JP6769797B2 - Vehicle driving support device - Google Patents

Description

The present invention relates to a vehicle driving support device.

Conventionally, there is a vehicle driving support device that photographs another vehicle running in the vicinity of the own vehicle and supports the driving of the own vehicle based on the captured image. For example, when the own vehicle traveling in the driving lane overtakes the vehicle in front of the own vehicle, the vehicle driving support device photographs another vehicle traveling in the overtaking lane and based on the captured image. Assist the vehicle in overtaking the vehicle in front (for example, Patent Document 1).

JP-A-2010-238053

However, there is room for improvement in the vehicle driving support device in that it smoothly supports the driving of the own vehicle in relation to the vehicle in front of the own vehicle.

Therefore, the present invention has been made in view of the above, and provides a vehicle driving support device capable of smoothly supporting the driving of the own vehicle in relation to the vehicle in front traveling in front of the own vehicle. With the goal.

In order to solve the above-mentioned problems and achieve the object, the vehicle driving support device according to the present invention is installed in the own vehicle and has a photographing unit for photographing the rear end portion of the front vehicle traveling in front of the own vehicle. An image processing unit that determines the width of the vehicle in front and the presence or absence of a mark having a specific shape and a specific color predetermined on the rear end of the vehicle in front from the image taken by the photographing unit. , A vehicle type determination unit that determines the vehicle type of the front vehicle based on the width of the front vehicle and the mark, and a driving support unit that supports the overtaking of the front vehicle by the own vehicle based on the vehicle type of the front vehicle. The driving support unit includes the total length of the own vehicle, the distance between the own vehicle and the front vehicle, the total length of the front vehicle, and the distance between vehicles that can be interrupted ahead of the front vehicle. The total overtaking distance is divided by the relative speed between the own vehicle and the preceding vehicle to calculate the first estimated overtaking time, which is the estimated time for the own vehicle to overtake the preceding vehicle, and the first assumed overtaking time is calculated. The vehicle type determination unit assists the driving of the own vehicle based on the overtaking time, and when the own vehicle changes lanes and starts an overtaking operation to overtake the preceding vehicle, another vehicle type determination unit is in front of the preceding vehicle. When the vehicle is running, the vehicle type of the other vehicle is determined based on the width of the other vehicle and the presence / absence of the mark, and the driving support unit determines the total length of the own vehicle and the own vehicle. The relative overtaking distance between the own vehicle and the other vehicle, which is the sum of the inter-vehicle distance to the other vehicle, the total length of the other vehicle, and the inter-vehicle distance that can be interrupted ahead of the other vehicle. divided by speed, the vehicle calculates the second assumption overtaking time is expected time to overtake said another vehicle, that you support the operation of the vehicle based on the second assumption overtaking time It is a feature.

Further, in the vehicle driving support device, when the vehicle width of the vehicle in front is less than the vehicle width reference value, the vehicle type determination unit determines that the vehicle is the first vehicle type regardless of the presence or absence of the mark, and the vehicle width of the vehicle in front. Is equal to or greater than the vehicle width reference value and does not have the mark, it is determined that the vehicle is a second vehicle type different from the first vehicle type, and the vehicle width of the vehicle in front is equal to or greater than the vehicle width reference value and the mark is present. , It is preferable to determine that the first vehicle type and the third vehicle type are different from the second vehicle type.

Further, in the vehicle driving support device, the image processing unit determines the size of the license plate of the vehicle in front from the image taken by the photographing unit, and the vehicle type determination unit determines the width of the vehicle in front. It is preferable to determine the vehicle type of the front vehicle based on the presence or absence of the mark and the size of the license plate of the front vehicle.

Further, in the vehicle driving support device, the image processing unit determines the number of tires of the rear wheels of the front vehicle from the image taken by the photographing unit, and the vehicle type determination unit determines the vehicle width of the front vehicle. It is preferable to determine the vehicle type of the front vehicle based on the number of tires on the rear wheels of the front vehicle in addition to the presence or absence of the mark.

The vehicle driving support device according to the present invention determines the vehicle type of the front vehicle based on the width and mark of the front vehicle from the image taken by the photographing unit, and drives the own vehicle based on the determined vehicle type of the front vehicle. Therefore, it is possible to smoothly support the driving of the own vehicle in relation to the vehicle in front traveling in front of the own vehicle.

FIG. 1 is a block diagram showing a configuration example of a vehicle driving support device according to an embodiment. FIG. 2 is a diagram showing an example of a third vehicle model of the vehicle according to the embodiment. FIG. 3 is a diagram showing an example of a second vehicle model of the vehicle according to the embodiment. FIG. 4 is a diagram showing an example of the first vehicle model of the vehicle according to the embodiment. FIG. 5 is a diagram showing an example of overtaking by the own vehicle according to the embodiment. FIG. 6 is a flowchart showing a vehicle type determination process of the vehicle in front of the vehicle driving support device according to the embodiment. FIG. 7 is a flowchart showing an overtaking support process of the vehicle driving support device according to the embodiment. FIG. 8 is a flowchart showing a process during overtaking of the vehicle driving support device according to the embodiment. FIG. 9 is a diagram showing an example of mounting a triangular reflector according to a modified example of the embodiment. FIG. 10 is a diagram showing a configuration example of a license plate according to a modified example of the embodiment.

An embodiment (embodiment) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited to the contents described in the following embodiments. In addition, the components described below include those that can be easily assumed by those skilled in the art and those that are substantially the same. Further, the configurations described below can be combined as appropriate. In addition, various omissions, substitutions or changes of the configuration can be made without departing from the gist of the present invention.

[Embodiment]
The vehicle driving support device 1 according to the embodiment will be described. The vehicle driving support device 1 is a drive recorder (digital tachograph) mounted on the vehicle 2 and recording various information related to the driving of the vehicle 2 while the vehicle 2 is running. The vehicle driving support device 1 is not limited to the drive recorder. The vehicle driving support device 1 also serves as a main camera 11 for recording driving, and based on an image taken by the main camera 11, the vehicle driving support device 1 of a front vehicle 2B traveling in front of its own vehicle 2A (own vehicle 2A). The vehicle type is determined (recognized), and the driving of the own vehicle 2A is supported based on the vehicle type of the vehicle in front 2B. The vehicle driving support device 1 is configured as an on-board device including various electronic components. The vehicle driving support device 1 may be mounted on the vehicle 2 afterwards, or may be incorporated in the vehicle 2 at the time of manufacturing the vehicle 2. Hereinafter, the vehicle driving support device 1 will be described in detail with reference to FIGS. 1, 2, 3, 4, and 5.

In the following description, the direction along the total length of the vehicle 2 is referred to as the total length direction, the direction along the width of the vehicle 2 is referred to as the vehicle width direction, and the direction along the height of the vehicle 2 is referred to as the vehicle height direction. The total length direction, the vehicle width direction, and the vehicle height direction are orthogonal to each other.

As shown in FIG. 1, the vehicle driving support device 1 includes a photographing unit 10 and an on-board unit main body 20. The photographing unit 10 is installed in the own vehicle 2A and photographs the outside of the own vehicle 2A. The photographing unit 10 includes a main camera 11 and an optional camera 12. The main camera 11 photographs the front of the own vehicle 2A, and photographs the rear end portion 2a (see FIG. 5 and the like) of the front vehicle 2B traveling in front of the own vehicle 2A. The main camera 11 is fixed at a predetermined depression angle, for example, in the vicinity of a rearview mirror (not shown) so that the vehicle 2B in front can be continuously photographed. As a result, the main camera 11 can take a picture to a position far ahead of the own vehicle 2A by a predetermined distance. The angle of view (viewing angle) of the main camera 11 is set so that the vehicle 2 traveling in the lane adjacent to the lane in which the own vehicle 2A is traveling can be photographed. Further, the angle of view (viewing angle) of the main camera 11 is set so that the division line of the traveling road surface of the lane adjacent to the lane in which the own vehicle 2A is traveling can be photographed. The main camera 11 is connected to the image processing unit 25, and outputs a color photographed image (photographed image) of the front of the own vehicle 2A to the image processing unit 25.

The optional camera 12 is a side-view camera that captures images other than the front of the own vehicle 2A, for example, the rear right side of the own vehicle 2A. The optional camera 12 photographs the right-hand vehicle traveling behind the right side of the own vehicle 2A. The optional camera 12 is fixed to the right side mirror, for example, so that the right vehicle can be continuously photographed. The photographing unit 10 does not have to include the optional camera 12. The main camera 11 and the optional camera 12 may be a monocular camera or a stereo camera. Further, the image captured by the option camera 12 may be monochrome or color.

The on-board unit main body 20 includes a monitor unit 21, a voice vibration output unit 22, a GPS (Global Positioning System) 23, an I / F (interface) unit 24, an image processing unit 25, a recording medium 26, and a control unit. It includes 27. Here, as a basic function of the drive recorder, the vehicle driving support device 1 records various information related to the driving of the own vehicle 2A while the own vehicle 2A is traveling. For example, the vehicle driving support device 1 photographs the front of the own vehicle 2A by the photographing unit 10, records the photographed image on the recording medium 26, and operates the driving by the driver (brake operation, blinker operation, traveling route, etc.). The driving data indicating the situation is stored in the recording medium 26.

The monitor unit 21 is a display device that displays information. The monitor unit 21 is connected to the image processing unit 25 and displays the captured image processed by the image processing unit 25. The monitor unit 21 includes an NTSC (National Television Standard Committee) encoder 21a and a monitor 21b. The NTSC encoder 21a encodes the captured image into a predetermined format and outputs the encoded captured image to the monitor 21b. The monitor 21b is provided with a display screen facing the driver, and displays a captured image output from the NTSC encoder 21a on the display screen.

The voice vibration output unit 22 is an output device that issues various notifications to the driver of the own vehicle 2A. The voice vibration output unit 22 includes a voice output unit 22a and a vibrator 22b. The voice output unit 22a is an auditory information output device that outputs auditory information (voice information, sound information), and issues various notifications by outputting the auditory information. The audio output unit 22a is connected to the control unit 27, and its drive is controlled by the control unit 27. The vibrator 22b is a vibration device that outputs vibration information, and issues various notifications by outputting the vibration information. The vibrator 22b is connected to the control unit 27, and its drive is controlled by the control unit 27.

The GPS 23 is a receiver that receives GPS information (latitude / longitude coordinates) of the own vehicle 2A as the position information of the own vehicle 2A. The GPS 23 receives a GPS signal representing the GPS information of the own vehicle 2A distributed by the GPS satellite. The GPS 23 is connected to the control unit 27 and outputs GPS information corresponding to the received GPS signal to the control unit 27.

The I / F unit 24 connects the control unit 27 and an external device by wire or wirelessly. The I / F unit 24 connects the control unit 27 and an external device with a connector, performs protocol conversion of various signals, and the like. The I / F unit 24 includes a vehicle signal I / F24a, an I / F24b for setting a PC (Personal Computer), a CAN (Control Area Network) conversion unit 24c, and a communication module 24d. The vehicle signal I / F24a connects a vehicle braking unit such as a brake, a blinker, or an ignition switch to a control unit 27. The PC setting I / F 24b connects an external PC (not shown) to the control unit 27. The CAN conversion unit 24c connects the other device 3 and the control unit 27, and converts a signal transmitted and received between the other device 3 and the control unit 27 into a communication protocol for CAN. The communication module 24d wirelessly connects the external server 4 and the control unit 27, and transmits / receives information to / from the server 4.

The image processing unit 25 processes an image. The image processing unit 25 includes a ROM (Read Only Memory) 25a, a SDRAM (Synchronous Dynamic Random Access Memory) 25b, a decoder 25c, and an image determination CPU (Central Processing Unit) 25d.

The ROM 25a is a non-volatile memory and is a storage device dedicated to reading data. The ROM 25a is connected to the image determination CPU 25d, and stores in advance a program or the like for determining an image executed by the image determination CPU 25d. The ROM 25a stores in advance a template image used in template matching. The ROM 25a stores in advance, for example, as a template image, an image for identifying various types of vehicles 2, an image for identifying the triangular reflector 2b, an image for identifying a dividing line on a traveling road surface, and the like. There is. The ROM 25a stores in advance a vehicle width reference value for calculating the vehicle width W according to the vehicle-to-vehicle distance K1 (distance from the reference position in the captured image data). Further, the ROM 25a stores in advance a license plate reference value for calculating the size of the license plate 5 according to the inter-vehicle distance K1 (distance from the reference position in the captured image data).

The SDRAM 25b is a volatile memory and is a storage device capable of reading and writing data. The SDRAM 25b is connected to the image determination CPU 25d, and temporarily stores the calculation result of the image determination CPU 25d.

The decoder 25c is a decoder connected to the photographing unit 10 and decodes the captured image output from the photographing unit 10 into a predetermined data format. The decoder 25c decodes the captured image output from the photographing unit 10 and outputs the decoded captured image data to the image determination CPU 25d.

The image determination CPU 25d determines a subject such as a front vehicle 2B or a lane marking from the captured image data. The image determination CPU 25d determines, for example, the vehicle width W of the front vehicle 2B traveling in the same lane as the own vehicle 2A (for example, the traveling lane Rd1) from the captured image data captured by the main camera 11. The image determination CPU 25d determines, for example, whether or not the captured image data includes the vehicle 2B ahead of the traveling lane Rd1 by well-known template matching, and when the vehicle 2B ahead of the traveling lane Rd1 is included in the captured image data, The width W of the vehicle 2B in front of the traveling lane Rd1 is determined. Here, the vehicle width W of the front vehicle 2B is, for example, the maximum length of the front vehicle 2B in the vehicle width direction.

The image determination CPU 25d calculates the inter-vehicle distance K1 between the front vehicle 2B and the own vehicle 2A when determining the vehicle width W of the front vehicle 2B in the traveling lane Rd1. When calculating the inter-vehicle distance K1, the image determination CPU 25d has a constant shooting direction and angle of view of the main camera 11, and therefore, depending on the position in the captured image data in which the vehicle in front 2B is projected, the own vehicle 2A The inter-vehicle distance K1 from the position to the vehicle in front 2B can be calculated. That is, the image determination CPU 25d sets the distance from the reference position in the captured image data to the rear end portion 2a (for example, the rear bumper) of the front vehicle 2B in the captured image data in the total length direction from the own vehicle 2A to the front vehicle 2B. It can be converted to distance. The inter-vehicle distance K1 may be obtained by using, for example, an infrared laser. In this case, the inter-vehicle distance measuring unit (not shown) irradiates the front of the own vehicle 2A with an infrared laser, receives the reflected light reflected from the vehicle 2B in front of the traveling lane Rd1, and converts the time from the light emission to the light reception into the distance. By doing so, the inter-vehicle distance K1 is measured.

The image determination CPU 25d calculates the vehicle width W of the vehicle in front 2B based on the inter-vehicle distance K1. As described above, the image determination CPU 25d previously sets the vehicle width reference value for calculating the vehicle width W according to the inter-vehicle distance K1 (distance from the reference position in the photographed image data) in the captured image data in the ROM 27a. I remember. This is because, in the captured image data, the vehicle width W becomes shorter as the inter-vehicle distance K1 becomes longer even in the front vehicle 2B of the same vehicle type. The image determination CPU 25d can calculate the vehicle width W of the vehicle in front 2B by using the vehicle width reference value determined according to the inter-vehicle distance K1 in the captured image data. The image determination CPU 25d outputs the calculated vehicle width W of the front vehicle 2B to the control unit 27.

Further, the image determination CPU 25d determines the presence or absence of the triangular reflector 2b as a mark predetermined on the rear end portion 2a of the front vehicle 2B and having a specific shape and a specific color. The configuration of the triangular reflector 2b and the like will be described later. The image determination CPU 25d determines whether or not the captured image data includes the triangular reflector 2b by template matching. For example, the image determination CPU 25d performs template matching based on the template image of the triangular reflector 2b stored in the ROM 25a in advance, and determines whether or not the triangular reflector 2b included in the captured image data is included. The image determination CPU 25d outputs to the control unit 27 the presence / absence information of the triangular reflector 2b indicating the presence / absence of the triangular reflector 2b.

As shown in FIG. 2, the triangular reflector 2b has a substantially equilateral triangular shape and has a side of about 15 cm to 20 cm. The triangular reflector 2b is a corner cube reflector whose color is red and which reflects the incident light in the same direction as the incident light. The triangular reflector 2b is provided at the rear end portion 2a of the trailer (towed vehicle) 2E of the freight vehicle 2G that carries the cargo. Here, the freight vehicle 2G is composed of a trailer 2E for loading the freight and a tractor (towing vehicle) for towing the trailer 2E. The trailer 2E is provided with a dive prevention device 2c in order to prevent the rear vehicle from slipping under the trailer 2E when, for example, a rear vehicle traveling behind the trailer 2E collides with the trailer 2E. The dive prevention device 2c includes a rod-shaped metal bar 2d, the metal bar 2d is provided at a constant height from the traveling road surface, and the metal bar 2d extends after the trailer 2E so as to extend along the vehicle width direction. It is fixed to the end 2a. The metal bar 2d is fixed to the lower side of the tail lamp (back lamp) 2e in the vehicle height direction at the rear end portion 2a of the trailer 2E, for example. For example, one triangular reflector 2b is provided at both ends of the metal bar 2d of the dive prevention device 2c. The triangular reflector 2b is provided with one apex facing upward in the vehicle height direction. The metal bar 2d of the dive prevention device 2c is further provided with a rectangular reflector 2f.

The recording medium 26 is a memory for recording the information acquired by the vehicle driving support device 1. The recording medium 26 is, for example, a memory (removable medium) that can be attached to and detached from the vehicle driving support device 1 via various interfaces. As the recording medium 26, for example, various types of memory cards can be used. The recording medium 26 stores a photographed image captured by the photographing unit 10 and traveling data indicating a driving operation (brake operation, blinker operation, traveling route, etc.) by the driver.

The control unit 27 controls the vehicle-mounted device main body 20, and includes a ROM 27a, an SDRAM 27b, an EEPROM (Electrically Erasable Programmable Read-Only Memory) 27c, and a control system processing CPU 27d.

The ROM 27a is a non-volatile memory and is a storage device dedicated to reading data. The ROM 27a is connected to the control system processing CPU 27d, and stores in advance a program or the like for controlling the vehicle-mounted device main body 20 executed by the control system processing CPU 27d. The ROM 27a stores, for example, the total length L1 of the own vehicle 2A in advance. Further, the ROM 27a stores, for example, vehicle total length map data indicating the relationship between the vehicle type of the vehicle 2 and the total length of the vehicle 2 in advance. The vehicle total length map data shows that the total length of the vehicle 2 is 6 m when the vehicle type of the vehicle 2 described later is the first vehicle type, and the total length of the vehicle 2 is 12 m when the vehicle type of the vehicle 2 is the second vehicle type. This is data indicating that the total length of the vehicle 2 is 18 m when the vehicle type of the vehicle 2 is the third vehicle type.

The front vehicle 2B is classified into three vehicle types, the first vehicle type, the second vehicle type, and the third vehicle type described above. The first vehicle type is, for example, the ordinary vehicle 2C shown in FIG. 4, the vehicle width W3 is less than the vehicle width reference value (for example, 2 m), and the triangular reflector 2b is not provided. The second vehicle type is, for example, the large truck 2D shown in FIG. 3, in which the vehicle width W2 is equal to or larger than the vehicle width reference value (for example, 2 m) and the triangular reflector 2b is not provided. The third vehicle model is, for example, the trailer 2E (freight vehicle 2G) shown in FIG. 2, for example, a vehicle model in which the vehicle width W1 is equal to or larger than the vehicle width reference value (for example, 2 m) and the triangular reflector 2b is provided. is there.

The SDRAM 27b is a volatile memory and is a storage device capable of reading and writing data. The SDRAM 27b is connected to the control system processing CPU 27d, and temporarily stores the calculation result by the control system processing CPU 27d.

The EEPROM 27c is a non-volatile memory and is a storage device capable of reading and writing data. The EEPROM 27c is connected to the control system processing CPU 27d and stores the calculation result by the control system processing CPU 27d.

The control system processing CPU 27d is a central processing unit that collectively controls each part of the on-board unit main body 20. The control system processing CPU 27d includes an electronic circuit mainly composed of a well-known microcomputer. As described above, the control system processing CPU 27d is connected to the voice vibration output unit 22, the GPS 23, the I / F unit 24, the image processing unit 25, the recording medium 26, and the like, and various electrical signals are connected to these. Input / output. Further, the control system processing CPU 27d executes the program stored in the ROM 27a and performs various processes necessary for realizing the functions of the vehicle-mounted device main body 20. For example, when the control system processing CPU 27d receives the IGN on signal output from the ignition switch of the own vehicle 2A in the stopped state, the control system processing CPU 27d activates the vehicle-mounted device main body 20 in the activated state, while the IGN output from the ignition switch. When the off signal is received in the activated state, the operation is stopped and the vehicle-mounted device main body 20 is stopped. The control system processing CPU 27d is functionally conceptually configured to include a vehicle type determination unit 27e and a driving support unit 27f.

The vehicle type determination unit 27e determines the vehicle type of the front vehicle 2B based on the vehicle width W of the front vehicle 2B and the triangular reflector 2b. The vehicle type determination unit 27e determines the vehicle type based on the vehicle width W of the vehicle in front 2B output from the image determination CPU 25d and the presence / absence information of the triangular reflector 2b indicating the presence / absence of the triangular reflector 2b. The vehicle type determination unit 27e compares the vehicle width W of the vehicle in front 2B with a predetermined vehicle width reference value (for example, 2 m). When the vehicle width W of the vehicle in front 2B is less than 2 m, the vehicle type determination unit 27e determines that the vehicle type is the first vehicle type, for example, the ordinary vehicle 2C, regardless of the presence or absence of the triangular reflector 2b. When the vehicle width W of the front vehicle 2B is 2 m or more and there is no triangular reflector 2b, the vehicle type determination unit 27e determines that the vehicle type is a second vehicle type different from the first vehicle type, for example, a large truck 2D. When the vehicle width W of the front vehicle 2B is 2 m or more and the triangular reflector 2b is present, the vehicle type determination unit 27e determines that the vehicle type is the first vehicle type and a third vehicle type different from the second vehicle type, for example, the trailer 2E.

The driving support unit 27f supports the driving of the own vehicle 2A based on the vehicle type of the vehicle in front 2B. For example, the driving support unit 27f supports the overtaking of the front vehicle 2B by the own vehicle 2A based on the vehicle type of the front vehicle 2B. Here, when the own vehicle 2A overtakes the front vehicle 2B, the own vehicle 2A changes lanes to the right lane, the own vehicle 2A overtakes the front vehicle 2B, and the own vehicle 2A forwards to a safe distance of the front vehicle 2B. The own vehicle 2A changes to the left lane. The driving support unit 27f refers to the above-mentioned vehicle total length map data, and acquires the total length L2 of the front vehicle 2B from the vehicle type of the front vehicle 2B. The driving support unit 27f acquires the total length L2 (6 m) of the vehicle 2 when the vehicle type of the vehicle 2 is the first model, and the total length L2 (12 m) of the vehicle 2 when the vehicle type of the vehicle 2 is the second model. Is acquired, and when the vehicle type of the vehicle 2 is the third vehicle type, the total length L2 (18 m) of the vehicle 2 is acquired. The driving support unit 27f supports the overtaking of the front vehicle 2B based on the acquired total length L2 of the front vehicle 2B. As shown in FIG. 5, for example, the driving support unit 27f has the total length L1 of the own vehicle 2A, the inter-vehicle distance K1 between the own vehicle 2A and the front vehicle 2B, the total length L2 of the front vehicle 2B, and the tip of the front vehicle 2B. The total overtaking distance, which is the sum of the inter-vehicle distance K2 that can be interrupted by, is calculated, the total overtaking distance is divided by the relative speed between the own vehicle 2A and the preceding vehicle 2B, and the estimated time for the own vehicle 2A to overtake the preceding vehicle 2B. Calculate the assumed overtaking time. The driving support unit 27f notifies the driver of the estimated overtaking time by the voice output unit 22a or the like. As a result, the driver can easily determine whether or not to overtake the vehicle in front 2B based on the assumed overtaking time.

[Vehicle type determination process for vehicles in front]
Next, an operation example of the vehicle driving support device 1 will be described. The vehicle type determination process of the front vehicle 2B by the vehicle driving support device 1 will be described with reference to FIG. When the control system processing CPU 27d receives, for example, the IGN on signal in the stopped state, the control system processing CPU 27d activates and puts the vehicle-mounted device main body 20 into the activated state. The image determination CPU 25d determines whether or not the vehicle in front 2B traveling in the same lane as the own vehicle 2A (for example, the traveling lane Rd1) is traveling (step S1). The image determination CPU 25d determines whether or not the front vehicle 2B is included in the captured image data by, for example, template matching. The image determination CPU 25d calculates the inter-vehicle distance K1 to the front vehicle 2B when the front vehicle 2B traveling in the same lane as the own vehicle 2A (traveling lane Rd1) is traveling (step S1; Yes) (step S2). .. For example, the image determination CPU 25d calculates the inter-vehicle distance K1 from the position of the own vehicle 2A to the front vehicle 2B based on the position in which the front vehicle 2B is reflected in the captured image data. Next, the image determination CPU 25d calculates the vehicle width W of the vehicle in front 2B (step S3). For example, the image determination CPU 25d calculates the vehicle width W of the vehicle 2B in front of the traveling lane Rd1 by using the vehicle width reference value determined according to the inter-vehicle distance K1 in the captured image data, and the vehicle in front of the traveling lane Rd1. The vehicle width W of 2B is output to the vehicle type determination unit 27e of the control system processing CPU 27d. Next, the image determination CPU 25d determines the presence or absence of the triangular reflector 2b (step S4). The image determination CPU 25d determines, for example, whether or not the captured image data includes the triangular reflector 2b by template matching, and outputs the presence / absence information of the triangular reflector 2b indicating the presence / absence of the triangular reflector 2b to the control system processing CPU 27d. Output to the vehicle type determination unit 27e.

Next, the vehicle type determination unit 27e of the control system processing CPU 27d determines whether or not the vehicle width W of the vehicle in front 2B is 2 m or more (step S5). When the vehicle width W of the vehicle in front 2B is 2 m or more (step S5; Yes), the vehicle type determination unit 27e determines whether or not the captured image data includes the triangular reflector 2b (step S6). When the vehicle type determination unit 27e determines that the captured image data includes the triangular reflector 2b (step S6; Yes), the vehicle type determination unit 27e determines that the front vehicle 2B running in front of the own vehicle 2A is the trailer 2E (step S7), and determines that the vehicle in front is the trailer 2E. The process of determining the vehicle type of 2B is completed.

In step S1 described above, the image determination CPU 25d is the same as the own vehicle 2A again when the front vehicle 2B running in the same lane as the own vehicle 2A (traveling lane Rd1) is not running (step S1; No). It is determined whether or not there is a vehicle in front 2B traveling in the lane (traveling lane Rd1). Further, in step S5 described above, when the vehicle width W of the front vehicle 2B is less than 2 m (step S5; No), the vehicle type determination unit 27e determines that the front vehicle 2B running in front of the own vehicle 2A is a normal vehicle 2C. (Step S8), the process of determining the vehicle type of the vehicle in front 2B is completed. Further, in step S6 described above, when the vehicle type determination unit 27e determines that the captured image data does not have the triangular reflector 2b (step S6; No), the vehicle in front 2B running in front of the own vehicle 2A is referred to as a large truck 2D. The determination (step S9) is performed, and the process of determining the vehicle type of the vehicle in front 2B is completed.

[Overtaking support processing]
Next, the overtaking support process by the vehicle driving support device 1 will be described with reference to FIG. 7. The image determination CPU 25d determines whether or not the vehicle in front 2B traveling in the same lane as the own vehicle 2A (for example, the traveling lane Rd1) is traveling (step S10). When the front vehicle 2B traveling in the same lane (traveling lane Rd1) as the own vehicle 2A is traveling (step S10; Yes), the driving support unit 27f of the control system processing CPU 27d has an inter-vehicle distance K1 of the front vehicle 2B in the same lane. Alternatively, it is determined whether or not the inter-vehicle time is equal to or less than a predetermined set value (step S11). Here, the inter-vehicle time is the time obtained by dividing the inter-vehicle distance K1 by the speed of the own vehicle 2A. When the driving support unit 27f determines that the inter-vehicle distance K1 or the inter-vehicle time of the vehicle 2B in front of the same lane is equal to or less than the set value and the own vehicle 2A is approaching the vehicle 2B in front of the same lane (step S11; Yes). ), It is determined whether or not the relative speed between the own vehicle 2A and the vehicle in front 2B in the same lane is closer than a predetermined set value (step S12). When the relative speed between the own vehicle 2A and the vehicle in front 2B in the same lane is closer than the set value (step S12; Yes), the driving support unit 27f calculates the assumed overtaking time. The driving support unit 27f has, for example, the total length L1 of the own vehicle 2A, the inter-vehicle distance K1 between the own vehicle 2A and the front vehicle 2B, the total length L2 of the front vehicle 2B, and the inter-vehicle distance K2 capable of interrupting the front vehicle 2B. The total overtaking distance is calculated, and the total overtaking distance is divided by the relative speed between the own vehicle 2A and the vehicle in front 2B to calculate the estimated overtaking time. Next, the driving support unit 27f determines whether or not the right side division line of the traveling road surface of the traveling vehicle 2 is a broken line (step S14). The driving support unit 27f determines, for example, whether or not the right side marking line is a broken line by pattern matching. When the driving support unit 27f determines that the right side division line of the traveling road surface of the traveling vehicle 2 is a broken line (step S14; Yes), the distance between the vehicle and the vehicle in front of the right adjacent lane (for example, the overtaking lane Rd2) is not shown. It is determined whether or not the distance or the inter-vehicle time is equal to or greater than the set value (step S15). When the inter-vehicle distance or inter-vehicle time with the vehicle in front of the vehicle in front of the right adjacent lane (overtaking lane Rd2) is equal to or greater than the set value (step S15; Yes), the driving support unit 27f notifies the driver of the estimated overtaking time (step S15; Yes). Step S16). For example, the driving support unit 27f outputs the estimated overtaking time as auditory information by the voice output unit 22a and notifies the driver. Further, the driving support unit 27f may display the estimated overtaking time on the monitor 21b and output vibration information by the vibrator 22b to notify the driver. Further, the driving support unit 27f may display the estimated overtaking time on the monitor 21b and notify the driver by combining auditory information and vibration information. After notifying the estimated overtaking time, the driving support unit 27f ends the overtaking support process. The driver determines whether or not to overtake the front vehicle 2B based on the assumed overtaking time, and when overtaking the front vehicle 2B, changes the lane of the own vehicle 2A to the overtaking lane Rd2 and overtakes the front vehicle 2B. The vehicle 2A is moved in front of the vehicle 2B in front. Further, when the driver does not overtake the vehicle in front 2B, the driver causes the own vehicle 2A to travel as it is along the traveling lane Rd1.

In step S10 described above, the image determination CPU 25d is the same as the own vehicle 2A again when the front vehicle 2B running in the same lane as the own vehicle 2A (traveling lane Rd1) is not running (step S10; No). It is determined whether or not there is a vehicle in front 2B traveling in the lane (traveling lane Rd1). Further, in step S11 described above, when the driving support unit 27f exceeds the set value of the inter-vehicle distance K1 or the inter-vehicle time of the vehicle 2B in front of the same lane (step S11; No), the own vehicle 2A is a vehicle in front of the same lane. Since it is separated from 2B, the process returns to step S11 described above, and the determination is repeated until the inter-vehicle distance K1 or the inter-vehicle time of the preceding vehicle 2B in the same lane becomes equal to or less than the set value. Further, in step S12 described above, when the relative speed between the own vehicle 2A and the vehicle in front 2B in the same lane is not closer than the set value (step S12; No), the own vehicle 2A is the same. Since it is difficult to overtake the vehicle 2B in front of the lane, the process returns to step S11 described above to determine the inter-vehicle distance K1 and the like. Further, when the driving support unit 27f determines that the right side division line of the traveling road surface of the traveling vehicle 2 is not a broken line (step S14; No), the own vehicle 2A cannot change the lane, so that the above step S11 is performed. Go back and determine the inter-vehicle distance K1 and so on. When the inter-vehicle distance or inter-vehicle time of the vehicle in front of the right adjacent lane (for example, overtaking lane Rd2) is less than the set value (step S15; No), the driving support unit 27f shifts to the right adjacent lane (overtaking lane Rd2). Since it is difficult for the traveling front vehicle 2B to overtake the front vehicle 2B in the same lane (traveling lane Rd1), the process returns to step S11 described above to determine the inter-vehicle distance K1 and the like.

[Processing during overtaking]
Next, with reference to FIG. 8, the processing during overtaking by the vehicle driving support device 1 will be described. The driving support unit 27f notifies the driver of the assumed overtaking time (step S20). For example, the driving support unit 27f outputs the estimated overtaking time as auditory information by the voice output unit 22a and notifies the driver. Next, the driving support unit 27f determines whether or not the own vehicle 2A changes lanes by the driver's operation and starts the overtaking operation (step S21). The driving support unit 27f determines, for example, whether or not the own vehicle 2A has changed lanes and started the overtaking operation from the captured image data. When the own vehicle 2A changes lanes and starts the overtaking operation (step S21; Yes), the driving support unit 27f determines whether another vehicle is running in front of the front vehicle 2B which is the overtaking vehicle. Is determined (step S22). When another vehicle (second vehicle) is traveling in front of the front vehicle 2B, which is the overtaking vehicle, the driving support unit 27f determines the vehicle type of the second vehicle (step S22; Yes). S23). For example, the vehicle driving support device 1 performs the vehicle type determination process shown in FIG. 6 to determine the vehicle type of the second vehicle. Next, the driving support unit 27f recalculates the assumed overtaking time (step S24). The driving support unit 27f has, for example, the total length L1 of the own vehicle 2A, the inter-vehicle distance K1 between the own vehicle 2A and the second vehicle, the total length L2 of the second vehicle, and the inter-vehicle distance K2 that can be interrupted ahead of the second vehicle. The total overtaking distance is calculated, and the total overtaking distance is divided by the relative speed between the own vehicle 2A and the second vehicle to calculate the estimated overtaking time. After recalculating the estimated overtaking time, the driving support unit 27f notifies the driver of the recalculated estimated overtaking time.
In step S21 described above, when the own vehicle 2A changes lanes and does not start the overtaking operation (step S21; No), the driving support unit 27f determines whether or not the overtaking operation is started again. judge. Further, in step S22 described above, the driving support unit 27f is overtaking when another vehicle (second vehicle) is not running in front of the front vehicle 2B which is the overtaking vehicle (step S22; No). Ends the processing of.

As described above, the vehicle driving support device 1 according to the embodiment determines the vehicle type of the front vehicle 2B based on the vehicle width W of the front vehicle 2B and the presence / absence of the triangular reflector 2b, and is based on the vehicle type of the front vehicle 2B. It supports the driving of the own vehicle 2A. As a result, the vehicle driving support device 1 can smoothly support the driving of the own vehicle 2A in relation to the front vehicle 2B traveling in front of the own vehicle 2A. For example, when the own vehicle 2A overtakes the front vehicle 2B, the vehicle driving support device 1 increases the overtaking time when the total length L2 of the front vehicle 2B traveling in front of the own vehicle 2A is long, and the total length of the front vehicle 2B. When L2 is short, the driver can be notified that the overtaking time will be short.

Further, in the vehicle driving support device 1, when the vehicle width W of the vehicle in front 2B is less than the vehicle width reference value (2 m), the vehicle type determination unit 27e determines the first vehicle type (ordinary vehicle 2C) regardless of the presence or absence of the triangular reflector 2b. ), And if the vehicle width W of the vehicle in front 2B is equal to or greater than the vehicle width reference value (2 m) and there is no triangular reflector 2b, it is determined that the vehicle is a second vehicle (large truck 2D) different from the first vehicle and is ahead. When the vehicle width W of the vehicle 2B is equal to or larger than the vehicle width reference value (2 m) and the triangular reflector 2b is present, it is determined that the vehicle 2B is a first vehicle type and a third vehicle type (trailer 2E) different from the second vehicle type. As a result, the vehicle driving support device 1 can support the driving of the own vehicle 2A based on the size (total length L2) of the front vehicle 2B traveling in front of the own vehicle 2A.

Further, in the vehicle driving support device 1, the driving support unit 27f supports the overtaking of the front vehicle 2B by the own vehicle 2A based on the vehicle type of the front vehicle 2B. As a result, the vehicle driving support device 1 has a long overtaking time when the total length L2 of the front vehicle 2B traveling in front of the own vehicle 2A is long, and the overtaking time when the total length L2 of the front vehicle 2B is short. Can be notified to the driver that will be shortened. Therefore, the vehicle driving support device 1 can support the smooth overtaking of the front vehicle 2B traveling in front of the own vehicle 2A.

Further, in the vehicle driving support device 1, the driving support unit 27f has the total length L1 of the own vehicle 2A, the inter-vehicle distance K1 between the own vehicle 2A and the front vehicle 2B, the total length L2 of the front vehicle 2B, and the tip of the front vehicle 2B. The estimated overtaking time is calculated by dividing the total overtaking distance, which is the sum of the inter-vehicle distance K2 that can be interrupted by, by the relative speed between the own vehicle 2A and the vehicle in front 2B, and based on the estimated overtaking time, the own vehicle 2A Support driving. In the vehicle driving support device 1, for example, when the own vehicle 2A (large truck 2D) is traveling at a speed limit (for example, 80 km / h), the vehicle driving support device 1 travels at a speed similar to that of the own vehicle 2A. When overtaking track 2D), a long assumed overtaking time is calculated because the relative speed is slow. Further, in the vehicle driving support device 1, for example, when the own vehicle 2A (large truck 2D) is traveling at a speed limit (for example, 80 km / h), the vehicle driving support device 1 travels at a speed slower than the own vehicle 2A (for example, the front vehicle 2B (). When overtaking a large truck 2D), a short assumed overtaking time is calculated because the relative speed is high. As a result, the driver can easily determine whether or not to overtake the vehicle in front 2B based on the assumed overtaking time.

[Modification example]
Next, a modified example of the embodiment will be described. An example in which the triangular reflector 2b is provided at both ends of the metal bar 2d of the dive prevention device 2c has been described, but the present invention is not limited thereto. For example, as shown in FIG. 9, the triangular reflector 2b may be provided at a position where the tail lamp (back lamp) 2e of the trailer 2E is aligned in the vehicle width direction.

Further, the vehicle driving support device 1 may further determine the vehicle type based on the size of the license plate 5. In this case, the image determination CPU 25d determines the size of the license plate 5 of the front vehicle 2B shown in FIG. 10 from the image captured by the photographing unit 10. Here, the license plate 5 includes, for example, a license plate 5A of a large plate, a license plate 5B of a medium plate, and the like. The license plate 5A of the large plate has, for example, a vertical length of 22 cm and a horizontal length of 44 cm. The license plate 5B of the medium-sized plate has, for example, a vertical length of 16.5 cm and a horizontal length of 33 cm. The license plate 5A of the large plate is attached to, for example, a large truck 2D or a trailer 2E, and the license plate 5B of a medium plate is attached to, for example, an ordinary vehicle 2C.

As described above, the image determination CPU 25d uses the license plate reference value for calculating the size of the license plate 5 according to the inter-vehicle distance K1 (distance from the reference position in the captured image data) in the captured image data. It is stored in the ROM 25a in advance. This is because, in the captured image data, even if the license plates 5 have the same size, the license plates 5 appear smaller as the inter-vehicle distance K1 becomes longer. The image determination CPU 25d can calculate the size of the license plate 5 of the vehicle 2B in front of the traveling lane Rd1 by using the license plate reference value determined according to the inter-vehicle distance K1 in the captured image data. The image determination CPU 25d outputs the calculated size of the license plate 5 of the vehicle 2B ahead of the traveling lane Rd1 to the control unit 27.

The vehicle type determination unit 27e of the control unit 27 determines the vehicle type of the front vehicle 2B based on the vehicle width W of the front vehicle 2B, the presence / absence of the triangular reflector 2b, and the size of the license plate 5 of the front vehicle 2B. When the vehicle width W of the vehicle in front 2B is less than 2 m, the vehicle type determination unit 27e determines that the vehicle type is the first vehicle type, for example, the ordinary vehicle 2C, regardless of the presence or absence of the triangular reflector 2b. When the vehicle width W of the front vehicle 2B is 2 m or more, the license plate 5 of the front vehicle 2B is the license plate 5A of the large plate, and the front vehicle 2B does not have the triangular reflector 2b, the vehicle type determination unit 27e is the first. It is determined that the second vehicle type is different from the first vehicle type, for example, a large truck 2D. In the vehicle type determination unit 27e, when the vehicle width W of the front vehicle 2B is 2 m or more, the license plate 5 of the front vehicle 2B is the license plate 5A of the large plate, and the front vehicle 2B has the triangular reflector 2b, the first It is determined that one vehicle type and a third vehicle type different from the second vehicle type, for example, trailer 2E. As a result, the vehicle driving support device 1 can more accurately determine the vehicle type of the vehicle in front 2B.

Further, the vehicle driving support device 1 may further determine the vehicle type of the front vehicle 2B based on the number of tires 2g of the rear wheels of the front vehicle 2B. The image determination CPU 25d determines the number of tires 2g of the rear wheels of the front vehicle 2B from the image captured by the photographing unit 10. The image determination CPU 25d determines the number of tires 2g of the rear wheels of the front vehicle 2B by pattern matching, for example, in the captured image data. The image determination CPU 25d outputs the number of tires 2g of the rear wheels of the front vehicle 2B to the control unit 27.

The vehicle type determination unit 27e of the control unit 27 determines the vehicle type of the front vehicle 2B based on the vehicle width W of the front vehicle 2B, the triangular reflector 2b, and the number of tires 2g of the rear wheels of the front vehicle 2B. When the vehicle width W of the vehicle in front 2B is less than 2 m, the vehicle type determination unit 27e determines that the vehicle type is the first vehicle type, for example, the ordinary vehicle 2C, regardless of the presence or absence of the triangular reflector 2b. In the vehicle type determination unit 27e, the vehicle width W of the front vehicle 2B is 2 m or more, the license plate 5 of the front vehicle 2B is the license plate 5A of the large plate, and the number of tires 2g of the rear wheels of the front vehicle 2B is set. When the number (for example, four) or more and the front vehicle 2B does not have the triangular reflector 2b, it is determined that the second vehicle type is different from the first vehicle type, for example, a large truck 2D. In the vehicle type determination unit 27e, the vehicle width W of the front vehicle 2B is 2 m or more, the license plate 5 of the front vehicle 2B is the license plate 5A of the large plate, and the number of tires 2g of the rear wheels of the front vehicle 2B is set. When the number (for example, four) or more and the front vehicle 2B has the triangular reflector 2b, it is determined that the first vehicle type and the third vehicle type different from the second vehicle type, for example, the trailer 2E. As a result, the vehicle driving support device 1 can more accurately determine the vehicle type of the vehicle in front 2B. The vehicle type determination unit 27e may determine the vehicle type of the front vehicle 2B based on the vehicle width W of the front vehicle 2B, the presence / absence of the triangular reflector 2b, and the number of tires 2g of the rear wheels of the front vehicle 2B. ..

Further, the vehicle driving support device 1 has been described with a vehicle width reference value of 2 m, but the present invention is not limited to this. The vehicle width reference value (2 m) is a standard value for distinguishing between the ordinary vehicle 2C and other vehicle types (heavy truck 2D, trailer 2E), and it is possible to distinguish between the ordinary vehicle 2C and other vehicle types. If possible, a value other than 2 m may be used.

Further, the vehicle driving support device 1 uses the triangular reflector 2b as a mark for distinguishing the large truck 2D and the trailer 2E, but if it is a mark capable of distinguishing the large truck 2D and the trailer 2E, , Not limited to the triangular reflector 2b.

In addition to the overtaking support, the vehicle driving support device 1 may support adjusting the inter-vehicle distance K1 with the front vehicle 2B based on the vehicle type of the front vehicle 2B. When the vehicle driving support device 1 recognizes that, for example, a danger mark provided on a vehicle carrying (transferring) a dangerous object is provided on the front vehicle 2B, the vehicle driving support device 1 sets the inter-vehicle distance K1 with the front vehicle 2B to a certain distance or more. Help to open.

Further, the vehicle driving support device 1 has described an example in which the driver is notified of the assumed overtaking time by the voice output unit 22a or the like, but the present invention is not limited to this. When the vehicle driving support device 1 determines that it is possible to overtake the vehicle in front 2B based on the assumed overtaking time when the own vehicle 2A is set to the automatic driving mode, for example, the overtaking lane Rd2 After confirming the vehicle traveling in the vehicle, the own vehicle 2A may be automatically braked to overtake the vehicle in front 2B.

1 Vehicle driving support device 10 Shooting unit 11 Main camera 20 In-vehicle device Main body 25 Image processing unit 27e Vehicle type determination unit 27f Driving support unit 2 Vehicle 2A Own vehicle 2B Front vehicle 2C Ordinary vehicle 2D Large truck 2E Trailer 2a Rear end 2b Triangular reflection Plate 2g Tire 5, 5A, 5B License plate W, W1, W2, W3 Vehicle width

Claims (4)

A photographing unit installed in the own vehicle and photographing the rear end of the front vehicle traveling in front of the own vehicle, and a photographing unit.
From the image taken by the photographing unit, an image processing unit that determines the width of the vehicle in front and the presence or absence of a mark predetermined in the rear end of the vehicle in front and having a specific shape and a specific color.
A vehicle type determination unit that determines the vehicle type of the vehicle in front based on the width of the vehicle in front and the mark.
It is provided with a driving support unit that supports the overtaking of the preceding vehicle by the own vehicle based on the vehicle type of the preceding vehicle .
The driving support unit overtakes the total length of the own vehicle, the distance between the own vehicle and the front vehicle, the total length of the front vehicle, and the inter-vehicle distance that can be interrupted ahead of the front vehicle. The total distance is divided by the relative speed between the own vehicle and the preceding vehicle to calculate the first estimated overtaking time, which is the estimated time for the own vehicle to overtake the preceding vehicle, and based on the first assumed overtaking time. To support the driving of the own vehicle
When the own vehicle changes lanes and starts the overtaking operation of overtaking the vehicle in front, the vehicle type determination unit determines that the vehicle of the other vehicle is running in front of the vehicle in front of the vehicle. The vehicle type of the other vehicle is determined based on the width and the presence / absence of the mark.
The driving support unit totals the total length of the own vehicle, the distance between the own vehicle and the other vehicle, the total length of the other vehicle, and the inter-vehicle distance that can be interrupted ahead of the other vehicle. The total overtaking distance is divided by the relative speed between the own vehicle and the other vehicle to calculate the second assumed overtaking time, which is the estimated time for the own vehicle to overtake the other vehicle, and the second assumed overtaking time is calculated. A vehicle driving support device characterized by supporting the driving of the own vehicle based on the overtaking time . The vehicle type determination unit
If the width of the vehicle in front is less than the vehicle width reference value, it is determined to be the first vehicle type regardless of the presence or absence of the mark.
If the width of the vehicle in front is equal to or greater than the vehicle width reference value and there is no mark, it is determined that the vehicle is a second vehicle different from the first vehicle.
The vehicle driving support device according to claim 1, wherein when the vehicle width of the vehicle in front is equal to or greater than the vehicle width reference value and the mark is present, the vehicle is determined to be a third vehicle type different from the first vehicle type and the second vehicle type. The image processing unit
The size of the license plate of the vehicle in front is determined from the image taken by the photographing unit.
The vehicle type determination unit
The vehicle driving support device according to claim 1 or 2 , wherein the vehicle type of the front vehicle is determined based on the width of the front vehicle, the presence or absence of the mark, and the size of the license plate of the front vehicle. The image processing unit
From the image taken by the photographing unit, the number of tires on the rear wheels of the vehicle in front is determined.
The vehicle type determination unit
The vehicle driving according to any one of claims 1 to 3 , wherein the vehicle type of the front vehicle is determined based on the width of the front vehicle, the presence or absence of the mark , and the number of tires on the rear wheels of the front vehicle. Support device.

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