11 is satisfied, the detected specific situation is It is determined that the vehicle is in a situation where a left / right turn to the same side (right side or left side) as the initial turning direction of the host vehicle 2 is performed. Hereinafter, a method for determining that the specific situation is a situation in which the vehicle 2 is turned right is referred to as a third determination method.

  Supplementally, in a country where the right side of the road is a travel permission area of the host vehicle 2, the structure 23 that exists on the right side of the host vehicle 2 as described above constitutes a shoulder wall, a guard rail, and the like. The structure 23 that is a structure and exists on the left side of the host vehicle 2 as described above is a structure that constitutes the central separation zone.

  Moreover, the specific situation type determination unit 14 further recognizes the travel area lane marking recognition unit 12 when the conditions for determining the type of the specific situation are not satisfied by the first to third determination methods. The type of the detected specific situation is determined using the property of the travel region marking line thus detected.

  Specifically, the specific situation type determination unit 14 displays the right side and the left side of the own vehicle 2 on the same side as the initial turning direction of the own vehicle 2 in the detected specific situation (right side in the present embodiment). As shown in FIG. 6 (a), a travel area dividing line 27 (in this embodiment, yellow that prohibits protrusion) between the lane area 25 adjacent to the lane area 24 where the host vehicle 2 exists (right adjacent in the present embodiment). When the condition that the travel area parting line 27) has been recognized by the travel area parting line recognition unit 12 is satisfied, the detected specific situation is the right to the same side as the turning direction of the host vehicle 2 in the initial stage. It is determined that the situation is that a left turn (right turn in this embodiment) is performed.

  Here, if there is a travel area division line 27 that prohibits overhang between the lane area 24 where the host vehicle 2 exists and the lane area 25 adjacent to the lane area 24 (right adjacent in this embodiment), the travel Basically, the lane change of the host vehicle 2 is not performed beyond the area dividing line 27.

  Therefore, as described above, the specific situation type determination unit 14 protrudes between the lane area 25 adjacent to the lane area 24 where the own vehicle 2 exists on the same side as the initial turning direction of the own vehicle 2 in the specific situation. When the condition that the travel region lane marking 27 that prohibits the vehicle is recognized by the travel region lane marking recognition unit 12 is satisfied, the detected specific situation is directed to the same side as the turning direction of the host vehicle 2 in the initial stage. It is determined that a right / left turn (right turn in this embodiment) is being performed. Hereinafter, a method for determining that the specific situation is a situation where the host vehicle 2 is turned right is referred to as a fourth determination method.

  In Japan, the yellow traveling area division line 27 that is prohibited from protruding is arranged on the right side of the lane area in which the host vehicle 2 can travel. Therefore, in the fourth determination method, when the initial turning direction of the own vehicle 2 in the detected specific situation is the right direction, it is determined that the specific situation is a situation where the host vehicle 2 is turned right. Will get.

  In addition, the specific situation type determination unit 14 selects the right side and the left side of the own vehicle 2 on the same side as the initial turning direction of the own vehicle 2 in the detected specific situation (right side in the present embodiment). ), A traveling area dividing line 28 (in this embodiment, a white traveling area dividing line 28) that allows overhanging travels between the lane area 25 adjacent to the lane area 24 where the host vehicle 2 exists. A travel area line 27 that is recognized by the area line recognition unit 12 and is not allowed to protrude between the lane area 26 and the lane area 26 adjacent to the lane area 25 (the yellow travel area line 27 in this embodiment). ) Is recognized, the detected specific situation is a situation where the lane is changed to the same side (right side in the present embodiment) as the turning direction of the host vehicle 2 in the initial stage. Judging

  Here, there is a travel area dividing line 28 that is allowed to protrude between the lane area 25 adjacent to the lane area 24 where the host vehicle 2 exists, and the lane area 26 that is further adjacent to the lane area 25. In the situation where there is a travel area dividing line 27 in which the protrusion is prohibited, the own vehicle 2 is located between the lane area 24 where the own vehicle 2 exists and the lane area 26 adjacent to the lane area 26. There is a lane area 25 that can travel. In such a situation, it is very unlikely that the vehicle 2 will turn left or right beyond the lane region 25 adjacent to the lane region 24 where the host vehicle 2 exists.

  Therefore, as described above, the specific situation type determination unit 14 is between the lane area 25 adjacent to the lane area 24 where the own vehicle 2 exists, on the same side as the initial turning direction of the own vehicle 2 in the specific situation. A travel area segment line 28 that is allowed to protrude is recognized by the travel area segment line recognition unit 12, and a travel area segment line 27 that is not allowed to protrude between the lane area 26 and the lane area 26 adjacent to the lane area 25. If the condition that the vehicle is recognized is satisfied, the detected specific situation is a situation in which the lane change to the same side (right side in the present embodiment) as the turning direction of the host vehicle 2 in the initial stage is performed. judge. Hereinafter, a method for determining that the specific situation is a situation in which the lane change to the right side of the host vehicle 2 is performed in this way is referred to as a fifth determination method.

  As described above, in Japan, the yellow traveling area division line 27 that is prohibited from protruding is disposed on the right side of the lane area in which the host vehicle 2 can travel. Then, when the initial turning direction of the own vehicle 2 in the detected specific situation is the right direction, it can be determined that the specific situation is a situation where the lane change to the right side of the own vehicle 2 is performed. It becomes.

  Supplementally, in a country where the right side of the road is the travel permitted area of the host vehicle 2, if the travel area demarcation line can be recognized as being prohibited from protruding, In the determination method, when the occurrence of a specific situation in which the initial turning direction of the host vehicle 2 is the left side direction of the host vehicle 2 is detected, the lane in which the host vehicle 2 exists on the left side of the host vehicle 2 When the condition that the traveling area division line 27 that prohibits the protrusion is recognized by the traveling area division line recognition unit 12 between the lane area 25 adjacent to the area 24 is satisfied, the detected specific situation is It is possible to determine that this is a situation where a left turn of 2 is performed.

  Further, in the fifth determination method, when the occurrence of a specific situation in which the initial turning direction of the host vehicle 2 is the left side direction of the host vehicle 2 is detected, the host vehicle 2 2 is recognized by the traveling area dividing line recognition unit 12 between the adjacent lane area 25 and the lane area 25 adjacent to the lane area 24 where the lane area 2 exists. A situation in which the detected specific situation is changed to the left side of the host vehicle 2 when a condition that a traveling area division line 27 that is prohibited from protruding is recognized between the lane area 26 and the lane area 26 is detected. It can be determined that

  According to the first to fifth determination methods described above, the specific situation type determination unit 14 according to the present embodiment detects that the specific situation detected in STEP 2 is a lane change to the right or left side of the host vehicle 2, a right turn or a left turn. Which type of specific situation is determined. Then, the specific situation type determination unit 14 determines the adjacent lane region in the period from the current time to a predetermined time before when the condition for determining the type of the specific situation is not satisfied by the first to fifth determination methods. When the other vehicle 20 that is traveling is not detected, when the structure 23 on the side of the host vehicle 2 is not detected, or when the traveling area dividing line cannot be detected with sufficient reliability) Omits the determination of the type of the specific situation and makes the determination impossible.

  The above is the process executed by the specific situation type determination unit 14 in STEP3.

  Supplementally, although description in the flowchart of FIG. 2 is omitted, in the present embodiment, when the occurrence of the specific situation cannot be determined by the processing of STEP 3 when the occurrence of the specific situation is detected, The specific situation type determination unit 14 determines the type of the specific situation by a process different from STEP 3 until the specific situation ends.

  In this case, for example, after the occurrence of the specific situation, within a predetermined time set according to the vehicle speed at the time of detection of the occurrence of the specific situation, the turn in the direction opposite to the turning direction of the initial vehicle 2 of the specific situation is made. When the condition that the start is detected from the output of the steering sensor 6 or the like is satisfied, it is determined that the specific situation is a situation where the lane change of the host vehicle 2 is performed, and the condition is satisfied. If not, it is determined that the specific situation is a situation where the host vehicle 2 makes a right or left turn.

  When the occurrence of the specific situation is detected, if it is determined in STEP 3 that the lane change of the host vehicle 2 is performed, the arithmetic processing unit 9 executes the process of STEP 4 next. To do. Further, when it is determined that the specific situation is a situation where the host vehicle 2 turns right or left, the arithmetic processing unit 9 next executes the process of STEP5. If the type of the specific situation cannot be determined, the arithmetic processing unit 9 next executes the process of STEP6.

  These processes of STEP4 to STEP6 are processes executed by the travel path prediction unit 15 when the occurrence of a specific situation is detected. In these processes, the travel route prediction unit 15 predicts the future travel route of the host vehicle 2 according to the determination result of the specific situation type determination unit 14 in STEP 3.

  Specifically, in STEP 4, the traveling route prediction unit 15 assumes that the detected specific situation is a situation in which a lane change to the right side or the left side of the own vehicle 2 is performed, and the future situation of the own vehicle 2. A travel route (until the behavior of the host vehicle 2 in a specific situation is completed) is predicted.

  In this case, the basic shape of the future travel route of the host vehicle 2 in a situation where the lane is changed to the right side or the left side of the host vehicle 2 is determined in advance. For example, in the situation where the lane change to the right side of the host vehicle 2 is performed, the shape of the future travel route of the host vehicle 2 is the turn to the right and the left side as shown by the route denoted by reference symbol A in FIG. And the traveling direction of the host vehicle 2 at the start of the lane change is the same as the traveling direction of the host vehicle 2 at the end of the lane change.

  Note that the shape of the future travel path of the host vehicle 2 in the situation where the lane change to the left side of the host vehicle 2 is performed is the future shape of the host vehicle 2 in the situation where the lane change to the right side of the host vehicle 2 is performed. The shape of the travel path is reversed to the left and right. Hereinafter, the above-described shape of the traveling route when the lane is changed to the right side or the left side of the host vehicle 2 is referred to as a traveling route shape at the time of lane change.

  Then, the travel route prediction unit 15 presents the time-series change pattern of the curvature of the travel route in the travel route shape at the time of lane change, for example, as indicated by the output of the vehicle speed sensor 5 (when the occurrence of a specific situation is detected) The route is determined according to the vehicle speed, and the route defined by the determined curvature change pattern is determined as a future predicted route in the case of the lane change of the host vehicle 2. Hereinafter, the travel route determined in this way is referred to as a predicted travel route during lane change.

  Further, in STEP5, the traveling route prediction unit 15 assumes that the detected specific situation is a situation where the host vehicle 2 makes a right turn or a left turn. Predict the path of travel (until the behavior of 2 ends).

  In this case, as in the case of the lane change, the basic shape of the future travel route of the host vehicle 2 in a situation where the host vehicle 2 is turned right or left is determined in advance. For example, in a situation where the host vehicle 2 makes a right turn, the shape of the future travel route of the host vehicle 2 is the progress of the host vehicle 2 at the end of the right turn, as shown by the route indicated by reference numeral B in FIG. The direction is a rightward traveling direction with respect to the front-rear direction of the host vehicle 2 (when the occurrence of a specific situation is detected), and the curvature of the traveling path gradually increases near the end of a right turn (turning to the right). The shape is small.

  Note that the shape of the future travel route of the host vehicle 2 in a situation where the host vehicle 2 is turned to the left reverses the shape of the future travel route of the host vehicle 2 in the situation where the host vehicle 2 is turned to the right. It is made into the shape made to do. Hereinafter, the above-described shape of the travel route when the host vehicle 2 makes a right / left turn is referred to as a right / left turn travel route shape.

  Then, the travel route prediction unit 15 presents the time-series change pattern of the curvature of the travel route in the travel route shape at the time of the right or left turn, for example, as indicated by the output of the vehicle speed sensor 5 (when the occurrence of a specific situation is detected). The route is determined according to the vehicle speed, and the route defined by the determined curvature change pattern is determined as a future predicted route in the case of a turn of the host vehicle 2. Hereinafter, the travel route determined in this way is referred to as a predicted travel route during a right / left turn.

  In addition, when determining the change pattern of curvature in the predicted traveling path at the time of changing lanes or the predicted traveling path at the time of turning left or right, in addition to the current vehicle speed (when the occurrence of a specific situation is detected) indicated by the output of the vehicle speed sensor 5 The curvature change pattern may be determined in consideration of the degree of change in the steering amount of the steering wheel immediately before the current indicated by the output of the steering sensor 6.

  In STEP 6, the travel route prediction unit 15 determines that the detected specific situation is a lane change of the own vehicle 2 (specifically, a lane change to the same side as the initial turning direction of the own vehicle 2 in the specific situation). Future travel route of the host vehicle 2 assuming that the situation is to be performed, and a left / right turn of the host vehicle 2 (specifically, a left / right turn to the same side as the initial turning direction of the host vehicle 2 in the specific situation) Both the future travel route of the own vehicle 2 when it is assumed that the situation is performed is predicted.

  In this case, the predicted travel path of the host vehicle 2 assuming that the detected specific situation is a situation in which the lane change of the host vehicle 2 is performed is calculated by the same process as the process of STEP4. The In addition, the predicted travel path of the host vehicle 2 assuming that the detected specific situation is a situation where the host vehicle 2 makes a right or left turn is calculated by the same process as the process of STEP5. .

  The arithmetic processing unit 9 executes the process of STEP4 to STEP6 subsequent to STEP3 as described above, and then executes the process of STEP7. In STEP 7, the arithmetic processing unit 9 executes the processing of the contact possibility determination unit 16.

  Note that the processing of the contact possibility determination unit 16 in STEP 7 is performed not only when the occurrence of the specific situation is detected, but also in a situation where the determination result in STEP 2 is negative (a situation in the middle of the behavior of the host vehicle 2 in the specific situation). Or a situation in which the behavior of the host vehicle 2 other than the behavior in the specific situation is being performed).

  In STEP 7 when detecting the occurrence of a specific situation, the contact possibility determination unit 16 first determines the possibility of contact between the host vehicle 2 and each obstacle detected by the obstacle detection unit 11. The contact possibility determination region used for the purpose is set according to one or both of the predicted lane change progress route and the left / right turn predicted progress route calculated in any of STEPs 4 to 6.

  The contact possibility determination area is the area around the host vehicle 2 when an obstacle enters the contact possibility determination area during the behavior of the host vehicle 2 in a specific situation. This is an area where the possibility of contact of the vehicle 2 is expected to be high.

  In this case, if it is determined in STEP 3 that the specific situation that has occurred is a situation in which the lane change to the right side of the host vehicle 2 is performed, for example, the contact possibility determination unit 16 may The area ARa is set as a contact possibility determination area. This contact possibility determination area ARa is based on the predicted travel route at the time of lane change calculated in STEP 4 (route A in FIG. 7) as a boundary line of the host vehicle 2 (the host vehicle 2 when the occurrence of a specific situation is detected). This is a region formed on the right front side.

  If it is determined in STEP 3 that the specific situation that has occurred is a situation in which the lane change to the left side of the host vehicle 2 is performed, the contact possibility determination unit 16 determines whether the area ARa shown in FIG. Is set as a contact possibility determination area on the left front side of the host vehicle 2.

  Hereinafter, the contact possibility determination area set in accordance with the predicted traveling path at the time of lane change is referred to as a contact possibility determination area at the time of lane change.

  And the contact possibility judgment part 16 is detected by the process of the obstacle detection part 11 in STEP 1 at the time of each calculation processing cycle until the behavior (here, the lane change) in the specific situation of the host vehicle 2 is completed. Based on the relative position and speed of the respective obstacles with respect to the own vehicle 2, each obstacle is within the time until the behavior of the own vehicle 2 in the specific situation (here, the lane change) is completed. It is estimated whether or not the vehicle enters the contact possibility determination area when changing lanes.

  Furthermore, when the estimation result is affirmative, the contact possibility determination unit 16 determines that the possibility of contact between the obstacle and the host vehicle 2 is high, and the estimation result is negative. It is determined that the possibility of contact between the obstacle and the host vehicle 2 is low.

  The determination of the possibility of such contact is sequentially performed in the calculation processing cycle of the calculation processing unit 9 until the behavior of the host vehicle 2 in a specific situation (lane change in this case) is completed.

  Note that the contact possibility determination area used for estimating whether or not an obstacle enters at the time of the behavior of the host vehicle 2 in the specific situation (here, in the middle of the lane change) is the contact at the time of lane change. The area may not be the entire possibility determination area, and may be an area excluding the area on the rear side of the host vehicle 2 at the current time among the contact possibility determination areas when changing lanes, for example.

  Further, when it is determined in STEP 3 that the specific situation that has occurred is, for example, a situation where the host vehicle 2 is making a right turn, the contact possibility determination unit 16 can make contact with the area ARb as shown in FIG. Set as sex determination area. This contact possibility determination area ARb is defined by the vehicle 2 (the vehicle 2 at the time of detecting the occurrence of a specific situation), with the predicted advance route (the route B in FIG. 7) calculated in STEP 5 as a boundary line. This is a region formed on the right front side.

  In addition, when it determines with STEP3 that the specific situation which generate | occur | produced is a situation where the left turn of the own vehicle 2 is performed, the contact possibility judgment part 16 is the shape which reversed right and left of the area | region ARb shown in FIG. Is set as a contact possibility determination area on the left front side of the host vehicle 2.

  Hereinafter, the contact possibility determination area set in accordance with the right / left turn predicted travel route is referred to as a right / left turn contact possibility determination area.

  Then, the contact possibility determination unit 16 performs the processing of the obstacle detection unit 11 in STEP 1 at the time of each calculation processing cycle until the behavior of the own vehicle 2 in the specific situation (here, right-left turn) is completed. Based on the relative position and speed of each detected obstacle with respect to the own vehicle 2, each obstacle is within the time until the behavior of the own vehicle 2 in the specific situation (here, right-left turn) is completed. Then, it is estimated whether or not to enter the contact possibility determination area when turning right or left.

  Furthermore, when the estimation result is affirmative, the contact possibility determination unit 16 determines that the possibility of contact between the obstacle and the host vehicle 2 is high, and the estimation result is negative. It is determined that the possibility of contact between the obstacle and the host vehicle 2 is low.

  Such determination of the possibility of contact is sequentially performed at the calculation processing period of the calculation processing unit 9 until the behavior of the host vehicle 2 in a specific situation (here, right-left turn) is completed.

  It should be noted that the contact possibility determination area used for estimating whether or not an obstacle enters at the time during the behavior of the host vehicle 2 in the specific situation (here, in the middle of the right / left turn) is the contact at the time of the right / left turn The area may not be the entire possibility determination area, and may be an area excluding the area on the rear side of the host vehicle 2 at the current time in the contact possibility determination area at the time of right or left turn, for example.

  In addition, when the type of the specific situation that has occurred cannot be determined in STEP 3, the contact possibility determination unit 16 determines the lane change predicted progress route and the right / left turn predicted progress route calculated in STEP 6. The corresponding contact possibility determination area and the right / left turn contact possibility determination area are set as described above.

  Then, the contact possibility determination unit 16 determines each obstacle detected by the processing of the obstacle detection unit 11 in STEP 1 within the time until the specific situation type is determined by the specific situation type determination unit 14. Based on the relative position and speed with respect to the host vehicle 2, each obstacle has a region where the lane change contact possibility determination region and the right / left turn contact possibility determination region overlap (for example, ARab of FIG. 7 It is estimated whether or not to enter (region).

  Furthermore, when the estimation result is affirmative, the contact possibility determination unit 16 determines that the possibility of contact between the obstacle and the host vehicle 2 is high, and the estimation result is negative. It is determined that the possibility of contact between the obstacle and the host vehicle 2 is low.

  Such determination of the possibility of contact is sequentially executed in the arithmetic processing cycle of the arithmetic processing unit 9 until the type of the specific situation is determined. In this case, the contact possibility determination area used to estimate whether an obstacle enters or not is used for determining the possibility of contact at the time of lane change at the time during the behavior until the type of the specific situation is determined. The region may not be the entire region where the right and left turn contact possibility determination region overlaps, for example, the region excluding the region behind the host vehicle 2 at the current time in the overlapping region. Also good.

  Then, after the type of the specific situation is determined, each obstacle is detected based on the relative position and speed of the respective obstacles detected by the obstacle detection unit 11 in STEP 1 with respect to the host vehicle 2. The lane change contact possibility determination area and the left / right turn within the time until the behavior of the own vehicle 2 in the specific situation (the lane change, the left / right turn, and the behavior determined as the specific situation type) ends. It is estimated whether or not to enter the contact possibility determination area corresponding to the type of the specific situation out of the hour contact possibility determination area.

  Furthermore, when the estimation result is affirmative, the contact possibility determination unit 16 determines that the possibility of contact between the obstacle and the host vehicle 2 is high, and the estimation result is negative. It is determined that the possibility of contact between the obstacle and the host vehicle 2 is low.

  The determination of the possibility of such contact is sequentially performed in the arithmetic processing cycle of the arithmetic processing unit 9 until the behavior of the host vehicle 2 in the specific situation ends after the type of the specific situation is determined. In this case, the contact possibility determination area used for estimating whether an obstacle enters or not is used for determining the possibility of contact at the time of lane change at the time during the behavior after the type of the specific situation is determined. The contact possibility determination area corresponding to the determined specific situation type out of the area and the right / left turn contact possibility determination area may not be, for example, the contact possibility determination area. Among these, the area | region which excluded the area | region of the back side of the own vehicle 2 in the present time may be sufficient.

  When the occurrence of a specific situation is detected, in STEP 7, as described above, until the behavior of the host vehicle 2 in the specific situation is completed, the contact possibility judgment area when changing lanes and the possibility of contact when turning right or left Using one or both of the determination areas, the possibility of contact between the obstacles detected by the obstacle detection unit 11 and the host vehicle 2 is determined.

  Supplementally, as shown in FIG. 5A, in a situation where a structure 23 such as a median strip exists on the side of the host vehicle 2, the width of the structure 23 and the opposite as an obstacle. When the width of the vehicle 20 overlaps with the longitudinal direction of the structure 23, or when the turning direction of the oncoming vehicle 20 indicated by the winker of the oncoming vehicle 20 is viewed from the own vehicle 2, the turning of the own vehicle 2 If the direction is opposite to the direction (here, the turning direction when turning right), the oncoming vehicle 20 is expected to turn left or right in the direction opposite to the turning direction of the host vehicle 2 as shown in the figure. .

  In such a case, it is assumed that the oncoming vehicle 20 will make a right or left turn, and the future traveling route of the oncoming vehicle 20 is predicted, and whether or not the oncoming vehicle 20 enters the contact possibility determination region. May be determined.

  In STEP 7 in a situation where the behavior of the host vehicle 2 other than the behavior in the specific situation is being performed, the contact possibility determination unit 16 determines, for example, the vehicle speed at the current time (or from the current time to a predetermined time before). The future traveling route of the host vehicle 2 is predicted using the detected value (output of the vehicle speed sensor 5) and the detected value of the steering amount of the steering wheel (output of the steering sensor 6). Then, the contact possibility determination unit 16 sets, for example, an area having a certain width along the predicted traveling route as a contact possibility determination area, and whether an obstacle enters the contact possibility determination area. By estimating whether or not, the possibility of contact between the obstacle and the vehicle 2 is determined.

  The above is the processing executed by the contact possibility determination unit 16 in STEP7.

  In STEP 7, when the contact possibility determination unit 16 determines that the possibility of contact between the obstacle and the host vehicle 2 is high, the arithmetic processing unit 9 next executes the process of STEP 8. In STEP 8, the arithmetic processing unit 9 causes the contact avoidance countermeasure processing unit 17 to execute processing for avoiding contact between the obstacle determined to have a high possibility of contact and the host vehicle 2.

  Specifically, the contact avoidance countermeasure processing unit 17 outputs a warning (visual notification or voice notification) to the driver that there is a high possibility of contact with the obstacle of the host vehicle 2 from the notification device 7. The operation of the alarm 7 is controlled so that Further, the contact avoidance countermeasure processing unit 17 controls the brake pressure of the brake device 8 so as to increase the braking force by the brake device 8. Thereby, the possibility of contact between the host vehicle 2 and the obstacle is reduced.

  In the process for avoiding the contact between the obstacle and the host vehicle 2, the power source of the vehicle 2 can be used instead of the control of the brake pressure of the brake device 8 or in combination with the control of the brake pressure of the brake device 8. You may make it control the drive force of (an engine, an electric motor, etc.). Further, the notification to the driver may be a bodily notification such as vibration of the driver's seat. Further, when the possibility of contact between the obstacle and the host vehicle 2 is determined by classifying into a plurality of stages by the contact possibility determination unit 16, depending on the degree of possibility of contact, The content of the notification to the driver may be changed, or the increase amount of the braking force of the vehicle 2 and the decrease amount of the driving force of the vehicle 2 may be changed stepwise.

  The above is the control processing of the arithmetic processing unit 9 in this embodiment.

  According to the present embodiment described above, the situation in which the lane change of the vehicle 2 is performed and the situation in which a right / left turn is performed are distinguished, and an obstacle existing around the vehicle 2 can contact the host vehicle 2. Sex is judged. As a result, the reliability of the determination result of the possibility of contact can be improved, and consequently, contact avoidance countermeasure processing for avoiding the contact can be performed at a timing suitable for each lane change or right / left turn of the vehicle 2. it can.

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... Vehicle, 11 ... Obstacle detection part (obstacle detection means), 12 ... Travel area division line recognition part (travel area division line recognition means), 13 ... Specific situation detection part (Specific situation detection) Means), 14... Specific situation type determination unit (specific situation type determination means), 15... Travel path prediction unit (travel path prediction means), 16... Contact possibility judgment part (contact possibility judgment means), 17. Countermeasure processing unit (contact avoidance countermeasure processing means).

Claims (6)

Obstacle detection means for detecting obstacles including at least other vehicles existing in the vicinity of the vehicle, and contact possibility for judging the possibility of future contact between the obstacle detected by the obstacle detection means and the vehicle A vehicle driving support device for performing contact avoidance countermeasure processing for avoiding contact between the vehicle and an obstacle according to a determination result of the contact possibility determination unit,
Based on the driving operation state of the vehicle, it is detected whether or not a specific situation, which is a situation in which either a lane change or a left or right turn of the vehicle is performed, and when the occurrence of the specific situation is detected Specific situation detection means for detecting whether the initial turning direction of the vehicle in the specific situation is the right or left turn direction of the vehicle;
When the occurrence of the specific situation is detected by the specific situation detection means, the type of the specific situation is any of a situation where the lane of the vehicle is changed and a situation where the vehicle turns right and left Specific situation type determination means for determining whether or not using at least information related to the obstacle detected by the obstacle detection means;
In accordance with the type of the specific situation determined by the specific situation type determination unit, each includes a travel route prediction unit that predicts a future travel route of the vehicle in the specific situation,
The contact possibility determination means is configured to determine the obstacle based on the travel path of the vehicle predicted by the travel path prediction means and the motion state of the obstacle detected by the obstacle detection means with respect to the vehicle. Determine the possibility of future contact with the vehicle,
The specific situation type determination means includes at least the other vehicle traveling in the same direction as the vehicle on the same side as the turning direction of the vehicle detected by the specific situation detection means among the right side and the left side of the vehicle. When the first condition that is detected by the obstacle detection means is satisfied, it is determined that the detected specific situation is a situation where a lane change to the same side as the turning direction of the vehicle is performed ,
Based on a captured image of a camera mounted on the vehicle, recognizes a traveling region dividing line on a road surface around the vehicle and whether the recognized traveling region dividing line is a traveling region dividing line that prohibits the vehicle from protruding. The vehicle further comprises a travel area dividing line recognition means for specifying
The specific situation type determination means is a lane area adjacent to the lane area where the vehicle exists on the same side as the turning direction of the vehicle detected by the specific situation detection means, on the right side and the left side of the vehicle. In the meantime, when the fourth condition that the travel area lane marking that prohibits the protrusion is recognized is satisfied by the travel area lane marking recognition means, the detected specific situation is on the same side as the turning direction of the vehicle. It is determined that there is a right / left turn to
The specific situation type determination means is a lane area adjacent to the lane area where the vehicle exists on the same side as the turning direction of the vehicle detected by the specific situation detection means, on the right side and the left side of the vehicle. In the meantime, the travel area parting line recognition means recognizes a travel area parting line that is allowed to protrude, and the travel area parting line recognition means establishes a distance between the adjacent lane area and the next lane area. When the fifth condition that the traveling area division line for which the protrusion is prohibited is recognized is satisfied, the detected specific situation is a situation where the lane is changed to the same side as the turning direction of the vehicle. It is determined that the vehicle driving support device. Obstacle detection means for detecting obstacles including at least other vehicles existing in the vicinity of the vehicle, and contact possibility for judging the possibility of future contact between the obstacle detected by the obstacle detection means and the vehicle A vehicle driving support device for performing contact avoidance countermeasure processing for avoiding contact between the vehicle and an obstacle according to a determination result of the contact possibility determination unit,
Based on the driving operation state of the vehicle, it is detected whether or not a specific situation, which is a situation in which either a lane change or a left or right turn of the vehicle is performed, and when the occurrence of the specific situation is detected Specific situation detection means for detecting whether the initial turning direction of the vehicle in the specific situation is the right or left turn direction of the vehicle;
When the occurrence of the specific situation is detected by the specific situation detection means, the type of the specific situation is any of a situation where the lane of the vehicle is changed and a situation where the vehicle turns right and left Specific situation type determination means for determining whether or not using at least information related to the obstacle detected by the obstacle detection means;
In accordance with the type of the specific situation determined by the specific situation type determination unit, each includes a travel route prediction unit that predicts a future travel route of the vehicle in the specific situation,
The contact possibility determination means is configured to determine the obstacle based on the travel path of the vehicle predicted by the travel path prediction means and the motion state of the obstacle detected by the obstacle detection means with respect to the vehicle. Determine the possibility of future contact with the vehicle,
The specific situation type determination means includes at least the other vehicle traveling in the same direction as the vehicle on the same side as the turning direction of the vehicle detected by the specific situation detection means among the right side and the left side of the vehicle. When the first condition that is detected by the obstacle detection means is satisfied, it is determined that the detected specific situation is a situation where a lane change to the same side as the turning direction of the vehicle is performed ,
The specific situation type determination means determines that the specific situation is a condition for determining that the lane change of the vehicle is performed, and that the specific situation is a situation where the vehicle turns right or left. If none of the conditions for this is satisfied, the determination of the type of the specific situation is omitted.
The advancing route prediction means, when the determination of the type of the specific situation is omitted by the specific situation type determination means, the case where it is assumed that the specific situation is a situation where the lane of the vehicle is changed A means for predicting two types of travel paths, a future travel path of the vehicle and a future travel path of the vehicle assuming that the specific situation is a situation in which the vehicle turns right or left;
The contact possibility determination means includes
When the specific situation type is determined by the specific situation type determination means, the contact has a shape corresponding to the travel path of the vehicle predicted by the travel path prediction means corresponding to the specific situation type A possibility determination area is set, and the possibility of contact between the obstacle and the vehicle when the obstacle detected by the obstacle detection means is estimated to enter the contact possibility determination area. Is determined to be high,
When the determination of the specific situation type is omitted by the specific situation type determination unit, two types of shapes having shapes corresponding to the two types of travel routes of the vehicle predicted by the travel route prediction unit are provided. A contact possibility determination area is set, and at least immediately after the occurrence of the specific situation, an obstacle detected by the obstacle detection means is applied to an overlapping area of the two types of contact possibility determination areas. A vehicle driving support device, which determines that there is a high possibility of contact between the obstacle and the vehicle when an approach is estimated. The vehicle driving support device according to claim 2 ,
In the case where the determination of the type of the specific situation is omitted by the specific situation type determination unit, the contact possibility determination unit is configured so that the specific situation type determination unit performs the specific situation during the behavior of the vehicle. When the type of the obstacle is determined, the approach of the detected obstacle to the contact possibility determination area corresponding to the specific situation type is estimated from the two types of contact possibility determination areas. When the vehicle is driven, it is determined that there is a high possibility of contact between the obstacle and the vehicle. The driving support apparatus for a vehicle according to any one of claims 1 to 3 ,
The specific situation type determination means is the turning direction of the vehicle detected by the specific situation detection means to the same side as the side where the oncoming lane may exist, on the right side and the left side of the vehicle, In addition, on the right side and the left side of the vehicle, on the same side as the turning direction of the vehicle detected by the specific situation detection unit, another vehicle traveling in the opposite direction to the vehicle is detected by the obstacle detection unit. When the second condition is satisfied, it is determined that the detected specific situation is a situation where a left / right turn to the same side as the turning direction of the vehicle is performed. . In the driving assistance device of the vehicles given in any 1 paragraph of Claims 1-4 ,
The specific situation type determination means has an end on the side of the vehicle on the same side as the turning direction of the vehicle detected by the specific situation detection means, on the right side and the left side of the vehicle. When the third condition that an obstacle installed so as to extend from the portion to the rear side of the vehicle is detected by the obstacle detection means is satisfied, the detected specific situation is A vehicle driving support device, characterized in that it is determined that a right / left turn to the same side as the turning direction is performed. In the vehicle driving assistance device according to claim 2 or 3 ,
Based on a captured image of a camera mounted on the vehicle, recognizes a traveling region dividing line on a road surface around the vehicle and whether the recognized traveling region dividing line is a traveling region dividing line that prohibits the vehicle from protruding. The vehicle further comprises a travel area dividing line recognition means for specifying
The specific situation type determination means is a lane area adjacent to the lane area where the vehicle exists on the same side as the turning direction of the vehicle detected by the specific situation detection means, on the right side and the left side of the vehicle. In the meantime, when the fourth condition that the travel area lane marking that prohibits the protrusion is recognized is satisfied by the travel area lane marking recognition means, the detected specific situation is on the same side as the turning direction of the vehicle. A vehicle driving support device, characterized in that it is determined that the vehicle is in a situation where a right or left turn is made.