JP6726903B2 - Driving support method and driving support device using the same, automatic driving control device, vehicle, program, driving support system - Google Patents

Description

The present invention relates to a vehicle, a driving support method provided in the vehicle, a driving support device using the method, an automatic driving control device, a program, and a driving support system.

In automatic driving of a vehicle, an obstacle for traveling the vehicle is detected, and the vehicle is automatically stopped a predetermined distance before the obstacle. In order to optimally control the automatic stop of vehicles running at medium and high speeds, obstacle detection means for long distance that detects only the presence or absence of obstacles within the range of long distance, and within the range of short distance Short-distance obstacle detection means for determining the distance to the obstacle detected only is provided (see, for example, Patent Document 1).

JP, 10-16734, A

A self-driving vehicle automatically stops by detecting another vehicle or a pedestrian at the time of turning right or left or joining. At that time, the driver of the other vehicle or the pedestrian may give way. Further, there is a case where the other vehicle fails and is forced to stop. However, even if an automatically stopped vehicle that stops automatically is stopped due to a failure of the other vehicle or the other vehicle or an obstacle such as the pedestrian, the automatically driven vehicle is automatically stopped. If it is detected that the vehicle is within the predetermined distance, it is determined that there is a possibility of collision with the other vehicle or surrounding obstacles including the pedestrian, and thus the vehicle cannot start.

The present invention has been made in view of such a situation, and an object thereof is to provide a technique of traveling according to the situation even when an obstacle exists.

In order to solve the above-mentioned problems, a driving assistance device according to an aspect of the present invention calculates a collision possibility between a detected obstacle and a vehicle, and uses the calculated collision possibility as a determination target to automatically drive a vehicle. Is a driving support device mounted on a vehicle, which includes an automatic driving control device for controlling the vehicle and stopping the vehicle when the possibility of collision is larger than a predetermined value, and the stopping behavior information of the vehicle is input from the automatic driving control device. When the behavior information input unit and the stop behavior information of the vehicle are input from the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is equal to or greater than the first threshold value, and the obstacle is present. If the speed of the object is less than or equal to the second threshold value, an inquiry for outputting to the notification device inquiry information for inquiring the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device An operation signal input unit for inputting a response signal of a response operation by an occupant, which excludes a collision possibility of an obstacle and a vehicle from a determination target in response to an inquiry notified from an output unit and an informing device, and an operation signal And a command output unit that outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device when the response signal is input to the input unit.

Another aspect of the present invention is an automatic driving control device. This device is an automatic driving control device mounted on a vehicle, which calculates a collision possibility between a detected obstacle and the vehicle, and uses the calculated collision possibility as a determination target to control the automatic driving of the vehicle. If the possibility of collision is greater than a predetermined value, the automatic driving control unit that stops the vehicle, the behavior information input unit to which the behavior information of the vehicle stopping is input from the automatic driving control unit, and the stopping of the vehicle from the behavior information input unit When the action information is input, if the distance from one point on the predicted travel route of the obstacle to the obstacle is equal to or greater than the first threshold value and the speed of the obstacle is equal to or less than the second threshold value, An inquiry output unit that outputs inquiry information to an informing device for inquiring the occupant whether to exclude the possibility of collision between an obstacle and a vehicle from the determination target in the automatic driving control unit, and an inquiry informed from the informing device , Excluding the possibility of collision between an obstacle and a vehicle from the judgment target, the judgment target when the response signal is input to the operation signal input unit to which the response signal of the response operation by the occupant is input, and the operation signal input unit A command output unit that outputs a command for excluding the possibility of collision between an obstacle and a vehicle to the automatic driving control unit.

Yet another aspect of the present invention is a vehicle. This vehicle calculates the possibility of collision between the detected obstacle and the vehicle and uses the calculated possibility of collision as a judgment target to control the automatic driving of the vehicle. A driving assistance device mounted on a vehicle including an automatic driving control device for stopping a vehicle, and a vehicle including the driving assistance device, wherein the driving assistance device is behavior information in which vehicle stopping behavior information is input from the automatic driving control device. When the vehicle stop behavior information is input from the input unit and the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is equal to or greater than the first threshold value, and the obstacle is If the speed is less than or equal to the second threshold value, an inquiry output unit that outputs inquiry information for inquiring to the passenger whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device, to the notification device. And an operation signal input unit for inputting a response signal of a response operation by an occupant, which excludes a possibility of collision between an obstacle and a vehicle as a determination target in response to an inquiry notified from the notification device. And a command output unit that outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device when a response signal is input to the automatic driving control device.

Yet another aspect of the present invention is a driving support method. This method calculates the possibility of collision between the detected obstacle and the vehicle, and uses the calculated possibility of collision as a judgment target to control the automatic driving of the vehicle. A driving assistance method in a driving assistance device mounted on a vehicle having an automatic driving control device for stopping a vehicle, the step of inputting vehicle stopping behavior information from the automatic driving control device, and inputting vehicle stopping behavior information. If the distance from the one point on the predicted moving route of the obstacle to the obstacle is equal to or greater than the first threshold value and the speed of the obstacle is equal to or less than the second threshold value, the automatic driving control device In the step of outputting to the notification device inquiry information for inquiring the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the judgment target in The step of inputting the response signal of the response operation by the occupant that excludes the possibility of collision with the vehicle and the command that excludes the possibility of collision between the obstacle and the vehicle from the judgment target when the response signal is input. Is output to the automatic driving control device.

Yet another aspect of the present invention is a driving support system. This driving support system calculates the possibility of collision between the detected obstacle and the vehicle, controls the automatic driving of the vehicle by using the calculated possibility of collision as a determination target, and when the possibility of collision is greater than a predetermined value. A driving support system mounted on a vehicle, comprising an automatic driving control device for stopping the vehicle, wherein a behavior information input unit to which vehicle stopping behavior information is input from the automatic driving control device, and a behavior information input unit When the stop behavior information is input, if the distance from one point on the predicted travel route of the obstacle to the obstacle is equal to or greater than the first threshold value and the speed of the obstacle is equal to or less than the second threshold value. , An informing device for informing inquiring information for inquiring an occupant whether to exclude the possibility of collision between an obstacle and a vehicle from the determination target in the automatic driving control device, and the determination target for the inquiry notified from the notification device Excludes the possibility of collision between the obstacle and the vehicle, and excludes the possibility of collision between the obstacle and the vehicle from the judgment target when the input operation accepts the response operation by the occupant and the response operation is accepted by the input device And a command output unit that outputs the command to the automatic driving control device.

It should be noted that any combination of the above constituent elements and the expression of the present invention converted between a device, a system, a method, a program, a recording medium storing the program, a vehicle equipped with the present device, and the like are also included in the present invention. This is effective as an aspect.

According to the present invention, it is possible to travel according to the situation even when there is an obstacle.

FIG. 3 is a diagram showing a configuration of the vehicle according to the first embodiment. It is a figure which shows typically the interior of the vehicle of FIG. FIGS. 3A to 3D are diagrams showing the processing outline of the first embodiment. It is a figure which shows the structure of the control part of FIG. 5A to 5C are diagrams showing images displayed on the notification device of FIG. FIGS. 6A to 6C are diagrams showing an outline of processing by the inquiry processing unit in FIG. 7A to 7C are diagrams showing another processing outline by the inquiry processing unit of FIG. FIGS. 8A to 8C are diagrams showing still another processing outline by the inquiry processing unit of FIG. 5 is a flowchart showing an instruction procedure by the control unit of FIG. 4. 6 is a flowchart showing another instruction procedure by the control unit of FIG. 4. 11A to 11C are diagrams showing an outline of processing according to the second embodiment. 12A to 12C are diagrams showing images displayed on the notification device according to the second embodiment. 13A and 13B are diagrams showing another processing outline of the control unit according to the second embodiment. 14A and 14B are diagrams showing another processing outline of the second embodiment. FIG. 13 is a diagram showing an outline of processing according to the third embodiment. 16A to 16C are diagrams showing images displayed on the notification device according to the third embodiment. 9 is a flowchart showing an instruction procedure by a control unit according to the third embodiment. 9 is a flowchart showing another instruction procedure by the control unit according to the third embodiment. 19A to 19C are diagrams showing an outline of processing according to the fourth embodiment. 20A to 20C are diagrams showing images displayed on the notification device according to the fourth embodiment. 21A to 21C are diagrams showing another processing outline of the control unit according to the fourth embodiment. It is a figure which shows the process outline of Embodiment 5. 23A to 23C are diagrams showing images displayed on the notification device according to the fifth embodiment.

(Embodiment 1)
Before specifically explaining the present invention, an outline will be given. The first embodiment relates to a vehicle that calculates a collision possibility with a detected obstacle and uses the calculated collision possibility as a determination target to perform automatic driving. In particular, the first embodiment is a device that controls an HMI (Human Machine Interface) for exchanging information about driving behavior of a vehicle with an occupant (for example, a driver) of the vehicle (hereinafter, also referred to as “driving support device”). Call). “Driving behavior” includes operating states such as steering and braking during running or stopping of the vehicle, or control contents related to automatic driving control. For example, constant speed running, acceleration, deceleration, temporary stop, stop, Lane change, course change, right/left turn, parking etc. In addition, driving behaviors include cruise (maintain lane speed to maintain vehicle speed), lane keeping, following the preceding vehicle, stop and go when following, changing lanes, overtaking, responding to merged vehicles, entering and exiting highways. Transfers (interchanges), merging, construction zone support, emergency vehicle support, interruption vehicle support, right/left turn lane support, pedestrian/bicycle interaction, obstacle avoidance other than vehicles, signs It is also possible to respond to traffic lights, turn left/turn, U-turn restrictions, lane restrictions, one-way traffic, traffic signs, intersections/landabouts, etc.

When an obstacle such as another vehicle or a person is present near this vehicle in driving behavior such as interruption, left turn, right turn, etc., the automatic driving control device calculates the possibility of collision with the obstacle and If it exceeds the predetermined value, the vehicle is stopped. If the state in which the possibility of collision exceeds the predetermined value continues, the automatic driving control device does not start the vehicle. Under such circumstances, obstacles may give way to the vehicle. This is done by eye contact between an occupant or person of another vehicle and an occupant of the present vehicle when the present vehicle is not performing automatic driving. However, since automatic driving is performed in this vehicle, even if an obstacle gives way, if this vehicle cannot recognize it, the vehicle will not be able to operate in the state where the possibility of collision exceeds a predetermined value. Do not start. On the other hand, in order to facilitate traffic, it is better to start the vehicle when an obstacle gives way to the vehicle.

In the first embodiment, attention is paid to "interruption" as the driving action. The interruption occurs, for example, in a scene where the merged road is connected to the merged road at the merged point. This vehicle travels on the merged road, and before the point where the vehicle merges with the merged road, the automatic driving control device may run on the merged road and may collide with another vehicle that is to be interrupted by this vehicle. calculate. If the possibility of collision exceeds a predetermined value, the automatic driving control device stops the vehicle before the confluence point with the merged road. In such a situation, when another vehicle also stops before the confluence and gives way to this vehicle, it is possible to interrupt the other vehicle.

In order to enable interruption in such a case, the driving support device in the present embodiment executes the following processing. The driving support device is informed of the "stop" driving action that occurred during the "interruption" driving action from the automatic driving control device. The driving support device identifies the intersection of the merged road and the confluence road from the map information, and derives the distance between the intersection and another vehicle as the determination distance. Further, the driving support device acquires the speed of the other vehicle. When the determination distance is greater than or equal to the first threshold value and the speed is less than or equal to the second threshold value, the driving assistance device excludes the possibility of collision between another vehicle and the vehicle as a determination target in the automatic driving control device. Ask the crew about. For example, an image for inquiry is generated and displayed on a monitor in the car. In response to such an inquiry, the driving support device, when receiving the response operation to be excluded from the occupant, generates a command for excluding the possibility of collision between another vehicle and the vehicle from the determination target, and causes the automatic driving control device to generate the command. Send. When the automatic driving control device receives a command from the driving support device, the automatic driving control device excludes the possibility of collision between another vehicle and the vehicle as a determination target, and starts the vehicle if the possibility of collision is smaller than a predetermined value.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each embodiment described below is an example, and the present invention is not limited to these embodiments.

FIG. 1 shows a configuration of a vehicle 100 according to the first embodiment, and particularly shows a configuration related to an autonomous driving vehicle. The vehicle 100 is capable of traveling in the automatic driving mode, and includes the notification device 2, the input device 4, the wireless device 8, the driving operation unit 10, the detection unit 20, the automatic driving control device 30, and the driving support device 40. The devices shown in FIG. 1 may be connected to each other by a dedicated line or a wired communication such as a CAN (Controller Area Network). In addition, it may be connected by wired communication or wireless communication such as USB (Universal Serial Bus), Ethernet (registered trademark), Wi-Fi (registered trademark), Bluetooth (registered trademark).

The notification device 2 notifies an occupant of information regarding traveling of the vehicle 100. The notification device 2 is, for example, a car navigation system, a head-up display, or a center display installed in the vehicle. The notification device 2 may be a display unit that displays information such as a light emitting body such as an LED (Light Emitting Diode) installed around a steering wheel, a pillar, a dashboard, a meter panel, or the like. In addition, the notification device 2 may be a speaker that converts information into voice to notify the occupant, or a vibration body provided at a position where the occupant can sense (for example, a seat of the occupant, a steering wheel, etc.). It may be. Further, the notification device 2 may be a combination of these.

The input device 4 is a user interface device that receives an operation input by an occupant. For example, the input device 4 is a touch panel, a lever, a button, a switch, a controller such as a joystick or a volume, a sensor such as a camera that recognizes a gesture in a non-contact manner, a sensor such as a microphone that recognizes a voice, or a combination thereof. Receives information about automatic driving of the vehicle entered by. Moreover, you may receive the operation signal for switching automatic driving and manual driving. The input device 4 outputs the received information to the driving support device 40 as an operation signal.

FIG. 2 schematically shows the interior of the vehicle 100. The notification device 2 may be a head-up display (HUD, Head-Up Display) 2a or a center display 2b. The input device 4 may be the first operation unit 4a provided on the steering wheel 11 or the second operation unit 4b provided between the driver's seat and the passenger seat, and a camera that recognizes a gesture. The third operation unit 4c which is a sensor such as the above may be used. Note that the notification device 2 and the input device 4 may be integrated, and may be implemented as, for example, a touch panel display. The vehicle 100 may further be provided with a speaker 6 for presenting information regarding automatic driving to the occupant by voice. In this case, the driving support device 40 may display an image indicating information regarding automatic driving on the notification device 2 and, in addition to or instead of the image, output a voice indicating information regarding automatic driving from the speaker 6. Returning to FIG.

The wireless device 8 is compatible with a mobile phone communication system, WMAN (Wireless Metropolitan Area Network), and the like, and executes wireless communication with a data server, infrastructure, other vehicles, pedestrians, and the like. The driving operation unit 10 includes a steering wheel 11, a brake pedal 12, an accelerator pedal 13, and a winker switch 14. The steering 11, the brake pedal 12, the accelerator pedal 13, and the winker switch 14 can be electronically controlled by a steering ECU, a brake ECU, an engine ECU, a motor ECU, and a winker controller. In the automatic driving mode, the steering ECU, the brake ECU, the engine ECU, and the motor ECU drive the actuator according to the control signal supplied from the automatic driving control device 30. Further, the winker controller turns on or off the winker lamp according to a control signal supplied from the automatic driving control device 30.

The detection unit 20 detects a surrounding situation and a traveling state of the vehicle 100. The detection unit 20 may be, for example, the speed of the vehicle 100, the relative speed of the preceding vehicle with respect to the vehicle 100, the distance between the vehicle 100 and the preceding vehicle, the relative speed of the vehicle in the side lane with respect to the vehicle 100, the vehicle 100 with the vehicle in the side lane. And the position information of the vehicle 100 are detected. The detection unit 20 outputs the detected various information (hereinafter referred to as “detection information”) to the automatic driving control device 30. Further, the detection unit 20 may output the detection information to the driving support device 40 via the automatic driving control device 30 or may directly output the detection information to the driving support device 40. The detection unit 20 includes a position information acquisition unit 21, a sensor 22, a speed information acquisition unit 23, and a map information acquisition unit 24.

The position information acquisition unit 21 acquires the current position of the vehicle 100 from a GNSS (Global Navigation Satellite System(s)) receiver. The sensor 22 is a general term for various sensors for detecting the condition outside the vehicle and the condition of the vehicle 100. As a sensor for detecting the situation outside the vehicle, for example, a camera, a millimeter wave radar, a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a sonar, a temperature sensor, a pressure sensor, a humidity sensor, an illuminance sensor, and the like are mounted. The situation outside the vehicle includes a road situation in which the vehicle is traveling including lane information, an environment including weather, a situation around the vehicle, and another vehicle in a nearby position (another vehicle traveling in an adjacent lane). Any information outside the vehicle that can be detected by the sensor 22 may be used. Further, as the sensor 22 for detecting the state of the vehicle 100, for example, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an inclination sensor, or the like is mounted.

The speed information acquisition unit 23 acquires the current speed of the vehicle 100 from the vehicle speed sensor. The map information acquisition unit 24 acquires map information around the current position of the vehicle 100 from the map database. The map database may be recorded in a recording medium in the vehicle 100, or may be downloaded from a map server via a network when used. The map information includes information about roads and intersections.

The automatic driving control device 30 is an automatic driving controller that has an automatic driving control function, and determines the behavior of the vehicle 100 in automatic driving. The automatic driving control device 30 includes a control unit 31, a storage unit 32, and an I/O unit (Input/Output unit, input/output unit) 33. The configuration of the control unit 31 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. A processor, a ROM (Read Only Memory), a RAM (Random Access Memory), or other LSI can be used as a hardware resource, and an operating system, an application, a firmware, or other program can be used as a software resource. The storage unit 32 includes a non-volatile recording medium such as a flash memory. The I/O unit 33 executes communication control according to various communication formats. For example, the I/O unit 33 outputs information about automatic driving to the driving support device 40 and inputs a control command from the driving support device 40. Further, the I/O unit 33 inputs the detection information from the detection unit 20.

The control unit 31 applies the control command input from the driving support device 40, various information collected from the detection unit 20 or various ECUs to the automatic driving algorithm, and automatically controls the accelerator throttle opening of the vehicle 100, the steering steering angle, and the like. A control value for controlling the target is calculated. When the control for stopping the vehicle 100 is described as an example, when the detected obstacle is another vehicle, the control unit 31 determines that the other vehicle is determined as a collision possibility based on the detection information received from the detection unit 20. The TTC (Time-To-Collision) of is calculated as follows.
TTC=D/(V2-V1)
Here, D represents the inter-vehicle distance between the vehicle 100 and another vehicle, V1 represents the speed of the vehicle 100, and V2 represents the speed of the other vehicle. A decrease in TTC indicates that the time until a collision is shortened, which corresponds to an increase in the possibility of a collision.

On the other hand, if the obstacle is a person, the control unit 31 changes the area (hereinafter, referred to as an “area”, which is changed according to the driving action) in the area formed around the vehicle 100 based on the detection information received from the detection unit 20. The possibility of collision is calculated depending on whether or not a person exists in the “monitoring area”. Here, the possibility of collision is low when there is no person, and the possibility of collision is high when there is a person. Whether the obstacle is another vehicle or a person, the control unit 31 determines to stop the vehicle 100 as the automatic driving control of the vehicle 100 when the collision possibility is higher than a predetermined value, and controls the vehicle 100. Calculate the control value for stopping. That is, the control unit 31 uses the possibility of collision as a determination target to automatically control the vehicle 100. The predetermined value may be different depending on whether the obstacle is another vehicle or a person. When there are a plurality of obstacles, if the possibility of collision with at least one obstacle is larger than a predetermined value, it is determined to stop the vehicle 100. Further, in the present embodiment, the monitoring area is simplified and shown as a monitoring area 124 (including a predetermined width) surrounding the intersection where the own vehicle is scheduled to travel. When making a left turn at an intersection, the planned route of the own vehicle, the road on which the own vehicle is traveling, and the road after the left turn may be limited to a portion included in the above area. The control unit 31 transmits the calculated control value to each controlled ECU or controller. In the present embodiment, it is transmitted to the steering ECU, the brake ECU, the engine ECU, and the winker controller. In the case of an electric vehicle or a hybrid car, the control value is transmitted to the motor ECU instead of or in addition to the engine ECU.

The driving support device 40 is an HMI controller that executes an interface function between the vehicle 100 and an occupant, and includes a control unit 41, a storage unit 42, and an I/O unit 43. The control unit 41 executes various data processing such as HMI control. The control unit 41 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROMs, RAMs, and other LSIs can be used as hardware resources, and programs such as operating systems, applications, and firmware can be used as software resources.

The storage unit 42 is a storage area that stores data that is referred to or updated by the control unit 41. For example, it is realized by a non-volatile recording medium such as a flash memory. The I/O unit 43 executes various communication controls according to various communication formats. The I/O unit 43 includes an operation signal input unit 50, an image/sound output unit 51, a detection information input unit 52, a command IF (Interface) 53, and a communication IF 56.

The operation signal input unit 50 receives from the input device 4 an operation signal by the operation of the occupant or a user outside the vehicle, which is input to the input device 4, and outputs the operation signal to the control unit 41. The image/sound output unit 51 outputs the image data or the voice message generated by the control unit 41 to the notification device 2 to display the image data. The detection information input unit 52 receives the detection information indicating the current surrounding condition and running state of the vehicle 100 from the detection unit 20, which is the result of the detection processing by the detection unit 20, and outputs the detection information to the control unit 41.

The command IF 53 executes interface processing with the automatic driving control device 30, and includes a behavior information input unit 54 and a command output unit 55. The behavior information input unit 54 receives the information regarding the automatic driving of the vehicle 100 transmitted from the automatic driving control device 30, and outputs the information to the control unit 41. The command output unit 55 receives a control command for instructing the automatic driving control device 30 about the mode of automatic driving from the control unit 41 and transmits the control command to the automatic driving control device 30.

The communication IF 56 executes interface processing with the wireless device 8. The communication IF 56 transmits the data output from the control unit 41 to the wireless device 8 and causes the wireless device 8 to transmit the data to a device outside the vehicle. Further, the communication IF 56 receives the data transferred from the wireless device 8 from the device outside the vehicle and outputs the data to the control unit 41.

Here, the automatic driving control device 30 and the driving support device 40 are configured as separate devices. As a modification, as shown by the broken line in FIG. 1, the automatic driving control device 30 and the driving support device 40 may be integrated into one controller. In other words, one automatic driving control device may be configured to have the functions of both the automatic driving control device 30 and the driving support device 40 of FIG. 1. Further, it may be configured as a driving support system in which the notification device 2, the input device 4, and the driving support device 40 are combined.

Before describing the process of the driving support device 40 for the driving action of “interruption”, the process of the automatic driving control device 30 will be described. 3A to 3D show an outline of processing. FIG. 3A shows an interruption action specified by the control unit 31 of the automatic driving control device 30 and an interruption action generated from this. The merging road 200 is a road on which the vehicle 100 is traveling, and the vehicle 100 travels upward. On the other hand, the merged road 202 is a road merged with the merged road 200, and the first other vehicle 102a and the second other vehicle 102b travel leftward. Here, the first other vehicle 102a travels behind the second other vehicle 102b, and travels before the confluence road 200 joins the merged road 202. The first route 110a on which the vehicle 100 is planned to travel is set to travel upward along the merged road 200 and turn left at the merged road 202. Therefore, the vehicle 100 is scheduled to cut in front of the first other vehicle 102a. The control unit 31 identifies the interruption action as shown in FIG. 3A based on the detection information from the detection unit 20. Since a publicly known technique may be used for such identification, description thereof will be omitted here.

The control unit 31 can collide with the TTC for the first other vehicle 102a based on the inter-vehicle distance 122 between the vehicle 100 and the first other vehicle 102a, the speed of the vehicle 100, and the speed of the first other vehicle 102a. Calculated as sex. When the calculated collision possibility is larger than the predetermined value, the control unit 31 determines the stopping action. When determining the stop action, the control unit 31 controls the vehicle 100 to stop. As a result, the vehicle 100 was traveling on the merged road 200, but stopped before it merged with the merged road 202. Further, the control unit 31 transmits the information indicating the stop action to the action information input unit 54 via the I/O unit 33. At that time, or before that, the control unit 31 transmits the information indicating the interruption action as shown in FIG. 3A to the action information input unit 54. 3(b)-(d) will be described later.

FIG. 4 shows the configuration of the control unit 41. The control unit 41 includes a determination unit 76, an inquiry processing unit 78, and a command processing unit 80. The behavior information input unit 54 receives from the control unit 31 the information indicating the interruption behavior as shown in FIG. The behavior information input unit 54 also receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. When the action information input unit 54 is informed of the stop action of the vehicle, the determination unit 76 of the control unit 41 starts the next process. The determination unit 76 grasps the interruption behavior as shown in FIG. 3A based on the information indicating the interruption behavior. Note that the determination unit 76 may grasp the interrupt action based on the detection information, like the control unit 31, without using the information indicating the interrupt action.

FIG. 3B shows the interrupt action grasped by the determination unit 76. In FIG. 3B, the second route 110b predicted to drive the first other vehicle 102a is shown. The second route 110b is generated based on the map information included in the detection information and the position information of the first other vehicle 102a, and is determined in advance as going straight on the merged road 202 leftward. Further, the determination unit 76 acquires the intersection end point 112 of the merged road 202 with the merged road 200 based on the map information included in the detection information. The intersection end point 112 is a first other vehicle that travels on the merged road 202 in a portion where the merged road 202 and the merged road 200 overlap each other when the merged road 200 is extended to penetrate the merged road 202. 102a is the last point to reach. Therefore, the intersection end point 112 is set as one point on the second route 110b. It should be noted that one point may have a predetermined area, and this is the same in the examples described later.

The determination unit 76 derives the distance from the intersection end point 112 to the first other vehicle 102a as the determination distance 120. The determination unit 76 also acquires the speed of the first other vehicle 102a. The determination unit 76 compares the determination distance 120 with the first threshold value, and also compares the speed of the first other vehicle 102a with the second threshold value. When the determination distance 120 is shorter than the first threshold value or the speed of the first other vehicle 102a is higher than the second threshold value, the determination unit 76 determines that it is in the "first state". The first state corresponds to a case where the first other vehicle 102a is traveling and has not yielded to the vehicle 100. On the other hand, when the determination distance 120 is greater than or equal to the first threshold value and the speed of the first other vehicle 102a is less than or equal to the second threshold value, the determination unit 76 determines that it is in the “second state”. .. The second state corresponds to the case where the first other vehicle 102a stops or runs at a low speed equal to or lower than the second threshold value and yields to the vehicle 100.

As shown in FIG. 3C, the rearmost portion of the second other vehicle 102b may be closer to the first other vehicle 102a than the intersection end point 112. In this case, the determination unit 76 may derive the distance from the rearmost portion of the second other vehicle 102b to the first other vehicle 102a as the determination distance 120. The determination unit 76 may derive the distance between the intersection end point 112 and the first other vehicle 102a as the determination distance 120. Since the subsequent processing is the same as before, the description is omitted here. FIG. 3D will be described later, and returns to FIG. The determination unit 76 outputs the determination result to the inquiry processing unit 78. The determination unit 76 also outputs other information to the inquiry processing unit 78.

The inquiry processing unit 78 receives the determination result from the determination unit 76. When the determination result is the first state, the inquiry processing unit 78 does not execute the process. On the other hand, when the determination result is the second state, the inquiry processing unit 78 asks the occupant whether to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target in the automatic driving control device 30. Execute the process. Therefore, in the case of the second state, it is also said that the condition for exclusion is satisfied. In order to specifically explain the inquiry process, FIGS. 5A to 5C are used here. 5A to 5C show images displayed on the notification device 2. FIG. 5A shows an image generated by the inquiry processing unit 78 and displayed on the center display 2b via the image/sound output unit 51. Therefore, it can be said that the image/sound output unit 51 is an inquiry output unit.

The inquiry processing unit 78 generates an image showing the current situation in which the interruption action is occurring, that is, the situation shown in FIG. 3A, based on other information received from the determination unit 76. .. A known technique may be used to generate the image, but the own vehicle icon 150 corresponding to the vehicle 100, the first other vehicle icon 152a corresponding to the first other vehicle 102a, and the first other vehicle icon 152b corresponding to the second other vehicle 102b. 2 The other vehicle icon 152b is shown. Further, the inquiry processing unit 78 may superimpose a message for inquiring an occupant on the image whether to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target in the automatic driving control device 30. The inquiry mode is not limited to this, but other examples will be described later. 5(b)-(c) will be described later, and the process returns to FIG.

The occupant confirms the image displayed on the center display 2b, further receives, for example, the eye contact from the occupant of the first other vehicle 102a, and recognizes that the interruption is possible. When an interruption is desired, the occupant performs a finger action such as paying the first other vehicle icon 152a on the center display 2b which is a touch panel. The operation is not limited to this. This operation is detected by the touch panel, and the operation signal input unit 50 of FIG. 1 receives this operation. This operation is a response signal that excludes the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target in response to the inquiry from the image/sound output unit 51. When the operation signal input unit 50 receives the response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the response signal. Upon receiving the notification from the operation signal input unit 50, the inquiry processing unit 78 instructs the command processing unit 80 to generate a command. On the other hand, the inquiry processing unit 78 ends the process when the operation signal input unit 50 does not receive the response signal for a certain period after the operation signal input unit 50 outputs the inquiry.

When instructed to generate a command by the inquiry processing unit 78, the command processing unit 80 generates a command for instructing to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 calculates the possibility of collision as before. The calculation of the collision possibility in the control unit 31, that is, the calculation of the TTC is as described above, and therefore the description thereof is omitted here. However, the control unit 31 determines the driving action by excluding the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. The operation of the vehicle 100 when the possibility of collision between the first other vehicle 102a and the vehicle 100 is excluded from the determination targets is shown in FIG. In FIG. 3D, the vehicle 100 runs on the merged road 202 by executing an interruption action with respect to the first other vehicle 102a. Returning to FIG.

The control unit 31 of the automatic driving control device 30 has executed the command or continues to execute the command when executing the automatic driving excluding the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. The information that the driver is doing is output to the driving support device 40 as action information. The behavior information input unit 54 of the driving support device 40 receives the behavior information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 causes the occupant to recognize that the possibility of collision between the first other vehicle 102a and the vehicle 100 is excluded from the determination targets in the automatic driving control device 30. To generate an image. FIG. 5B shows an image displayed on the center display 2b when the possibility of a collision between the first other vehicle 102a and the vehicle 100 is excluded from the determination targets in the automatic driving control device 30. As shown, the first other vehicle icon 152a changes from a solid line display to a dotted line display. FIG. 5C will be described later, and the process returns to FIG.

Note that after the command output unit 55 outputs the command, the determination unit 76 continues the above-described processing until the interrupt action as shown in FIG. The determination as to whether it is in the state is continued. In this case, the determination unit 76 outputs the determination result to the command processing unit 80.

The command processing unit 80 receives the determination result from the determination unit 76. When the determination result is the first state, the command processing unit 80 generates a command in the automatic driving control device 30 to instruct the determination target to include the possibility of collision between the first other vehicle 102a and the vehicle 100. To do. This corresponds to a situation in which the first other vehicle 102a that has been certified to give up the road has started to start. Therefore, in the case of the first state, it is also said that the condition for the determination target is satisfied. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision between the first other vehicle 102a and the vehicle 100 in the determination target. As a result, the control unit 31 stops the vehicle 100 when the possibility of collision exceeds a predetermined value.

When the control unit 31 stops the vehicle 100, and the control unit 31 informs the stop via the behavior information input unit 54, the command processing unit 80 displays an image for notifying the occupant of the interruption. To generate. FIG. 5C shows an image displayed on the center display 2b when the interruption is stopped. As illustrated, the first other vehicle icon 152a is changed from the dotted line display to the solid line display, and a message is displayed.

In the following, regarding the inquiry and response in the inquiry processing unit 78, the part related to the human interface will be described in more detail, and other examples will also be described. 6A to 6C show an outline of processing by the inquiry processing unit 78. In these cases, the display by the center display 2b and the response operation on the touch panel are performed as in the past.

FIG. 6A shows an image generated by the inquiry processing unit 78. As described above, the vehicle icon 150, the first other vehicle icon 152a, the second other vehicle icon 152b are displayed, and the message is also displayed. In addition, the route that the vehicle icon 150 should travel for an interruption action is displayed by an arrow. This corresponds to the first route 110a. The occupant recognizes that the interrupt is possible by checking the image displayed on the center display 2b. When the occupant desires to interrupt the first other vehicle 102a corresponding to the first other vehicle icon 152a to the front, the occupant selects the first other vehicle icon 152a with a finger.

FIG. 6B shows the process following FIG. 6A. After the first other vehicle icon 152a is selected, the occupant moves his/her finger so as to pay the first other vehicle icon 152a. As described above, this corresponds to the input of the response operation. By changing the display color of the first other vehicle icon 152a, the occupant is notified of the input of the response operation. FIG. 6C shows the process following FIG. 6B. An image displayed on the center display 2b when the possibility of collision with the first other vehicle 102a corresponding to the first other vehicle icon 152a is excluded from the determination target in the automatic driving control device 30 after the response operation is input. Then, the first other vehicle icon 152a is changed from the solid line display to the dotted line display.

7A to 7C are diagrams showing another outline of processing by the inquiry processing unit 78. In these, the display by the head-up display 2a and the response operation by the gesture are performed. FIG. 7A shows an image generated by the inquiry processing unit 78. This is shown as in FIG. 6(a). The occupant recognizes that the interruption is possible by checking the image displayed on the head-up display 2a. When the occupant desires to interrupt the front of the first other vehicle 102a corresponding to the first other vehicle icon 152a, he/she puts his/her hand on the third operation unit 4c (not shown).

FIG. 7B shows the process following FIG. 7A. After holding the hand, the occupant moves the hand to pay off the first other vehicle icon 152a. The gesture of paying this hand is detected by the third operation unit 4c. Note that a known technique may be used for detecting the gesture, and thus the description thereof is omitted here. This corresponds to the input of the response operation. By changing the display color of the first other vehicle icon 152a, the occupant is notified of the input of the response operation. FIG. 7C shows the process following FIG. 7B. After the response operation is input, if the possibility of collision with the first other vehicle 102a corresponding to the first other vehicle icon 152a is excluded from the determination target in the automatic driving control device 30, it is displayed on the head-up display 2a. In the image, the first other vehicle icon 152a changes from the solid line display to the dotted line display.

FIGS. 8A to 8C are diagrams showing still another processing outline by the inquiry processing unit 78. In these, the display by the head-up display 2a and the response operation by pressing the button are performed. FIG. 8A shows an image generated by the inquiry processing unit 78. This is shown as in FIG. 7(a). When the occupant desires to interrupt the first other vehicle 102a corresponding to the first other vehicle icon 152a to the front, the occupant puts his finger on the first operation unit 4a or lightly presses it.

FIG. 8B shows the process following FIG. 8A. After placing the finger, the occupant pushes down or strongly pushes down the first operating portion 4a. The step of FIG. 8A may be omitted. This corresponds to the input of the response operation. By changing the display color of the first other vehicle icon 152a, the occupant is notified of the input of the response operation. FIG. 8C shows the process following FIG. 8B. After the response operation is input, if the possibility of collision with the first other vehicle 102a corresponding to the first other vehicle icon 152a is excluded from the determination target in the automatic driving control device 30, it is displayed on the head-up display 2a. In the image, the first other vehicle icon 152a changes from the solid line display to the dotted line display.

The operation of the driving support device 40 having the above configuration will be described. FIG. 9 is a flowchart showing an instruction procedure by the control unit 41. The behavior information input unit 54 receives a stopping behavior in the driving behavior to be processed (S100). The determination unit 76 acquires the determination distance 120 and the speed with respect to the obstacle (S102). When the determination distance 120 is greater than or equal to the first threshold value (Y in S104) and the speed is less than or equal to the second threshold value (Y in S106), the inquiry processing unit 78 causes the image/sound output unit 51 to operate. Then, it is inquired whether or not the possibility of collision is excluded from the determination target (S108). When the inquiry processing unit 78 receives the exclusion response signal via the operation signal input unit 50 (Y in S110), the command processing unit 80 outputs the exclusion command via the command output unit 55 (S112). Following this, the command processing unit 80 changes the display (S114). When the determination distance 120 is not greater than or equal to the first threshold value (N in S104), or the speed is not less than or equal to the second threshold value (N in S106), the inquiry processing unit 78 receives the operation signal input unit 50. When the exclusion response signal is not accepted (N in S110), the process ends.

FIG. 10 is a flowchart showing another instruction procedure by the control unit 41. This is because after the command processing unit 80 outputs an exclusion command via the command output unit 55 in step 112 of FIG. 9, the automatic driving control device 30 excludes the possibility of collision with an obstacle from the determination target. Indicates processing. When the driving behavior to be processed by the automatic driving control device 30 is continuing (Y in S150), the determination unit 76 acquires the determination distance 120 and the speed for the obstacle (S152). When the determination distance 120 is equal to or larger than the first threshold value (Y of S154) and the speed is equal to or lower than the second threshold value (Y of S156), the processing is ended. When the determination distance 120 is not greater than or equal to the first threshold value (N in S154) or the speed is not less than or equal to the second threshold value (N in S156), the command processing unit 80 can collide via the command output unit 55. A command that includes the sex as a determination target is output (S158). The command processing unit 80 changes the display (S160). When the driving behavior to be processed by the automatic driving control device 30 is not continuing (N of S150), the processing is ended.

According to the present embodiment, when the distance related to another vehicle is equal to or greater than the first threshold value and the speed of the other vehicle is equal to or less than the second threshold value, the possibility of collision with the other vehicle is excluded from the determination target. By asking whether or not to ask, the intention of the occupant can be confirmed, the information obtained by visual inspection of the occupant can be reflected in the driving action, and smoother driving can be realized. In addition, if a response signal indicating that the possibility of collision with another vehicle is excluded from the judgment target is obtained in response to the inquiry, the instruction to exclude the possibility of collision with another vehicle from the judgment target is given. You can interrupt other vehicles that will Further, when the distance regarding the other vehicle is equal to or greater than the first threshold value and the speed of the other vehicle is equal to or less than the second threshold value, it is inquired whether to exclude the possibility of collision with the other vehicle from the determination target. , It is possible to realize eye contact while being automatic driving. In addition, the combination of the inquiry and the response signal instructs to exclude the possibility of collision with another vehicle from the determination target, so that the vehicle can travel depending on the situation even when the other vehicle exists at the time of the interruption.

Further, the determination is continued even after the possibility of collision with another vehicle is excluded from the determination target, and the distance related to the other vehicle becomes shorter than the first threshold value, or the speed of the other vehicle becomes greater than the second threshold value. When it becomes higher, the possibility of collision with another vehicle is included in the determination target, so that the occurrence of collision with another vehicle can be suppressed. Further, since the occupant is not inquired when the possibility of collision with another vehicle is included in the determination target, it is possible to shorten the period until the possibility of collision with the other vehicle is included in the determination target.

(Embodiment 2)
The second embodiment, like the first embodiment, relates to a driving support device mounted on a vehicle that executes automatic driving based on the detected obstacle. In the second embodiment, attention is paid to "left turn" as a driving action. A left turn occurs, for example, at an intersection. The vehicle runs on the first road, and before the intersection that intersects with the second road, the automatic driving control device collides with a person existing on a pedestrian crossing provided to cross the second road after turning left. Calculate the probability. If the possibility of collision is greater than the predetermined value, the automatic driving control device stops the vehicle before the intersection. In such a situation, if a person trying to walk from the pedestrian crossing stops at the front of the pedestrian crossing and gives way to the vehicle, a left turn is possible.

In order to enable the left turn in such a case, the driving assistance device in the present embodiment executes the following processing. The driving assistance device is informed by the automatic driving control device of the "stop" driving action that occurred during the "left turn" driving action. The driving support device identifies the crossing end point of the second road from the map information and derives the distance between the crossing end point and the person as the determination distance. In addition, the driving support device acquires the speed of the person. When the determination distance is equal to or greater than the first threshold value and the speed is equal to or less than the second threshold value, the driving assistance device excludes the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device. An image for inquiring the passenger is generated and displayed on the monitor in the vehicle. In response to such a display, the driving support device, when accepting the response operation to be excluded from the occupant, generates a command for excluding the possibility of collision between the person and the vehicle from the determination target and transmits it to the automatic driving control device. To do. When the automatic driving control device receives the command from the driving support device, the automatic driving control device excludes the possibility of collision between the person and the vehicle from the determination target, and starts the vehicle if the possibility of collision is smaller than a predetermined value. Vehicle 100 according to the second embodiment is of the same type as in FIGS. 1 and 2, and control unit 41 is of the same type as in FIG. Here, the difference from the first embodiment will be mainly described.

Before explaining the process of the driving support device 40 for the driving action of "turn left", the process of the automatic driving control device 30 will be described. 11A to 11C show an outline of processing. FIG. 11A shows a left-turning action identified by the control unit 31 of the automatic driving control device 30 and a left-turning action that will occur from now. The first road 210 has a vertical traveling direction, the second road 212 has a horizontal traveling direction, and these intersect at an intersection. The first route 110a on which the vehicle 100 is supposed to travel is set to travel upward on the first road 210, turn left at the intersection, and enter the second road 212. In addition, a person 104 is present at the pedestrian crossing provided so as to cross the second road 212 after the left turn. It is assumed that the person 104 is going to cross a pedestrian crossing on the second road 212. The control unit 31 identifies a left turn action as shown in FIG. 11A based on the detection information from the detection unit 20. Since a publicly known technique may be used for such identification, description thereof will be omitted here.

Based on the map information and the position information of the vehicle 100, the control unit 31 sets the monitoring area 124 that surrounds the intersection where the vehicle 100 is approaching. Although the monitoring area 124 is circular here, the shape of the monitoring area 124 is not limited to a circle. Further, the control unit 31 determines whether or not the person 104 is included in the monitoring area 124 as a collision possibility based on the monitoring area 124 and the position information of the person 104. For example, if the person 104 is included in the monitoring area 124, the control unit 31 calculates the possibility of collision that is larger than the predetermined value, and if the person 104 is not included in the monitoring area 124, the predetermined value. The possibility of collision is calculated as follows. When the calculated collision possibility is larger than the predetermined value, the control unit 31 determines the stopping action. When determining the stop action, the control unit 31 controls the vehicle 100 to stop. As a result, the vehicle 100 was traveling on the first road 210, but stopped before the intersection. Further, the control unit 31 transmits the information indicating the stop action to the action information input unit 54 via the I/O unit 33. At that time, or before that, the control unit 31 transmits information indicating a left-turn action as shown in FIG. 11A to the action information input unit 54. 11(b)-(c) will be described later.

The action information input unit 54 of FIG. 4 receives information indicating a left turn action as shown in FIG. 11A from the control unit 31. The behavior information input unit 54 also receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. When the action information input unit 54 is informed of the stop action of the vehicle, the determination unit 76 of the control unit 41 starts the next process. The determination unit 76 grasps the left-turning action as shown in FIG. 11A based on the information indicating the left-turning action. Note that, as described above, the determination unit 76 may grasp the left-turn action based on the detection information as in the control unit 31, without using the information indicating the left-turn action.

FIG. 11B shows a left-turning action grasped by the determination unit 76. FIG. 11B shows a second route 110b that predicts that the person 104 will walk. The second route 110b is generated based on the map information included in the detection information and the position information of the person 104, and is determined in advance as crossing the second road 212 by crossing the pedestrian crossing. .. The determination unit 76 also acquires the crossing end point 114 of the second road 212 based on the map information included in the detection information. The crossing end point 114 is a point where the person 104 walks on the pedestrian crossing from the position where the person 104 exists and ends the crossing. Therefore, the crossing end point 114 is set as one point on the second route 110b.

The determination unit 76 derives the distance from the crossing ending point 114 to the person 104 as the determination distance 120. The determination unit 76 also acquires the speed of the person 104. When the determination distance 120 is shorter than the first threshold value or the speed of the person 104 is higher than the second threshold value, the determination unit 76 determines that the “first state”. The first state corresponds to the case where the person 104 walks and does not yield to the vehicle 100. On the other hand, when the determination distance 120 is equal to or greater than the first threshold and the speed of the person 104 is equal to or less than the second threshold, the determination unit 76 determines that the “second state” is set. The second state corresponds to a case where the person 104 is stopped or is walking at a speed equal to or lower than the fourth threshold value, and yields to the vehicle 100. FIG. 11C will be described later and returns to FIG. The determination unit 76 outputs the determination result to the inquiry processing unit 78. The determination unit 76 also outputs other information to the inquiry processing unit 78.

When the determination result from the determination unit 76 is the second state, the inquiry processing unit 78 inquires of the occupant whether to exclude the possibility of collision between the person 104 and the vehicle 100 from the determination target in the automatic driving control device 30. Execute the process. 12A to 12C are used here to specifically describe the inquiry processing. 12A to 12C show images displayed on the notification device 2. FIG. 12A shows an image generated by the inquiry processing unit 78 and displayed on the head-up display 2 a via the image/sound output unit 51.

The inquiry processing unit 78 generates an image showing the current situation in which the left-turning action is occurring, that is, the situation shown in FIG. 11A, based on other information received from the determination unit 76. .. Here, a vehicle icon 150 corresponding to the vehicle 100, a person icon 154 corresponding to the person 104, and a rectangular obstacle icon 156 surrounding the person icon 154 are shown. Further, the inquiry processing unit 78 may superimpose on the image a message for inquiring the occupant whether to exclude the possibility of collision between the person 104 and the vehicle 100 from the determination target in the automatic driving control device 30. The various aspects described above may be used as an aspect of the inquiry. 12(b)-(c) will be described later, and the process returns to FIG.

The occupant confirms the image displayed on the head-up display 2a and further receives, for example, a person's intention to make a concession, and recognizes that a left turn is possible. When a left turn is desired, the occupant pushes down the first operation unit 4a. The operation is not limited to this. The operation signal input unit 50 of FIG. 1 receives this operation. This operation is a response signal for excluding the possibility of collision between the person 104 and the vehicle 100 from the determination target in response to the inquiry from the image/sound output unit 51. When the operation signal input unit 50 receives the response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the response signal. Upon receiving the notification of acceptance, the inquiry processing unit 78 instructs the command processing unit 80 to generate a command.

When instructed to generate a command by the inquiry processing unit 78, the command processing unit 80 generates a command for instructing to exclude the possibility of collision between the person 104 and the vehicle 100 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 calculates the possibility of collision as before. However, the control unit 31 determines the driving behavior by excluding the possibility of collision between the person 104 and the vehicle 100 from the determination target. FIG. 11C shows the operation of the vehicle 100 when the possibility of collision between the person 104 and the vehicle 100 is excluded from the determination targets. In FIG. 11C, the vehicle 100 turns left from the first road 210 and travels on the second road 212. Returning to FIG.

The control unit 31 of the automatic driving control device 30 has executed a command or continues to execute a command when executing automatic driving by excluding the possibility of collision between the person 104 and the vehicle 100 from the determination target. Is output to the driving support device 40 as action information. When the action information input unit 54 receives the action information, the command processing unit 80 causes the occupant to recognize that the possibility of collision between the person 104 and the vehicle 100 is excluded from the determination targets in the automatic driving control device 30. To generate. FIG. 12B shows an image displayed on the head-up display 2a in the automatic driving control device 30 when the possibility of collision between the person 104 and the vehicle 100 is excluded from the determination targets. As illustrated, the obstacle icon 156 surrounding the person icon 154 is changed from the solid line display to the dotted line display. 12C will be described later, and the process returns to FIG.

After the command output unit 55 outputs the command, the determination unit 76 continues to determine whether the state is the first state or the second state until the left-turning action as shown in FIG. 11C is completed. .. When the determination result is the first state, the command processing unit 80 causes the automatic driving control device 30 to generate a command for instructing the determination target to include the possibility of collision between the person 104 and the vehicle 100. This corresponds to the situation in which the person 104 who has certified that he has given way has started to walk. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. Upon receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision between the person 104 and the vehicle 100 as the determination target. As a result, the control unit 31 stops the vehicle 100 when the possibility of collision exceeds a predetermined value.

When the control unit 31 stops the vehicle 100, and the control unit 31 notifies the stop via the behavior information input unit 54, the command processing unit 80 displays an image for notifying the occupant of the left turn stop. To generate. FIG. 12C shows an image displayed on the head-up display 2a when the left turn is stopped. As shown, the obstacle icon 156 surrounding the person icon 154 is changed from the dotted line display to the solid line display, and a message is displayed.

Up to now, the case where the person 104 can move downward as described in FIG. 11B has been described. Here, a case where the person 104 can move in the opposite direction will be described. 13A and 13B show another processing outline of the control unit 41. FIG. 13A shows a left-turning action that is specified by the control unit 31 of the automatic driving control device 30 and that will occur from now. Although the person 104 exists on the pedestrian crossing provided so as to cross the second road 212, the person 104 exists on the opposite side of the second road 212 as compared with FIG. 11A. Even in this case, the control unit 31 determines whether or not the person 104 is included in the monitoring area 124 as a collision possibility.

FIG. 13B shows the second route 110b that predicts that the person 104 will walk. The direction of the second path 110b is opposite to the direction in FIG. 11(b). Therefore, the crossing ending point 114 is arranged at a position different from the position in FIG. 11B, specifically, on the opposite side of the second road 212. The determination unit 76 derives the distance from the crossing ending point 114 to the person 104 as the determination distance 120. Since the subsequent processing is the same as before, the description is omitted here.

In the following, processing in the case where FIG. 11B and FIG. 13B are combined will be described. FIGS. 14A and 14B show another processing outline of the second embodiment. In FIG. 14A, a first person 104a and a second person 104b exist across a pedestrian crossing. The first person 104a moves "downward" along the first person path 111a as in FIG. 11B, and the second person 104b moves along the second person path 111b as in FIG. 13B. Move "upward". Here, the first person route 111a and the second person route 111b correspond to the above-mentioned second route 110b. In this case, the processing up to now on the first person 104a and the processing up to now on the second person 104b are executed separately.

FIG. 14B shows another image displayed on the notification device 2. This shows an image displayed on the center display 2b in the same situation as in FIG. A vehicle icon 150 corresponding to the vehicle 100, a first person icon 154a corresponding to the first person 104a, and a rectangular first obstacle icon 156a surrounding the first person icon 154a are shown. Further, a second person icon 154b corresponding to the second person 104b and a rectangular second obstacle icon 156b surrounding the second person icon 154b are also shown. Here, since the possibility of collision with the first person 104a is excluded from the determination targets in the automatic driving control device 30, the first obstacle icon 156a is displayed as a dotted line. On the other hand, for example, when the second person 104b enters the intersection area from the opposite end while the first person 104a is excluded, the automatic driving control device 30 may collide with the second person 104b. Is included in the determination target, the second obstacle icon 156b is displayed as a solid line. In this case, since the possibility of collision with the second person 104b becomes larger than the predetermined value, the vehicle 100 stops without turning left.

According to the present embodiment, when the distance regarding the person is equal to or greater than the first threshold and the speed of the person is equal to or less than the second threshold, whether the possibility of collision with the person is excluded from the determination target. Since the inquiries are made, the occupant's will can be confirmed. In addition, if a response signal indicating that the possibility of collision with a person is excluded from the judgment target is obtained in response to the inquiry, it instructs to exclude the possibility of collision with the person judgment target, so it gives way. You can make a left turn before the person. Further, when the distance regarding the person is equal to or more than the first threshold value and the speed of the person is equal to or less than the second threshold value, it is inquired whether the possibility of collision with the person is excluded from the determination target. However, eye contact can be achieved. In addition, the combination of the inquiry and the response signal instructs to exclude the possibility of collision with a person from the determination target, so that it is possible to travel according to the situation even when the person is present when making a left turn.

In addition, the determination is continued even after the possibility of collision with a person is excluded from the determination target, and the distance regarding the person is shorter than the first threshold value or the speed of the person is higher than the second threshold value. In addition, since the possibility of collision with a person is included in the determination target, the occurrence of collision with the person can be suppressed. In addition, since the occupant is not inquired when the possibility of collision with a person is included in the determination target, it is possible to shorten the period until the possibility of collision with the person is included in the determination target.

(Embodiment 3)
The third embodiment relates to the driving support device mounted on the vehicle that executes the automatic driving based on the detected obstacle, as in the past. Also in the third embodiment, as in the second embodiment, attention is paid to "turn left" as the driving action. Here, in particular, it is assumed that a plurality of persons are present at a pedestrian crossing provided so as to cross the second road which should be entered by turning left from the first road. In such a situation, when the inquiry and the response to each person are executed as in the second embodiment, the period until all the processes are completed becomes long. If such a period becomes long, a person who has stopped to give way to the vehicle may start moving.

To cope with this, when there are a plurality of persons who have been determined to be in the second state, the driving assistance device in the present embodiment makes an inquiry as to whether or not to exclude the possibility of collision for those persons from the determination targets in the automatic driving control device. Execute in a batch. When the occupant collectively makes a response operation to the inquiries, the driving support device causes the automatic driving control device to collectively exclude the possibility of collision with a plurality of persons from the determination targets. That is, one inquiry and one response operation are performed in order to exclude the possibility of collision with a plurality of persons from the determination targets in the automatic driving control device. The vehicle 100 according to the third embodiment is the same type as that in FIGS. 1 and 2, and the control unit 41 is the same type as in FIG. Here, the difference from the above will be mainly described.

FIG. 15 shows an outline of the processing, and shows a left-turning action specified by the control unit 31 of the automatic driving control device 30 and the control unit 41 of the driving support device 40, and shows a left-turning action that will occur. The first road 210, the second road 212, and the vehicle 100 are shown as in FIG. The first person 104a, the second person 104b, and the third person 104c are present on the pedestrian crossing provided so as to cross the second road 212. The first person 104a, the second person 104b, and the third person 104c are scheduled to cross the second road 212. The number of persons 104 is not limited to “3”. The control unit 31 calculates the possibility of collision for each of the first person 104a, the second person 104b, and the third person 104c. Here, when all the collision probabilities become larger than the predetermined value, the control unit 31 determines the stopping action.

The behavior information input unit 54 of FIG. 4 receives the information indicating the left turn behavior as shown in FIG. 15 from the control unit 31. The behavior information input unit 54 also receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 derives the determination distance 120 and acquires the speed for each of the plurality of persons 104. If the determination distances 120 for each of the plurality of persons 104 are all equal to or greater than the first threshold value and the respective velocities of the plurality of persons 104 are all equal to or less than the second threshold value, the determination unit 76 determines that It is determined that all of the persons 104 are in the second state.

When the determination unit 76 determines that all of the plurality of persons 104 are in the second state, the inquiry processing unit 78 determines whether to exclude the possibility of collision with the plurality of persons 104 from the determination targets in the automatic driving control device 30. Executes the process for making inquiries to crew members at once. To specifically explain the inquiry processing, FIGS. 16A to 16C are used here. 16A to 16C show images displayed on the notification device 2. FIG. 16A shows an image generated by the inquiry processing unit 78 and displayed on the head-up display 2 a via the image/sound output unit 51.

The inquiry processing unit 78 generates an image showing the current situation in which the left-turning action is occurring, that is, the situation shown in FIG. 15, based on other information received from the determination unit 76. Here, the vehicle icon 150 corresponding to the vehicle 100, the first person icon 154a corresponding to the first person 104a, the second person icon 154b corresponding to the second person 104b, and the third person icon corresponding to the third person 104c. 154c is shown. Further, a rectangular obstacle icon 156 that collectively surrounds the first person icon 154a to the third person icon 154c is shown. The various aspects described above may be used as an aspect of the inquiry. 16(b)-(c) will be described later, and the process returns to FIG.

The occupant confirms the image displayed on the head-up display 2a and further recognizes that it is possible to make a left turn, for example, by receiving an intention of concession from all persons or a plurality of persons who seem to be leaders. When a left turn is desired, the occupant pushes down the first operation unit 4a. The operation is not limited to this. The operation signal input unit 50 of FIG. 1 receives this operation. This operation is a collective response signal that excludes the possibility of collision with a plurality of persons 104 from the determination target in response to a collective inquiry from the image/audio output unit 51. When the operation signal input unit 50 receives the batch response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the batch response signal. When the inquiry processing unit 78 receives the notification of batch acceptance, it instructs the command processing unit 80 to generate a command.

When the command processing unit 80 is instructed to generate a command by the inquiry processing unit 78, the command processing unit 80 generates a command for instructing to exclude the possibility of collision with the plurality of persons 104 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. Upon receiving the command, the control unit 31 of the automatic driving control device 30 excludes the possibility of collision with the plurality of persons 104 from the determination target.

The control unit 31 of the automatic driving control device 30 acts as having executed a command or continuing to execute a command when executing automatic driving excluding the possibility of collision with a plurality of persons 104 from the determination target. The information is output to the driving support device 40. When the action information input unit 54 receives the action information, the command processing unit 80 displays an image for making the occupant recognize that the possibility of collision with the plurality of persons 104 is excluded from the determination targets in the automatic driving control device 30. To generate. FIG. 16B shows an image displayed on the head-up display 2a when the possibility of collision with a plurality of persons 104 is excluded from the determination targets in the automatic driving control device 30. As shown in the figure, the obstacle icon 156 surrounding the person icon 154 representing the first person icon 154a, the second person icon 154b, and the third person icon 154c is changed from the solid line display to the dotted line display. FIG. 16C will be described later, and the process returns to FIG.

After the command processing unit 80 outputs the command, the determination unit 76 determines whether each of the plurality of persons 104 is in the first state or the second state until the left-turning action is completed. continue. When the determination result for any of the plurality of persons 104 is the first state, the command processing unit 80 instructs the automatic driving control device 30 to include the possibility of collision with the plurality of persons 104 in the determination target. Generate a command. This is equivalent to including the possibility of collision with the person 104 who satisfies the condition for the determination target in the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. Upon receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision with the person 104 in the determination target. When the possibility of collision with the person 104 who satisfies the condition for the determination target is included and thus the possibility of collision becomes larger than a predetermined value, the control unit 31 stops the vehicle 100.

When the control unit 31 stops the vehicle 100, and the control unit 31 notifies the stop via the behavior information input unit 54, the command processing unit 80 displays an image for notifying the occupant of the left turn stop. To generate. FIG. 16C shows an image displayed on the head-up display 2a when the left turn is stopped. Here, it is assumed that only the possibility of collision with the second person 104b is changed to be included in the determination target in the automatic driving control device 30. As shown in the figure, the first person icon 154a and the third person icon 154c are surrounded by the first obstacle icon 156a indicated by a dotted line. On the other hand, the second person icon 154b is surrounded by the second obstacle icon 156b displayed in a solid line. Up to now, the process for the downward movement has been described, but the process in which the second embodiment and the third embodiment are combined may be executed for the upward movement. Further, for example, as shown in FIG. 14A, when downward movement and upward movement are present at the same time, a plurality of persons including the first person who moves downward and the second person who moves upward are collectively inquired. May be

The operation of the driving support device 40 having the above configuration will be described. FIG. 17 is a flowchart showing an instruction procedure by the control unit 41. The determination unit 76 acquires the determination distance 120 and the speed for each of the plurality of persons 104 (S200). If all the persons 104 satisfy the exclusion condition (Y in S202), the inquiry processing unit 78 excludes the possibility of collision with the plurality of persons 104 from the determination target via the image/sound output unit 51. Are collectively inquired (S204). When the inquiry processing unit 78 collectively receives the exclusion response signals via the operation signal input unit 50 (Y in S206), the command processing unit 80 outputs the exclusion command via the command output unit 55 (S208). ). Following this, the command processing unit 80 changes the display (S210). When all the persons 104 do not satisfy the exclusion condition (N in S202), the process ends. In this case, the same process as in the first embodiment may be executed on the person 104 who satisfies the exclusion condition. If the inquiry processing unit 78 does not collectively accept the response signals for exclusion via the operation signal input unit 50 (N in S206), the process ends.

FIG. 18 is a flowchart showing another instruction procedure by the control unit 41. This is because in step 208 of FIG. 17, the command processing unit 80 outputs an exclusion command via the command output unit 55, and the automatic driving control device 30 excludes the possibility of collision with a plurality of persons 104 from the determination targets. The subsequent processing is shown. When the driving behavior to be processed by the automatic driving control device 30 is continuing (Y of S250), the determination unit 76 acquires the determination distance 120 and the speed for each of the plurality of 104 (S252). When at least one person 104 satisfies the determination target condition (Y of S254), the command processing unit 80 determines the possibility of collision with the person 104 satisfying the determination target condition via the command output unit 55. The command to be included in the target is output (S256). The command processing unit 80 changes the display (S258). If the driving behavior to be processed by the automatic driving control device 30 is not continuing (N of S250), or if all the persons 104 do not satisfy the conditions for judgment (N of S254), the processing is ended. ..

According to the present embodiment, it is possible to reduce the number of inquiries because it is inquired at once whether or not the possibility of collision with a plurality of persons is excluded from the determination target. Further, since the response signal is received in response to a batch of inquiries, the processing by the occupant can be simplified. Further, the processing by the occupant is simplified, so that the period from inquiry to response can be shortened. Further, when the distance for at least one person becomes shorter than the first threshold value, or when the speed of at least one person becomes higher than the second threshold value, the determination target includes the possibility of collision with the person. Therefore, the occurrence of a collision with a person can be suppressed.

(Embodiment 4)
The fourth embodiment relates to the driving support device mounted on the vehicle that executes the automatic driving based on the detected obstacle as in the past. In the fourth embodiment, attention is paid to “turn right” as the driving action. Right turns occur at intersections as do left turns. This vehicle travels on the first road, and before the intersection that intersects with the second road, the automatic driving control device calculates the possibility of collision with another vehicle traveling on the first road. If the possibility of collision is greater than the predetermined value, the automatic driving control device stops the vehicle before the intersection. In such a situation, when another oncoming vehicle stops before the intersection and gives way to this vehicle, a right turn is possible.

In order to enable a right turn in such a case, the driving assistance device in the present embodiment executes the following processing. The driving assistance device is informed by the automatic driving control device of the "stop" driving action that occurred during the "right turn" driving action. The driving assistance device identifies, from the map information, an intersection end point with the second road in the traveling direction of the oncoming vehicle, which is an oncoming vehicle, in the scene where the first road and the second road intersect, and intersects. The distance between the end point and another vehicle is derived as the determination distance. Further, the driving support device acquires the speed of the other vehicle. When the determination distance is greater than or equal to the first threshold value and the speed is less than or equal to the second threshold value, the driving assistance device excludes the possibility of collision between another vehicle and the vehicle as a determination target in the automatic driving control device. An image for inquiring about whether or not the passenger is generated is displayed on a monitor in the vehicle. In response to such a display, the driving support device, when accepting the response operation to be excluded from the occupant, generates a command for excluding the possibility of collision between another vehicle and the vehicle from the determination target, and causes the automatic driving control device to perform the command. Send. When the automatic driving control device receives a command from the driving support device, the possibility of collision between another vehicle and the vehicle is excluded from the determination target, and if the possibility of collision is small, the vehicle is started. Vehicle 100 according to the fourth embodiment is of the same type as in FIGS. 1 and 2, and control unit 41 is of the same type as in FIG. Here, the difference from the first embodiment will be mainly described.

Before explaining the process of the driving support device 40 for the driving action of "right turn", the process of the automatic driving control device 30 will be described. 19A to 19C show an outline of processing. FIG. 19A shows a right-turning action which is the right-turning action identified by the control unit 31 of the automatic driving control device 30 and which will occur from now on. The first road 210 and the second road 212 are shown as in FIG. 11(a). The first route 110a on which the vehicle 100 is scheduled to travel is set to travel upward on the first road 210, turn right at the intersection, and enter the second road 212. The first other vehicle 102a and the second other vehicle 102b are traveling downward on the first road 210, that is, facing the vehicle 100. Here, the first other vehicle 102a is traveling in front of the intersection. It is assumed that the first other vehicle 102a is scheduled to cross the vehicle 100 while making a right turn while traveling opposite to the vehicle 100. The control unit 31 identifies the right-turn action as shown in FIG. 19A based on the detection information from the detection unit 20. Since a publicly known technique may be used for such identification, description thereof will be omitted here.

The control unit 31 can collide with the TTC for the first other vehicle 102a based on the inter-vehicle distance 122 between the vehicle 100 and the first other vehicle 102a, the speed of the vehicle 100, and the speed of the first other vehicle 102a. Calculated as sex. In addition, in the present embodiment, the inter-vehicle distance 122 means the travel distance of the first route 110a from the position of the vehicle 100 to the point where the first route 110a intersects the second route 110b, and the position of the first other vehicle 102a. Is the sum of the travel distance of the second route 110b from the intersection point to the intersection point, but may be approximated by the straight line distance between the vehicle head of the vehicle 100 and the vehicle head of the first other vehicle 102a. Here, an approximate value that is a linear distance between the head of the vehicle 100 and the head of the first other vehicle 102a is used. When the calculated collision possibility is larger than the predetermined value, the control unit 31 determines the stopping action. When determining the stop action, the control unit 31 controls the vehicle 100 to stop. As a result, the vehicle 100 was traveling on the first road 210, but stopped before the intersection. Further, the control unit 31 transmits the information indicating the stop action to the action information input unit 54 via the I/O unit 33. At that time, or before that, the control unit 31 transmits information indicating a right-turn action as shown in FIG. 19A to the action information input unit 54. 19(b)-(c) will be described later.

The action information input unit 54 of FIG. 4 receives from the control unit 31 the information indicating the right turn action as shown in FIG. The behavior information input unit 54 also receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. When the action information input unit 54 is informed of the stop action of the vehicle, the determination unit 76 of the control unit 41 starts the next process. The determination unit 76 grasps the right-turn action as shown in FIG. 19A based on the information indicating the right-turn action. Note that, as described above, the determination unit 76 may grasp the right-turn action based on the detection information, like the control unit 31, without using the information indicating the right-turn action.

FIG. 19B shows a right-turning action recognized by the determination unit 76. FIG. 19B shows the second route 110b predicted to travel the first other vehicle 102a. The second route 110b is generated based on the map information included in the detection information and the position information of the first other vehicle 102a, and is predetermined as a straight line that travels downward on the first road 210. The determination unit 76 also acquires the intersection end point 112 with the second road 212 in the traveling direction of the first other vehicle 102a on the first road 210 based on the map information included in the detection information. The intersection end point 112 is a point at which the first other vehicle 102a traveling on the first road 210 finally arrives in the portion where the first road 210 and the second road 212 overlap. That is, it is the end point (line) of the intersection where the first other vehicle 102a travels along the first road 210 and reaches, and is the intersection completion point.

The determination unit 76 derives the distance from the intersection end point 112 to the first other vehicle 102a as the determination distance 120. When the last part of the second other vehicle 102b exists between the intersection end point 112 and the first other vehicle 102a, the distance from the last part of the second other vehicle 102b to the first other vehicle 102a is the determination distance. It may be 120. The determination unit 76 also acquires the speed of the first other vehicle 102a. When the determination distance 120 is shorter than the first threshold value or the speed of the first other vehicle 102a is higher than the second threshold value, the determination unit 76 determines that it is in the "first state". On the other hand, when the determination distance 120 is greater than or equal to the first threshold value and the speed of the first other vehicle 102a is less than or equal to the second threshold value, the determination unit 76 determines that it is in the “second state”. .. FIG. 19C will be described later and returns to FIG. The determination unit 76 outputs the determination result to the inquiry processing unit 78. The determination unit 76 also outputs other information to the inquiry processing unit 78.

When the determination result from the determination unit 76 is the second state, the inquiry processing unit 78 asks the occupant whether to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target in the automatic driving control device 30. Perform the process to make an inquiry. 20(a) to 20(c) are used here to specifically describe the inquiry processing. 20A to 20C show images displayed on the notification device 2. FIG. 20A shows an image generated by the inquiry processing unit 78 and displayed on the head-up display 2 a via the image/sound output unit 51.

The inquiry processing unit 78 generates an image showing the current situation in which the right turn action is occurring, that is, the situation shown in FIG. 19A, based on other information received from the determination unit 76. .. Here, the own vehicle icon 150 corresponding to the vehicle 100, the first other vehicle icon 152a corresponding to the first other vehicle 102a, and the second other vehicle icon 152b corresponding to the second other vehicle 102b are shown. Further, a rectangular obstacle icon 156 surrounding the first other vehicle icon 152a is also shown. Further, the inquiry processing unit 78 may superimpose a message for inquiring an occupant on the image whether to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target in the automatic driving control device 30. The various aspects described above may be used as an aspect of the inquiry. 20(b)-(c) will be described later, and the process returns to FIG.

The occupant confirms the image displayed on the head-up display 2a, and further receives, for example, an eye contact from the occupant of the first other vehicle 102a, and recognizes that the right turn is possible. If he wishes to make a right turn, the occupant will perform a hand-wasting gesture. This operation is detected by the third operation unit 4c. The operation is not limited to this. The operation signal input unit 50 of FIG. 1 receives this operation. This operation is a response signal that excludes the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target in response to the inquiry from the image/sound output unit 51. When the operation signal input unit 50 receives the response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the response signal. Upon receiving the notification of acceptance, the inquiry processing unit 78 instructs the command processing unit 80 to generate a command.

When instructed to generate a command by the inquiry processing unit 78, the command processing unit 80 generates a command for instructing to exclude the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 calculates the possibility of collision as before. However, the control unit 31 determines the driving action by excluding the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. FIG. 19C shows the operation of vehicle 100 when the possibility of collision between first other vehicle 102a and vehicle 100 is excluded from the determination targets. In FIG. 19C, the vehicle 100 turns right from the first road 210 and travels on the second road 212. Returning to FIG.

The control unit 31 of the automatic driving control device 30 has executed the command or continues to execute the command when executing the automatic driving excluding the possibility of collision between the first other vehicle 102a and the vehicle 100 from the determination target. The information that the driver is doing is output to the driving support device 40 as action information. When the behavior information input unit 54 receives the behavior information, the command processing unit 80 causes the occupant to recognize that the possibility of collision between the first other vehicle 102a and the vehicle 100 is excluded from the determination targets in the automatic driving control device 30. To generate an image. FIG. 20B shows an image displayed on the head-up display 2a when the possibility of collision between the first other vehicle 102a and the vehicle 100 is excluded from the determination targets in the automatic driving control device 30. As shown in the figure, the obstacle icon 156 surrounding the first other vehicle icon 152a is changed from the solid line display to the dotted line display. FIG. 20(c) will be described later and returns to FIG.

Note that after the command output unit 55 outputs the command, the determination unit 76 continues to determine whether the state is the first state or the second state until the right-turn action as shown in FIG. 19C is completed. .. When the determination result is the first state, the command processing unit 80 generates a command in the automatic driving control device 30 to instruct the determination target to include the possibility of collision between the first other vehicle 102a and the vehicle 100. To do. This corresponds to a situation in which the first other vehicle 102a that has been certified to give up the road has started to start. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. When receiving the command, the control unit 31 of the automatic driving control device 30 includes the possibility of collision between the first other vehicle 102a and the vehicle 100 in the determination target. As a result, the control unit 31 stops the vehicle 100 when the possibility of collision exceeds a predetermined value.

In addition, when the control unit 31 stops the vehicle 100 and is informed of the stop by the control unit 31 via the behavior information input unit 54, the command processing unit 80 displays an image for notifying the occupant of the right turn stop. To generate. FIG. 20C shows an image displayed on the head-up display 2a when the right turn is stopped. As illustrated, the obstacle icon 156 surrounding the first other vehicle icon 152a is changed from the dotted line display to the solid line display, and a message is displayed.

In the case of a right turn action, a person may be present at a pedestrian crossing provided so as to cross the second road 212 to which the vehicle 100 has turned right. Therefore, in the right-turning action, as in the case of the left-turning action, concession with the person may occur. The processing for this will be described below. 21A to 21C show another processing outline of the control unit 41. FIG. 21A shows a right-turning action specified by the control unit 31 of the automatic driving control device 30 and the right-turning action that will occur from now on. The first route 110a on which the vehicle 100 is scheduled to travel is set to travel upward on the first road 210, turn right at the intersection, and enter the second road 212. In addition, a person 104 is present on the pedestrian crossing provided so as to cross the second road 212 after the right turn. Other than these, the control unit 31 is similar to FIG. 11A, and the control unit 31 performs the same processing as in the case of the left turn action.

The action information input unit 54 of FIG. 4 receives from the control unit 31 the information indicating the right turn action as shown in FIG. The behavior information input unit 54 also receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. When the action information input unit 54 is informed of the stop action of the vehicle, the determination unit 76 of the control unit 41 starts the next process. The determination unit 76 grasps the right-turn action as shown in FIG. 21A based on the information indicating the right-turn action. Note that, as described above, the determination unit 76 may grasp the right-turn action based on the detection information, like the control unit 31, without using the information indicating the right-turn action.

FIG. 21B shows the right-turning action grasped by the determination unit 76 of the automatic driving control device 30. A third route 110c that predicts that the person 104 will walk is shown, and a crossing ending point 114 of the second road 212 is also shown. These are shown as in FIG. 11(b). Therefore, the automatic driving control device 30 executes the same process as in the case of the left turn action. As a result, as shown in FIG. 21C, the vehicle 100 may turn right from the first road 210 and travel on the second road 212. Note that the subsequent processing is the same as before, so description thereof will be omitted here.

21A to 21C show the case where the person 104 moves downward, the same processing is executed when the person 104 moves upward. Further, when there are a plurality of other vehicles 102 that are scheduled to intersect when the vehicle 100 turns right, there may be a case where there are a plurality of persons 104 who are scheduled to intersect when the vehicle 100 turns right. At that time, the same processing as that of the third embodiment may be executed.

According to the present embodiment, when the distance related to another vehicle is equal to or greater than the first threshold value and the speed of the other vehicle is equal to or less than the second threshold value, the possibility of collision with the other vehicle is excluded from the determination target. You will be asked if you want to do so, so you can confirm the occupants' will. In addition, if a response signal indicating that the possibility of collision with another vehicle is excluded from the judgment target is obtained in response to the inquiry, it is instructed to exclude the possibility of collision with another vehicle from the judgment target. You can make a right turn before other vehicles. Further, when the distance regarding the other vehicle is equal to or greater than the first threshold value and the speed of the other vehicle is equal to or less than the second threshold value, it is inquired whether to exclude the possibility of collision with the other vehicle from the determination target. , It is possible to realize eye contact while being automatic driving. In addition, the combination of the inquiry and the response signal instructs to exclude the possibility of collision with another vehicle from the determination target, so that the vehicle can travel depending on the situation even when the other vehicle exists when making a right turn.

Further, the determination is continued even after the possibility of collision with another vehicle is excluded from the determination target, and the distance related to the other vehicle becomes shorter than the first threshold value, or the speed of the person is higher than the second threshold value. In this case, the possibility of collision with another vehicle is included in the determination target, so that the occurrence of a collision with another vehicle can be suppressed. Further, since the occupant is not inquired when the possibility of collision with another vehicle is included in the determination target, it is possible to shorten the period until the possibility of collision with the other vehicle is included in the determination target.

In addition, when the distance regarding the person is equal to or greater than the third threshold and the speed of the person is equal to or less than the fourth threshold, it is inquired whether the possibility of collision with the person is excluded from the determination target. I can confirm my will. In addition, if a response signal indicating that the possibility of collision with a person is excluded from the determination target is obtained in response to an inquiry, the instruction to exclude the possibility of collision with the person from the determination target is given. You can make a right turn before the person. Further, when the distance regarding the person is equal to or greater than the third threshold value and the speed of the person is equal to or less than the fourth threshold value, it is inquired whether the possibility of collision with the person is excluded from the determination target. However, eye contact can be achieved. Further, the combination of the inquiry and the response signal instructs the possibility of collision with a person to be excluded from the determination target, so that even if a person is present when making a right turn, the vehicle can travel depending on the situation. Further, when the distance related to the person becomes shorter than the third threshold value, or when the speed of the person becomes higher than the fourth threshold value, the possibility of collision with the person is included in the determination target. Can be suppressed.

In addition, since it is inquired at once whether or not the possibility of collision with a plurality of other vehicles is excluded from the determination targets, the number of inquiries can be reduced. Further, since the response signal is received in response to a batch of inquiries, the processing by the occupant can be simplified. Further, the processing by the occupant is simplified, so that the period from inquiry to response can be shortened. Further, when the distance relating to at least one other vehicle is shorter than the first threshold value or when the speed of the at least one other vehicle is higher than the second threshold value, there is a possibility of collision with another vehicle as a determination target. Therefore, the occurrence of a collision with another vehicle can be suppressed. In addition, since it is inquired at once whether or not the possibility of collision with a plurality of persons is excluded from the determination targets, the number of inquiries can be reduced. Further, when the distance for at least one person becomes shorter than the third threshold value, or when the speed of at least one person becomes higher than the fourth threshold value, the determination target includes the possibility of collision with the person. Therefore, the occurrence of collision with a person can be suppressed.

(Embodiment 5)
The fifth embodiment relates to the driving support device mounted in the vehicle that executes the automatic driving based on the detected obstacle, as in the past. Also in the fifth embodiment, as in the fourth embodiment, attention is paid to “turn right” as the driving action. As described above, when making a right turn, another vehicle may become an obstacle or a person may become an obstacle. Here, in particular, it is assumed that another vehicle and a person become obstacles. In such a situation, when the inquiry and the response operation for each of the other vehicle and the person are executed as in the fourth embodiment, the period until all the processes are completed becomes long. If such a period becomes long, there is a possibility that another vehicle and a person who have stopped to give way to this vehicle may start moving.

In order to deal with this, the driving support device in the present embodiment excludes the possibility of collision with other vehicles from the determination target in the automatic driving control device when there are another vehicle and a person determined to be in the second state. Perform inquiries in bulk. In addition, when the occupant collectively performs a response operation to a batch of inquiries, the driving support device causes the automatic driving control device to exclude a possibility of collision between another vehicle and a person as a determination target. That is, one inquiry and one response operation are performed in order to exclude the possibility of a collision between another vehicle and a person from the determination target in the automatic driving control device. Vehicle 100 according to the fifth embodiment is of the same type as in FIGS. 1 and 2, and control unit 41 is of the same type as in FIG. Here, the difference from the above will be mainly described.

FIG. 22 shows an outline of the processing, and shows the right-turning action specified by the control unit 31 of the automatic driving control device 30 and the control unit 41 of the driving support device 40, and shows the right-turning action that will occur. The first road 210, the second road 212, the vehicle 100, the first other vehicle 102a, and the second other vehicle 102b are shown as in FIG. 19(a). Further, the person 104 is shown as in FIG. The control unit 31 calculates the possibility of collision for each of the first other vehicle 102a and the person 104. Here, when the possibility of collision becomes larger than a predetermined value, the control unit 31 determines the stopping action.

The action information input unit 54 of FIG. 4 receives information indicating a right turn action as shown in FIG. 22 from the control unit 31. The behavior information input unit 54 also receives information indicating the stopping behavior from the control unit 31. The behavior information input unit 54 outputs the received information to the control unit 41. The determination unit 76 of the control unit 41 performs the same process as the above on the first other vehicle 102a, and also performs the same process on the person 104 as before. That is, the determination unit 76 determines whether the first other vehicle 102a is in the first state or the second state, and also determines whether the person 104 is in the first state or the second state.

When the determination unit 76 determines that the first other vehicle 102a and the person 104 are in the second state, the inquiry processing unit 78 determines the possibility of collision between the first other vehicle 102a and the person 104 from the determination target in the automatic driving control device 30. Executes the process for inquiring the occupants whether to exclude them at once. 23(a) to 23(c) are used here to specifically describe the inquiry processing. 23A to 23C show images displayed on the notification device 2. FIG. 23A shows an image generated by the inquiry processing unit 78 and displayed on the head-up display 2 a via the image/sound output unit 51.

The inquiry processing unit 78 generates an image showing the current situation in which the right-turning action is occurring, that is, the situation shown in FIG. 22, based on other information received from the determination unit 76. Here, the own vehicle icon 150 corresponding to the vehicle 100, the first other vehicle icon 152a corresponding to the first other vehicle 102a, the second other vehicle icon 152b corresponding to the second other vehicle 102b, and the person icon corresponding to the person 104. 154 is shown. Furthermore, a rectangular obstacle icon 156 that collectively surrounds the first other vehicle icon 152a and the person icon 154 is shown. The various aspects described above may be used as an aspect of the inquiry. 23(b)-(c) will be described later, and the process returns to FIG.

The occupant confirms the image displayed on the head-up display 2a, and further recognizes that it is possible to make a right turn, for example, by receiving eye contact from both the occupant of the first other vehicle 102a and the person 104. .. If he wishes to make a right turn, the occupant will perform a hand-wasting gesture. This operation is detected by the third operation unit 4c. The operation is not limited to this. The operation signal input unit 50 of FIG. 1 receives this operation. This operation is a collective response signal that excludes the possibility of collision with the first other vehicle 102a and the person 104 from the determination target in response to the collective inquiry from the image/sound output unit 51. When the operation signal input unit 50 receives the batch response signal, the operation signal input unit 50 notifies the inquiry processing unit 78 of acceptance of the batch response signal. When the inquiry processing unit 78 receives the notification of batch acceptance, it instructs the command processing unit 80 to generate a command.

When the command processing unit 80 is instructed by the inquiry processing unit 78 to generate a command, the command processing unit 80 generates a command for instructing to exclude the possibility of collision with the first other vehicle 102a and the person 104 from the determination target. The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. Upon receiving the command, the control unit 31 of the automatic driving control device 30 excludes the possibility of collision with the first other vehicle 102a and the person 104 from the determination target.

The control unit 31 of the automatic driving control device 30 executes the command or continues to execute the command when executing the automatic driving by excluding the possibility of the collision between the first other vehicle 102a and the person 104 from the determination target. It is output to the driving support device 40 as the action information. When the action information input unit 54 receives the action information, the command processing unit 80 causes the occupant to recognize that the possibility of collision with the first other vehicle 102a and the person 104 is excluded from the determination targets in the automatic driving control device 30. To generate an image. FIG. 23B shows an image displayed on the head-up display 2a when the possibility of collision between the first other vehicle 102a and the person 104 is excluded from the determination targets in the automatic driving control device 30. As shown in the figure, the obstacle icon 156 surrounding the first other vehicle icon 152a and the person icon 154 collectively changes from the solid line display to the dotted line display. FIG. 23C will be described later, and the process returns to FIG.

After the command processing unit 80 outputs the command, the determination unit 76 is in the first state or the second state for each of the first other vehicle 102a and the person 104 until the right-turning action is completed. Continue to judge. The command processing unit 80 is a command for instructing the automatic driving control device 30 to include the possibility of collision with the first other vehicle 102a in the determination target when the determination result for the first other vehicle 102a is the first state. To generate. This corresponds to including the possibility of collision with the first other vehicle 102a that satisfies the condition for the determination target in the determination target. On the other hand, when the determination result for the person 104 is the first state, the command processing unit 80 causes the automatic driving control device 30 to generate a command for instructing the determination target to include the possibility of collision with the person 104. This is equivalent to including the possibility of collision with the person 104 who satisfies the condition for the determination target in the determination target.

The command output unit 55 outputs the command generated by the command processing unit 80 to the automatic driving control device 30. When the control unit 31 of the automatic driving control device 30 receives the command, the control unit 31 includes the possibility of collision with the first other vehicle 102a or the person 104 that satisfies the condition for the determination target as the determination target. As a result, the control unit 31 stops the vehicle 100 when the possibility of collision exceeds a predetermined value.

In addition, when the control unit 31 stops the vehicle 100 and is informed of the stop by the control unit 31 via the behavior information input unit 54, the command processing unit 80 displays an image for notifying the occupant of the right turn stop. To generate. FIG. 23C shows an image displayed on the head-up display 2a when the right turn is stopped. Here, it is assumed that the determination target in the automatic driving control device 30 is changed to include the possibility of collision with the first other vehicle 102a. As shown in the figure, the person icon 154 is surrounded by a first obstacle icon 156a indicated by a dotted line. On the other hand, the first other vehicle icon 152a is surrounded by the second obstacle icon 156b displayed in a solid line.

According to the present embodiment, it is possible to reduce the number of inquiries because it is possible to collectively inquire whether to exclude the possibility of collision between another vehicle and a person of different types from the determination target. Further, since the response signal is received in response to a batch of inquiries, the processing by the occupant can be simplified. Further, the processing by the occupant is simplified, so that the period from inquiry to response can be shortened. Further, when the distance between the other vehicle and the person becomes shorter or the speed becomes faster, the possibility of collision with the other vehicle or the person is included in the judgment target, so that the collision with the other vehicle or the person occurs. Can be suppressed.

Although the embodiments of the present invention have been described in detail above with reference to the drawings, the functions of the above-described devices and processing units can be realized by a computer program. A computer that implements the functions described above by a program is an input device such as a keyboard, a mouse, and a touch pad, an output device such as a display and a speaker, a CPU (Central Processing Unit), a ROM, a RAM, a hard disk device, and an SSD (Solid State Drive). Each unit is connected by a bus, including a storage device such as a DVD-ROM (Digital Versatile Disk Read Only Memory), a reading device that reads information from a recording medium such as a USB memory, and a network card that communicates via a network. ..

Further, the reading device reads the program from the recording medium recording the program and stores the program in the storage device. Alternatively, the network card communicates with the server device connected to the network and stores the program downloaded from the server device for realizing the function of each device in the storage device. Further, the CPU copies the program stored in the storage device to the RAM, and sequentially reads the instructions included in the program from the RAM and executes the instructions to implement the functions of the above devices. Further, other road users may be included as obstacles. For example, a motorcycle (a two-wheeled vehicle) and a bicycle (a person is riding on) are treated as other vehicles, and a person pushing a bicycle or a person riding a skateboard may be treated as a pedestrian.

The outline of one aspect of the present invention is as follows.
(Item 1-1)
When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle Is a driving support device mounted on the vehicle having an automatic driving control device for stopping
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is a first threshold value or more, and the obstacle Is less than or equal to a second threshold, the inquiry device is provided with inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Inquiry output part to output,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the obstacle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device,
A driving support device comprising:

According to this aspect, the distance related to the obstacle is equal to or greater than the first threshold value, the speed of the obstacle is equal to or less than the second threshold value, and the response signal for excluding the possibility of collision with the obstacle from the determination target is generated. If it is obtained, the exclusion of the obstacle is instructed, so that the vehicle can travel according to the situation when the obstacle exists.

(Item 1-2)
The command output unit outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device, and then the obstacle from one point on the predicted travel route of the obstacle. A command that includes the possibility of collision between the obstacle and the vehicle when the distance to the object is shorter than a first threshold value or the speed of the obstacle is higher than a second threshold value. Is output to the automatic driving control device. The driving support device according to item 1-1.

In this case, when the distance related to the obstacle is shorter than the first threshold value or when the speed of the obstacle is higher than the second threshold value, the determination target includes the possibility of collision with the obstacle, The occurrence of collision with an obstacle can be suppressed.

(Item 1-3)
In the behavior information input unit, in the automatic driving control device, when the possibility of collision with a plurality of obstacles is larger than a predetermined value, the stopping behavior information of the vehicle is input from the automatic driving control device,
The inquiry output unit, when the stop behavior information of the vehicle is input from the behavior information input unit, all distances from one point on the predicted travel route of the plurality of obstacles to each of the plurality of obstacles If the speed is equal to or higher than the first threshold value and all the velocities of the plurality of obstacles are equal to or lower than the second threshold value, there is a possibility of collision from the determination target in the automatic driving control device to the plurality of obstacles. The inquiry information for collectively inquiring the occupant whether to exclude is output to the notification device,
In the operation signal input unit, in response to the inquiry notified from the notification device, a response signal for collectively excluding the possibility of collision with the plurality of obstacles from the determination target is input,
The command output unit, when the response signal is input to the operation signal input unit, outputs a command for excluding the possibility of collision with the plurality of obstacles from the determination target to the automatic driving control device. The driving support device according to Item 1-1.

In this case, whether or not the possibility of collision with a plurality of obstacles is excluded from the determination target is inquired in a lump and the response signal is received, so that the processing can be simplified.

(Item 1-4)
The command output unit outputs, to the automatic driving control device, a command that excludes the possibility of collision with the plurality of obstacles from the determination target, and then outputs the plurality of obstacles from one point on the predicted movement route of the plurality of obstacles. If at least one of the distances to each of the obstacles is shorter than a first threshold value, or if at least one of the velocities of the plurality of obstacles is higher than a second threshold value, The driving support device according to item 1-3, wherein a command including a possibility of collision with an obstacle satisfying a condition is output to the automatic driving control device.

In this case, when the distance related to the at least one obstacle is shorter than the first threshold value, or when the speed of the at least one obstacle is higher than the second threshold value, it is possible for the determination target to collide with the obstacle. Since the property is included, the occurrence of collision with an obstacle can be suppressed.

(Item 1-5)
An automatic driving control device mounted on a vehicle,
When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle An automatic operation control unit that stops the
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control unit,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is a first threshold value or more, and the obstacle Is less than or equal to a second threshold, the notification device is provided with inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control unit. Inquiry output part to output,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the obstacle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control unit,
An automatic operation control device comprising:

(Item 1-6)
When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle A driving assistance device mounted on the vehicle having an automatic driving control device for stopping, and a vehicle having the driving assistance device,
The driving support device,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is a first threshold value or more, and the obstacle Is less than or equal to a second threshold, the inquiry device is provided with inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Inquiry output part to output,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the obstacle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device,
A vehicle comprising:

(Item 1-7)
When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle A driving support method in a driving support device mounted on the vehicle, which comprises an automatic driving control device for stopping
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from one point on the predicted travel route of the obstacle to the obstacle is equal to or more than a first threshold value, and the speed of the obstacle is second. If the threshold value or less, a step of outputting inquiry information for inquiring the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the obstacle and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
When the response signal is input, a step of outputting to the automatic driving control device a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target,
A driving support method comprising:

(Item 1-8)
When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle A program in a driving support device mounted on the vehicle having an automatic driving control device for stopping,
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from one point on the predicted travel route of the obstacle to the obstacle is equal to or more than a first threshold value, and the speed of the obstacle is second. If the threshold value or less, a step of outputting inquiry information for inquiring the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the obstacle and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
A program for causing a computer to execute a step of outputting a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device when the response signal is input.

(Item 1-9)
When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle Is a driving support system mounted on the vehicle including an automatic driving control device for stopping
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is a first threshold value or more, and the obstacle Is equal to or lower than the second threshold value, a notification for informing inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Device,
In response to the inquiry notified from the notification device, an input device that receives a response operation by an occupant, which excludes a possibility of collision between the obstacle and the vehicle from the determination target,
When the response operation is received by the input device, a command output unit that outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device,
A driving support system comprising:

(Item 2-1)
Calculating the possibility of collision between the detected obstacle and the vehicle, using the calculated possibility of collision as a determination target to control automatic driving of the vehicle, and calculating when the vehicle interrupts in front of another vehicle When the possibility of collision with the other vehicle is greater than a predetermined value, a driving support device mounted on the vehicle, which includes an automatic driving control device for stopping the vehicle,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point where the other vehicle is predicted to end crossing the road on which the vehicle is traveling to the other vehicle is the first threshold. If the speed is equal to or more than the value and the speed of the other vehicle is equal to or less than the second threshold value, it is determined whether the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control device. An inquiry output unit for outputting inquiry information for inquiring to an occupant to the notification device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device,
A driving support device comprising:

According to this aspect, the distance regarding the other vehicle is equal to or greater than the first threshold value, the speed of the other vehicle is equal to or less than the second threshold value, and the response signal that excludes the possibility of collision with the other vehicle from the determination target is generated. If it is obtained, the exclusion of the other vehicle is instructed, so that the vehicle can travel according to the situation when the other vehicle exists.

(Item 2-2)
When the other vehicle exists between the other vehicle and a point where the other vehicle is expected to end the intersection on the road on which the vehicle travels, the inquiry output unit outputs the other vehicle. The driving support apparatus according to item 2-1, wherein the distance from the vehicle to the other vehicle is compared with a first threshold value.

In this case, since the distance from another vehicle to another vehicle is compared with the first threshold value, various cases can be dealt with. It can be controlled more safely when another vehicle is present.

(Item 2-3)
The command output unit outputs, to the automatic driving control device, a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target, and then the other vehicle crosses the road on which the vehicle is traveling. If the distance from the point predicted to end to the other vehicle is shorter than the first threshold value, or if the speed of the other vehicle is higher than the second threshold value, the determination target is the other one. The driving assistance device according to item 2-1 or 2-2, which outputs a command including a possibility of collision between a vehicle and the vehicle to the automatic driving control device.

In this case, when the distance related to the other vehicle is shorter than the first threshold value or when the speed of the other vehicle is higher than the second threshold value, the determination target includes the possibility of collision with the other vehicle. The occurrence of a collision with another vehicle can be suppressed.

(Item 2-4)
An automatic driving control device mounted on a vehicle,
Calculating the possibility of collision between the detected obstacle and the vehicle, using the calculated possibility of collision as a determination target to control automatic driving of the vehicle, and calculating when the vehicle interrupts in front of another vehicle If the possibility of collision with the other vehicle is greater than a predetermined value, an automatic driving control unit that stops the vehicle,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control unit,
When stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point where the other vehicle is predicted to end crossing the road on which the vehicle is traveling to the other vehicle is the first threshold. If the speed of the other vehicle is equal to or more than the value and the speed of the other vehicle is equal to or less than the second threshold value, whether the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control unit. An inquiry output unit for outputting inquiry information for inquiring to an occupant to the notification device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control unit,
An automatic operation control device comprising:

(Item 2-5)
Calculating the possibility of collision between the detected obstacle and the vehicle, using the calculated possibility of collision as a determination target to control automatic driving of the vehicle, and calculating when the vehicle interrupts in front of another vehicle When the possibility of collision with the other vehicle is greater than a predetermined value, the vehicle is provided with an automatic driving control device for stopping the vehicle, and a driving assistance device,
The driving support device,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point where the other vehicle is predicted to end crossing the road on which the vehicle is traveling to the other vehicle is the first threshold. If the speed is equal to or more than the value and the speed of the other vehicle is equal to or less than the second threshold value, it is determined whether the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control device. An inquiry output unit for outputting inquiry information for inquiring to an occupant to the notification device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device,
A vehicle comprising:

(Item 2-6)
Calculating the possibility of collision between the detected obstacle and the vehicle, using the calculated possibility of collision as a determination target to control automatic driving of the vehicle, and calculating when the vehicle interrupts in front of another vehicle When the possibility of collision with the other vehicle is greater than a predetermined value, a driving assistance method in a driving assistance device mounted on the vehicle, which comprises an automatic driving control device for stopping the vehicle,
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from the point at which the other vehicle is predicted to end crossing the road on which the vehicle is traveling to the other vehicle is equal to or greater than a first threshold value, and If the speed of the other vehicle is less than or equal to a second threshold value, an inquiry for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device. Outputting information to a notification device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
When the response signal is input, a step of outputting a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device,
A driving support method comprising:

(Item 2-7)
Calculating the possibility of collision between the detected obstacle and the vehicle, using the calculated possibility of collision as a determination target to control automatic driving of the vehicle, and calculating when the vehicle interrupts in front of another vehicle If the possibility of collision with the other vehicle is larger than a predetermined value, the program in the driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle,
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from the point at which the other vehicle is predicted to end crossing the road on which the vehicle is traveling to the other vehicle is equal to or greater than a first threshold value, and If the speed of the other vehicle is less than or equal to a second threshold value, an inquiry for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device. Outputting information to a notification device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
A program for causing a computer to execute a step of outputting to the automatic driving control device a command that excludes a possibility of collision between the other vehicle and the vehicle from the determination target when the response signal is input.

(Item 2-8)
Calculating the possibility of collision between the detected obstacle and the vehicle, using the calculated possibility of collision as a determination target to control automatic driving of the vehicle, and calculating when the vehicle interrupts in front of another vehicle When the possibility of collision with the other vehicle is greater than a predetermined value, a driving support system mounted on the vehicle, which includes an automatic driving control device for stopping the vehicle,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point where the other vehicle is predicted to end crossing the road on which the vehicle is traveling to the other vehicle is the first threshold. If the speed is equal to or more than the value and the speed of the other vehicle is equal to or less than the second threshold value, it is determined whether the possibility of collision between the other vehicle and the vehicle is excluded from the determination target in the automatic driving control device. An informing device for informing inquiry information for inquiring to an occupant,
In response to the inquiry notified from the notification device, an input device that receives a response operation by an occupant, which excludes the possibility of collision between the other vehicle and the vehicle from the determination target,
When the response operation is received by the input device, a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device,
A driving support system comprising:

(Item 3-1)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns left by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And, if the possibility of collision with a person crossing the road turning left is greater than a predetermined value, a driving support device mounted on the vehicle, which includes an automatic driving control device for stopping the vehicle,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point at which the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is If the second threshold value or less, inquiry output for outputting to the notification device inquiry information for inquiring an occupant whether to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device Department,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the person and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device,
A driving support device comprising:

According to this aspect, if the distance regarding the person is equal to or greater than the first threshold value, the speed of the person is equal to or less than the second threshold value, and a response signal that excludes the possibility of collision with the person from the determination target is obtained. Since the exclusion of the person is instructed, it is possible to travel according to the situation when the person exists.

(Item 3-2)
The command output unit, after outputting a command for excluding the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device, from the point where the person is predicted to end crossing to the person When the distance is shorter than the first threshold value or when the speed of the person is higher than the second threshold value, the automatic driving control includes a command including the possibility of collision between the person and the vehicle in the determination target. The driving support device according to item 3-1, which is output to the device.

In this case, when the distance related to the person becomes shorter than the first threshold value or when the speed of the person becomes higher than the second threshold value, the possibility of collision with the person is included in the determination target. The occurrence of collision can be suppressed.

(Item 3-3)
In the behavior information input unit, in the automatic driving control device, when the possibility of collision with a plurality of persons is larger than a predetermined value, the stopping behavior information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the inquiry output unit determines that the distances from the point at which the plurality of people are predicted to end crossing to each of the plurality of people are all first. Whether the possibility of collision with the plurality of persons is excluded from the determination target in the automatic driving control device if the respective speeds of the plurality of persons are equal to or less than the second threshold value and are equal to or less than the second threshold value. The inquiry information for collectively inquiring the passengers is output to the notification device,
In the operation signal input unit, in response to the inquiry notified from the notification device, a response signal for collectively excluding the possibility of collision with the plurality of persons from the determination target is input,
The command output unit, when the response signal is input to the operation signal input unit, outputs a command for excluding the possibility of collision with the plurality of persons from the determination target to the automatic driving control device. The driving support device according to item 3-1.

In this case, whether or not the possibility of collision with a plurality of persons is excluded from the determination target is inquired in a lump and the response signal is received, so that the processing can be simplified.

(Item 3-4)
The command output unit outputs, to the automatic driving control device, a command that excludes the possibility of collision with the plurality of persons from the determination target, and then the plurality of persons from the point where the plurality of persons are predicted to end crossing. If at least one of the distances to each of the plurality of persons is shorter than the first threshold value, or if at least one of the respective velocities of the plurality of persons is higher than the second threshold value, the judgment target satisfies the condition. The driving assistance device according to item 3-3, which outputs a command including a possibility of collision to a person to the automatic driving control device.

In this case, if the distance for at least one person becomes shorter than the first threshold value, or if the speed of at least one person becomes higher than the second threshold value, the possibility of collision with the person is included in the determination target. Therefore, it is possible to suppress the occurrence of a collision with a person.

(Item 3-5)
An automatic driving control device mounted on a vehicle,
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns left by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And, if the possibility of collision with a person crossing the road that makes a left turn is greater than a predetermined value, an automatic driving control unit that stops the vehicle,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control unit,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point at which the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is If it is less than or equal to the second threshold value, an inquiry output that outputs inquiry information for inquiring to an occupant whether to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control unit to the notification device. Department,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the person and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the person and the vehicle from the determination target to the automatic driving control unit,
An automatic operation control device comprising:

(Item 3-6)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns left by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And, if the possibility of collision with a person crossing the road turning left is greater than a predetermined value, a vehicle equipped with an automatic driving control device for stopping the vehicle, and a driving assistance device,
The driving support device,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point at which the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is If the second threshold value or less, inquiry output for outputting to the notification device inquiry information for inquiring an occupant whether to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device Department,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the person and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device,
A vehicle comprising:

(Item 3-7)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns left by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And, if the possibility of collision with a person crossing the road that makes a left turn is greater than a predetermined value, a driving support method with a driving support device mounted on the vehicle including an automatic driving control device for stopping the vehicle is used. There
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from the point at which the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is equal to or less than a second threshold value. If so, a step of outputting to the notification device inquiry information for inquiring the passenger whether to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the person and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
Outputting a command for excluding the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device when the response signal is input,
A driving support method comprising:

(Item 3-8)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns left by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And a possibility of collision with a person crossing a road that makes a left turn is greater than a predetermined value, the program in a driving support device mounted on the vehicle, which includes an automatic driving control device for stopping the vehicle, ,
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from the point at which the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is equal to or less than a second threshold value. If so, a step of outputting to the notification device inquiry information for inquiring the passenger whether to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the person and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
A program for causing a computer to execute a step of outputting a command for excluding a possibility of collision between the person and the vehicle from the determination target to the automatic driving control device when the response signal is input.

(Item 3-9)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns left by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And, if the possibility of collision with a person crossing the road turning left is greater than a predetermined value, a driving support system mounted on the vehicle, which includes an automatic driving control device for stopping the vehicle,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point at which the person is predicted to end crossing to the person is equal to or greater than a first threshold value, and the speed of the person is If it is less than or equal to a second threshold value, a notification device that notifies inquiry information for inquiring an occupant whether to exclude the possibility of collision between the person and the vehicle from the determination target in the automatic driving control device,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the person and the vehicle from the determination target, an input device for accepting a response operation by an occupant,
When the response operation is received by the input device, a command output unit that outputs a command for excluding the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device,
A driving support system comprising:

(Item 4-1)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns right by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And a vehicle equipped with an automatic driving control device that stops the vehicle when the possibility of collision with another vehicle that intersects when turning right of the vehicle is greater than a predetermined value while traveling opposite to the vehicle Is a driving support device installed in
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point at which the other vehicle is predicted to end the intersection to the other vehicle is equal to or greater than a first threshold value, and Inquiry information for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device if the speed of the other vehicle is equal to or less than the second threshold value. An inquiry output unit for outputting the
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device,
A driving support device comprising:

According to this aspect, the distance regarding the other vehicle is equal to or greater than the first threshold value, the speed of the other vehicle is equal to or less than the second threshold value, and the response signal that excludes the possibility of collision with the other vehicle from the determination target is generated. If it is obtained, the exclusion of the other vehicle is instructed, so that the vehicle can travel according to the situation when the other vehicle exists.

(Item 4-2)
When the other vehicle exists between the point where the other vehicle is predicted to end the intersection and the other vehicle, the inquiry output unit outputs the other vehicle from the other vehicle to the other vehicle. The driving support device according to item 4-1, wherein the distance is compared with a first threshold value.

In this case, since the distance from another vehicle to another vehicle is compared with the first threshold value, various cases can be dealt with. It can be controlled more safely when another vehicle is present.

(Item 4-3)
The command output unit outputs a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device, and then from the point where the other vehicle is predicted to end the intersection. When the distance to the other vehicle is shorter than a first threshold value or when the speed of the other vehicle is higher than a second threshold value, the determination target is a collision between the other vehicle and the vehicle. The driving support device according to item 4-1 or 4-2, which outputs a command including a possibility to the automatic driving control device.

In this case, when the distance related to the other vehicle is shorter than the first threshold value or when the speed of the other vehicle is higher than the second threshold value, the determination target includes the possibility of collision with the other vehicle. The occurrence of a collision with another vehicle can be suppressed.

(Item 4-4)
In the behavior information input unit, in the automatic driving control device, a collision possibility calculated when the vehicle makes a right turn, and a collision possibility with a person crossing a right-turning road is larger than a predetermined value. In this case, the stopping behavior information of the vehicle is input from the automatic driving control device, and the inquiry output unit is predicted to end the crossing of the person when the stopping behavior information of the vehicle is input from the behavior information input unit. If the distance from the point to the person is equal to or greater than the third threshold value and the speed of the person is equal to or less than the fourth threshold value, the person and the vehicle are judged from the determination target in the automatic driving control device. Output inquiry information for inquiring the passenger whether to exclude the possibility of collision to the notification device,
The operation signal input unit, in response to the inquiry notified from the notification device, excludes the possibility of collision between the person and the vehicle from the determination target, the response signal of the response operation by the occupant is input,
The command output unit, when the response signal is input to the operation signal input unit, outputs a command for excluding the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device. 4. The driving support device according to any one of items 4-1 to 4-3.

According to this aspect, if the distance regarding the person is equal to or greater than the third threshold value, the speed of the person is equal to or less than the fourth threshold value, and a response signal that excludes the possibility of collision with the person from the determination target is obtained. Since the exclusion of the person is instructed, it is possible to travel according to the situation when the person exists.

(Item 4-5)
The command output unit, after outputting a command for excluding the possibility of collision between the person and the vehicle from the determination target to the automatic driving control device, from the point where the person is predicted to end crossing to the person When the distance is shorter than the third threshold value or when the speed of the person is higher than the fourth threshold value, the automatic driving control includes a command including the possibility of collision between the person and the vehicle in the determination target. The driving support device according to item 4-4, which is output to the device.

In this case, when the distance related to the person becomes shorter than the third threshold value, or when the speed of the person becomes higher than the fourth threshold value, the possibility of collision with the person is included in the determination target. The occurrence of collision can be suppressed.

(Item 4-6)
The action information input unit, in the automatic driving control device, the possibility of collision with a plurality of other vehicles is greater than a predetermined value, the stopping action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the inquiry output unit is a distance from a point at which the plurality of other vehicles are predicted to end the intersection to each of the plurality of other vehicles. Are all equal to or greater than a first threshold value, and the respective speeds of the plurality of other vehicles are equal to or less than a second threshold value, the plurality of other vehicles are determined from the determination target in the automatic driving control device. The inquiry information for collectively inquiring the occupants whether to exclude the possibility of collision with
In the operation signal input unit, in response to the inquiry notified from the notification device, a response signal that collectively excludes the possibility of collision with the plurality of other vehicles from the determination target is input,
The command output unit, when the response signal is input to the operation signal input unit, outputs to the automatic driving control device a command that excludes the possibility of collision with the plurality of other vehicles from the determination target. The driving support device according to Item 4-1 or 4-2.

In this case, it is possible to collectively inquire whether the possibility of collision with a plurality of other vehicles is excluded from the determination target and receive the response signal, so that the processing can be simplified.

(Item 4-7)
The command output unit outputs a command that excludes the possibility of collision with the plurality of other vehicles from the determination target to the automatic driving control device, and then from a point where the plurality of other vehicles are predicted to end intersection. When at least one of the distances to each of the plurality of other vehicles is shorter than a first threshold value, or when at least one of the respective speeds of the plurality of other vehicles is higher than a second threshold value, The driving support device according to item 4-6, wherein a command including a possibility of collision with another vehicle satisfying a condition is output to the automatic driving control device as the determination target.

In this case, when the distance related to at least one other vehicle becomes shorter than the first threshold value or when the speed of at least one other vehicle becomes higher than the second threshold value, it is possible for the determination target to collide with another vehicle. Therefore, the occurrence of a collision with another vehicle can be suppressed.

(Item 4-8)
In the behavior information input unit, in the automatic driving control device, when the possibility of collision with a plurality of persons is larger than a predetermined value, the stopping behavior information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the inquiry output unit determines that all distances from a point at which the plurality of persons are predicted to end crossing to each of the plurality of persons are third. Whether the possibility of collision with the plurality of persons is excluded from the determination target in the automatic driving control device if the respective speeds of the plurality of persons are equal to or more than the threshold value and the respective speeds of the plurality of persons are all equal to or less than the fourth threshold value. The inquiry information for collectively inquiring the passengers is output to the notification device,
In the operation signal input unit, in response to the inquiry notified from the notification device, a response signal for collectively excluding the possibility of collision with the plurality of persons from the determination target is input,
The command output unit, when the response signal is input to the operation signal input unit, outputs a command for excluding the possibility of collision with the plurality of persons from the determination target to the automatic driving control device. The driving support device according to item 4-4.

In this case, whether or not the possibility of collision with a plurality of persons is excluded from the determination target is inquired in a lump and the response signal is received, so that the processing can be simplified.

(Item 4-9)
The command output unit outputs, to the automatic driving control device, a command that excludes the possibility of collision with the plurality of persons from the determination target, and then the plurality of persons from the point where the plurality of persons are predicted to end crossing. If at least one of the distances to each of the plurality of persons is shorter than the third threshold value, or if at least one of the respective velocities of the plurality of persons is higher than the fourth threshold value, the judgment target satisfies the condition. The driving support device according to item 4-8, which outputs a command including a possibility of collision to a person to the automatic driving control device.

In this case, if the distance for at least one person is shorter than the third threshold value, or if the speed of at least one person is higher than the fourth threshold value, the possibility of collision with the person is included in the determination target. Therefore, it is possible to suppress the occurrence of a collision with a person.

(Item 4-10)
When the stop behavior information of the vehicle is input from the behavior information input unit, the inquiry output unit has a first threshold value that is a distance from a point where the other vehicle is predicted to end intersection to the other vehicle. The speed of the other vehicle is equal to or less than the second threshold value, the distance from the point at which the person is predicted to end crossing to the person is equal to or greater than the third threshold value, and If the speed of the person is equal to or less than the fourth threshold value, inquiry information for collectively inquiring the occupant whether to exclude the possibility of collision with the other vehicle and the person from the determination target in the automatic driving control device. Is output to the notification device,
The operation signal input unit, in response to the inquiry notified from the notification device, a response signal that collectively excludes the possibility of collision with the other vehicle and the person from the determination target,
The command output unit, when the response signal is input to the operation signal input unit, outputs to the automatic driving control device a command that excludes a possibility of collision with the other vehicle and the person from the determination target. Item 4. The driving support device according to Item 4-4.

In this case, whether or not the possibility of collision between another vehicle and a person is excluded from the determination targets is collectively inquired and a response signal is received, so that the processing can be simplified.

(Item 4-11)
The command output unit outputs, to the automatic driving control device, a command that excludes the possibility of collision between the other vehicle and the person from the determination target, and then (1) it is predicted that the other vehicle ends intersection. When the distance from the point to the other vehicle is shorter than the first threshold value or when the speed of the other vehicle is higher than the second threshold value, the determination target other vehicle A command including the possibility of collision with the person is output to the automatic driving control device, and (2) when the distance from the point at which the person is predicted to end crossing to the person is shorter than a third threshold value, or the person is Item 4-10, characterized in that if the speed is higher than a fourth threshold value, a command including the possibility of collision with a person who satisfies the condition is output to the automatic driving control device as the determination target. Driving support device.

In this case, if the distance between the other vehicle and the person becomes shorter, or if the speed becomes faster, the judgment target includes the possibility of collision with the other vehicle or the person. Can be suppressed.

(Item 4-12)
An automatic driving control device mounted on a vehicle,
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns right by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And, while traveling in opposition to the vehicle, if the possibility of collision with another vehicle crossing when turning right of the vehicle is greater than a predetermined value, an automatic driving control unit that stops the vehicle,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control unit,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point at which the other vehicle is predicted to end the intersection to the other vehicle is equal to or greater than a first threshold value, and Inquiry information for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control unit if the speed of the other vehicle is equal to or less than the second threshold value. An inquiry output unit for outputting the
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control unit,
An automatic operation control device comprising:

(Item 4-13)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns right by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And, while traveling opposite to the vehicle, when the possibility of collision with another vehicle crossing when turning right of the vehicle is greater than a predetermined value, an automatic driving control device for stopping the vehicle, and driving assistance A vehicle equipped with a device,
The driving support device,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point at which the other vehicle is predicted to end the intersection to the other vehicle is equal to or greater than a first threshold value, and Inquiry information for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device if the speed of the other vehicle is equal to or less than the second threshold value. An inquiry output unit for outputting the
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device,
A vehicle comprising:

(Item 4-14)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns right by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And a vehicle equipped with an automatic driving control device that stops the vehicle when the possibility of collision with another vehicle that intersects when turning right of the vehicle is greater than a predetermined value while traveling opposite to the vehicle A driving support method using a driving support device installed in
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from the point where the other vehicle is predicted to end the intersection to the other vehicle is equal to or greater than a first threshold value, and the speed of the other vehicle is If it is equal to or less than the second threshold value, inquiry information for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device is output to the notification device. Steps,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
When the response signal is input, a step of outputting a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device,
A driving support method comprising:

(Item 4-15)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns right by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And a vehicle equipped with an automatic driving control device that stops the vehicle when the possibility of collision with another vehicle that intersects when turning right of the vehicle is greater than a predetermined value while traveling opposite to the vehicle Is a program for the driving support device installed in
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from the point where the other vehicle is predicted to end the intersection to the other vehicle is equal to or greater than a first threshold value, and the speed of the other vehicle is If it is equal to or less than the second threshold value, inquiry information for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device is output to the notification device. Steps,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the other vehicle and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
A program for causing a computer to execute a step of outputting to the automatic driving control device a command that excludes a possibility of collision between the other vehicle and the vehicle from the determination target when the response signal is input.

(Item 4-16)
The possibility of collision between the detected obstacle and the vehicle is calculated, and the possibility of collision calculated when the vehicle turns right by controlling the automatic driving of the vehicle by using the calculated possibility of collision as a determination target And a vehicle equipped with an automatic driving control device that stops the vehicle when the possibility of collision with another vehicle that intersects when turning right of the vehicle is greater than a predetermined value while traveling opposite to the vehicle Is a driving support system installed in
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from the point at which the other vehicle is predicted to end the intersection to the other vehicle is equal to or greater than a first threshold value, and Inquiry information for inquiring an occupant whether to exclude the possibility of collision between the other vehicle and the vehicle from the determination target in the automatic driving control device if the speed of the other vehicle is equal to or less than the second threshold value. An informing device for informing
In response to the inquiry notified from the notification device, an input device that receives a response operation by an occupant, which excludes the possibility of collision between the other vehicle and the vehicle from the determination target,
When the response operation is received by the input device, a command output unit that outputs a command for excluding the possibility of collision between the other vehicle and the vehicle from the determination target to the automatic driving control device,
A driving support system comprising:

The present invention has been described above based on the embodiment. It should be understood by those skilled in the art that these embodiments are mere examples, and that various modifications can be made to the combinations of their respective constituent elements and respective processing processes, and that such modifications are also within the scope of the present invention. By the way.

In the first to fifth embodiments, the case where the vehicle 100 is traveling on the left side is described. However, the present invention is not limited to this, and may be, for example, a case where the vehicle 100 is traveling on the right side. At that time, the description of the left-turning action and the right-turning action is opposite to that of the second to fifth embodiments. According to this modification, the applicable range can be expanded.

In the first to fifth embodiments, the road on which the vehicle 100 or another vehicle travels is described as the obstacle predictive movement route. However, the present invention is not limited to this, and for example, specific lanes on a road may be calculated. At that time, by replacing the road with a lane, the predicted movement route of the obstacle can be calculated more accurately, and the control of the vehicle can be controlled more precisely. According to this modification, the applicable range can be expanded.

In the first to fifth embodiments, as the driving behavior, the merging behavior, the left-turning behavior, and the right-turning behavior are targets of the description. However, the present invention is not limited to this, and may be another driving action, for example. The determination distance 120 may be set according to the driving behavior. According to this modification, the applicable range can be expanded.

In the first to fifth embodiments, when the control unit 31 determines the stop action, the control unit 31 stops the vehicle 100 and transmits information indicating the stop action. Therefore, the control unit 41 performs a process for determining whether or not to exclude the possibility of collision with an obstacle from the determination target when the vehicle 100 is stopped after the action information input unit 54 accepts the stop action. Execute. However, the present invention is not limited to this. For example, the behavior information input unit 54 receives the stopping action before the vehicle 100 stops, and the control unit 41 determines the possibility of collision with an obstacle from the determination target in the state where the vehicle 100 is traveling. You may perform the process for determining whether to exclude. According to this modification, since the vehicle 100 does not stop, traffic can be further smoothed.

In the fourth embodiment, the control unit 41 executes the process for the first other vehicle 102a and the process for the person 104 when turning right. However, not limited to this, for example, the control unit 41 may execute only the process for the person 104 without performing the process for the first other vehicle 102a when making a right turn. At that time, the third threshold value and the fourth threshold value correspond to the first threshold value and the second threshold value, respectively. According to this modification, the applicable range can be expanded.

According to the present invention, it is possible to travel according to the situation even when there is an obstacle.

30 automatic driving control device, 40 driving support device, 41 control unit, 42 storage unit, 43 I/O unit, 76 determination unit, 78 inquiry processing unit, 80 command processing unit, 100 vehicle.

Claims (9)

When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle Is a driving support device mounted on the vehicle having an automatic driving control device for stopping
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is a first threshold value or more, and the obstacle Is less than or equal to a second threshold, the inquiry device is provided with inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Inquiry output part to output,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the obstacle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device,
A driving support device comprising: The command output unit outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device, and then the obstacle from one point on the predicted travel route of the obstacle. A command that includes the possibility of collision between the obstacle and the vehicle when the distance to the object is shorter than a first threshold value or the speed of the obstacle is higher than a second threshold value. Is output to the automatic driving control device, The driving support device according to claim 1. In the behavior information input unit, in the automatic driving control device, when the possibility of collision with a plurality of obstacles is larger than a predetermined value, the stopping behavior information of the vehicle is input from the automatic driving control device,
The inquiry output unit, when the stop behavior information of the vehicle is input from the behavior information input unit, all distances from one point on the predicted travel route of the plurality of obstacles to each of the plurality of obstacles If the speed is equal to or higher than the first threshold value and all the velocities of the plurality of obstacles are equal to or lower than the second threshold value, there is a possibility of collision from the determination target in the automatic driving control device to the plurality of obstacles. The inquiry information for collectively inquiring the occupant whether to exclude is output to the notification device,
In the operation signal input unit, in response to the inquiry notified from the notification device, a response signal for collectively excluding the possibility of collision with the plurality of obstacles from the determination target is input,
The command output unit, when the response signal is input to the operation signal input unit, outputs a command for excluding the possibility of collision with the plurality of obstacles from the determination target to the automatic driving control device. The driving support device according to claim 1. The command output unit outputs, to the automatic driving control device, a command that excludes the possibility of collision with the plurality of obstacles from the determination target, and then outputs the plurality of obstacles from one point on the predicted movement route of the plurality of obstacles. If at least one of the distances to each of the obstacles is shorter than a first threshold value, or if at least one of the velocities of the plurality of obstacles is higher than a second threshold value, The driving support device according to claim 3, wherein a command including a possibility of collision with an obstacle satisfying a condition is output to the automatic driving control device. An automatic driving control device mounted on a vehicle,
When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle An automatic operation control unit that stops the
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control unit,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is a first threshold value or more, and the obstacle Is less than or equal to a second threshold, the notification device is provided with inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control unit. Inquiry output part to output,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the obstacle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control unit,
An automatic operation control device comprising: When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle A driving assistance device mounted on the vehicle having an automatic driving control device for stopping, and a vehicle having the driving assistance device,
The driving support device,
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is a first threshold value or more, and the obstacle Is less than or equal to a second threshold, the inquiry device is provided with inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Inquiry output part to output,
In response to the inquiry notified from the notification device, exclude the possibility of collision between the obstacle and the vehicle from the determination target, an operation signal input unit to which a response signal of a response operation by an occupant is input,
When the response signal is input to the operation signal input unit, a command output unit that outputs a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device,
A vehicle comprising: When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle A driving support method in a driving support device mounted on the vehicle, which comprises an automatic driving control device for stopping
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from one point on the predicted travel route of the obstacle to the obstacle is equal to or more than a first threshold value, and the speed of the obstacle is second. If the threshold value or less, a step of outputting inquiry information for inquiring the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the obstacle and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
When the response signal is input, a step of outputting to the automatic driving control device a command that excludes the possibility of collision between the obstacle and the vehicle from the determination target,
A driving support method comprising: When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle A program in a driving support device mounted on the vehicle having an automatic driving control device for stopping,
A step of inputting stop behavior information of the vehicle from the automatic driving control device;
When the stop behavior information of the vehicle is input, the distance from one point on the predicted travel route of the obstacle to the obstacle is equal to or more than a first threshold value, and the speed of the obstacle is second. If the threshold value or less, a step of outputting inquiry information for inquiring the occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device,
In response to the inquiry notified from the notification device, excluding the possibility of collision between the obstacle and the vehicle from the determination target, a step of inputting a response signal of a response operation by an occupant,
A program for causing a computer to execute a step of outputting a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device when the response signal is input. When the collision possibility between the detected obstacle and the vehicle is calculated, the calculated collision possibility is used as a determination target to control the automatic driving of the vehicle, and when the collision possibility is larger than a predetermined value, the vehicle Is a driving support system mounted on the vehicle including an automatic driving control device for stopping
An action information input unit to which the stop action information of the vehicle is input from the automatic driving control device,
When the stop behavior information of the vehicle is input from the behavior information input unit, the distance from one point on the predicted travel route of the obstacle to the obstacle is a first threshold value or more, and the obstacle Is equal to or lower than the second threshold value, a notification for informing inquiry information for inquiring an occupant whether to exclude the possibility of collision between the obstacle and the vehicle from the determination target in the automatic driving control device. Device,
In response to the inquiry notified from the notification device, an input device that receives a response operation by an occupant, which excludes a possibility of collision between the obstacle and the vehicle from the determination target,
When the response operation is received by the input device, a command output unit that outputs a command for excluding the possibility of collision between the obstacle and the vehicle from the determination target to the automatic driving control device,
A driving support system comprising:

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