JP6860425B2 - Processing equipment, vehicles, processing methods and programs - Google Patents

Description

The present invention relates to processing devices, vehicles, processing methods and programs.

Patent Document 1 describes predicting danger based on the danger that appears when driving a vehicle and general knowledge.

Japanese Unexamined Patent Publication No. 2016-091039

However, Patent Document 1 does not describe what kind of control the own vehicle performs when another vehicle with an occupant stops. Therefore, there is a problem that automatic driving cannot be realized in consideration of the occupant situation of the vehicle in which people get on and off.

An object of the present invention is to provide a technique for realizing safer automatic driving in consideration of the occupant situation of a vehicle in which people get on and off.

In order to solve the above problems and achieve the object, the processing apparatus of the present invention is used.
The first acquisition method for acquiring information on the surroundings of the own vehicle,
A detection means for detecting another vehicle based on the peripheral information,
A determination means for determining whether or not the other vehicle is traveling based on the peripheral information, and
Second acquisition means for acquiring information indicating the occupant status of the other vehicle,
A setting means for setting a warning area for the other vehicle based on the occupant situation, and
Equipped with a,
In the setting means, when there is no occupant other than the driver of the other vehicle and the other vehicle is traveling, there is an occupant other than the driver of the other vehicle with respect to the other vehicle. and wherein the other vehicle is characterized that you set the wide warning area than warning area when the vehicle travels.

According to the present invention, it is possible to set a warning area in consideration of the occupant situation of a vehicle in which a person gets on and off, so that safer automatic driving can be realized.

It is a figure for demonstrating the example of the structure of a vehicle. It is a top view for demonstrating the example of the arrangement position of the detection part. It is a figure for demonstrating the example of the setting method of the caution area for each object on a road. It is a flowchart which shows an example of an automatic operation process. It is a figure which shows an example of the external view of another vehicle (taxi) traveling in front of the own vehicle. It is explanatory drawing of the caution area which concerns on 1st Embodiment. It is a flowchart which shows the whole flow of the setting process of the caution area which concerns on 1st Embodiment. It is a flowchart which shows the procedure of the setting process of the caution area which concerns on 1st Embodiment. It is explanatory drawing of the caution area which concerns on 2nd Embodiment. It is a flowchart which shows the procedure of the setting process of the caution area which concerns on 2nd Embodiment. It is a flowchart which shows the procedure of the setting process of the caution area which concerns on 3rd Embodiment. It is a flowchart which shows the procedure of the setting process of the caution area which concerns on 4th Embodiment. It is a flowchart which shows the procedure of the setting process of the caution area which concerns on 5th Embodiment. It is explanatory drawing of the caution area which concerns on 6th Embodiment. It is a flowchart which shows the procedure of the setting process of the caution area which concerns on 6th Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that each figure is a schematic view showing the structure or configuration of the embodiment, and the dimensions of the illustrated members do not necessarily reflect the actual ones.

(First Embodiment)
FIG. 1 is a block diagram for explaining the configuration of the vehicle 1 according to the first embodiment. The vehicle 1 includes an operation unit 11, a driving operation ECU (electronic control unit) 12, a drive mechanism 13, a braking mechanism 14, a steering mechanism 15, a detection unit 16, and a prediction ECU 17. In the present embodiment, the vehicle 1 is a four-wheeled vehicle, but the number of wheels is not limited to four.

The operation unit 11 includes an acceleration operator 111, a braking operator 112, and a steering operator 113. Typically, the acceleration manipulator 111 is an accelerator pedal, the braking manipulator 112 is a brake pedal, and the steering manipulator 113 is a steering wheel. , Lever type, button type and the like may be used.

The operation ECU 12 includes a CPU 121, a memory 122, and a communication interface 123. The CPU 121 performs a predetermined process based on an electric signal received from the operation unit 11 via the communication interface 123. Then, the CPU 121 stores the processing result in the memory 122, or outputs the processing result to the respective mechanisms 13 to 15 via the communication interface 123. With such a configuration, the operation operation ECU 12 controls each mechanism 13 to 15.

The operation operation ECU 12 is not limited to this configuration, and as another embodiment, a semiconductor device such as an ASIC (application specific integrated circuit) may be used. That is, the function of the driving operation ECU 12 can be realized by either hardware or software. Further, although the driving operation ECU 12 is shown as a single element here for the sake of simplification of explanation, these may be divided into a plurality of elements, and the driving operation ECU 12 is, for example, for acceleration, braking, and steering. It may be divided into three ECUs.

The drive mechanism 13 includes, for example, an internal combustion engine and a transmission. The braking mechanism 14 is, for example, a disc brake provided on each wheel. The steering mechanism 15 includes, for example, power steering. The driving operation ECU 12 controls the drive mechanism 13 based on the amount of operation of the acceleration controller 111 by the driver. Further, the driving operation ECU 12 controls the braking mechanism 14 based on the amount of operation of the braking operator 112 by the driver. Further, the driving operation ECU 12 controls the steering mechanism 15 based on the amount of operation of the steering controller 113 by the driver.

The detection unit 16 includes a camera 161 and a radar 162, and a lidar (Light Detection and Ranger (LiDAR)) 163. The camera 161 is, for example, an imaging device using a CCD / CMOS image sensor. The radar 162 is a distance measuring device such as a millimeter wave radar. Further, the rider 163 is a distance measuring device such as a laser radar. As illustrated in FIG. 2, these are arranged at positions where peripheral information of the vehicle 1 can be detected, for example, on the front side, the rear side, the upper side, and the side side of the vehicle body, respectively.

Here, in the present specification, expressions such as front, rear, top, and side (left / right) may be used, but these are used as expressions indicating relative directions shown with reference to the vehicle body. .. For example, "front" indicates the front in the front-rear direction of the vehicle body, and "upper" indicates the height direction of the vehicle body.

The vehicle 1 can automatically drive based on the detection result (peripheral information of the vehicle 1) by the detection unit 16. In the present specification, automatic driving means that a part or all of driving operations (acceleration, braking and steering) are performed not on the driver side but on the driving operation ECU 12 side. That is, the concept of automatic driving includes a mode in which all the driving operations are performed on the driving operation ECU 12 side (so-called fully automatic driving) and a mode in which a part of the driving operation is performed on the driving operation ECU 12 side (so-called driving support). , Is included. Examples of driving support include a vehicle speed control (auto cruise control) function, an inter-vehicle distance control (adaptive cruise control) function, a lane departure prevention support (lane keep assist) function, and a collision avoidance support function.

The prediction ECU 17 predicts the behavior of each object on the road, although the details will be described later. The prediction ECU 17 may be referred to as a prediction device, a behavior prediction device, or the like, or may be referred to as a processing device (processor), an information processing device, or the like (furthermore, instead of the device, a device, a module, a unit, or the like). It may be called.). When performing automatic operation, the operation operation ECU 12 controls a part or all of the operators 111 to 113 based on the prediction result by the prediction ECU 17.

The prediction ECU 17 has the same configuration as the operation ECU 12, and includes a CPU 171, a memory 172, and a communication interface 173. The CPU 171 acquires peripheral information of the vehicle 1 from the detection unit 16 via the communication interface 173. The CPU 171 predicts the behavior of each object on the road based on this peripheral information, stores the prediction result in the memory 172, or outputs the prediction result to the driving operation ECU 12 via the communication interface 173.

FIG. 3A is a top view showing a state in which the vehicle 1 and the plurality of objects 3 exist on the road 2, and the vehicle 1 (hereinafter, “own vehicle 1” for distinction) travels on the road 21 by automatic driving. The state of doing is shown. The own vehicle 1 detects the objects 3 on the roadway 21 and the sidewalk 22 by the detection unit 16, and sets a traveling route so as to avoid them to perform automatic driving. Here, examples of the object 3 include another vehicle 31, a person 32 (for example, a pedestrian), and an obstacle 33. For the object 3 to which the arrow is attached, the arrow indicates the traveling direction of the object 3.

Although the road cone is shown here as the obstacle 33, the obstacle is not limited to this example as long as it is an object that physically interferes with the running. The obstacle may be, for example, a falling object such as garbage, an installation object such as a traffic light or a guard fence, and may be movable or real estate.

As shown in FIG. 3A, when a plurality of objects 3 are confirmed from the detection result (peripheral information of the vehicle 1) by the detection unit 16, the prediction ECU 17 sets a warning area R for each object 3. The caution area R is an area for avoiding contact with the own vehicle 1, that is, an area where it is recommended that the own vehicle 1 does not overlap. The alert area R for an object 3 is set to have a predetermined width outside the contour of the object 3 as an area where the object 3 may move within a predetermined period of time. The alert area R is periodically set (changed, updated, reset. Hereinafter, simply referred to as “setting”), for example, every 10 [msec].

Although the warning area R is shown in a plane (two-dimensional) here for ease of explanation, the warning area R is actually set according to the space detected by the vehicle-mounted detection unit 16. Therefore, the alert area R can be expressed in three-dimensional space coordinates, or can be expressed in four-dimensional space coordinates including the time axis.

For example, the prediction ECU 17 sets the warning area R for the other vehicle 31 traveling in front of the own vehicle 1 outside the contour of the other vehicle 31. The width (distance from the contour) of the warning area R includes information on the other vehicle 31 (for example, position information such as the relative position with respect to the own vehicle 1 and the distance from the own vehicle 1, and the traveling direction and vehicle speed of the other vehicle 31. It can be set differently from each other in the front, side and rear based on the state information of. When the other vehicle 31 is traveling straight, the prediction ECU 17 sets the warning area R to a predetermined width (for example, about 50 cm) on the side of the vehicle body and a relatively wide width (other vehicle 31) on the front and rear of the vehicle body. Width according to the vehicle speed), set to. When the other vehicle 31 turns left (or right), the prediction ECU 17 widens the width of the warning area R on the left side (or right side). When the other vehicle 31 stops, the warning area R may be set to have the same width for the front, side, and rear.

Further, the prediction ECU 17 sets the warning area R for the person 32 on the sidewalk 22 with the information of the person 32 (for example, the position information such as the relative position with respect to the own vehicle 1 and the distance from the own vehicle 1, and the person). It is set outside the contour of the person 32 based on the state information such as the moving direction, the moving speed, the posture, and the line of sight of the 32. The width of the alert area R can be set differently from each other in the anterior, lateral and posterior directions based on the information of the person 32. For example, the width of the alert area R is set based on the moving speed of the person 32 and / or the line of sight of the person 32. When the person 32 is stationary, the alert area R may be set with the same width for the anterior, lateral and posterior.

Incidentally, the prediction ECU 17 can further predict the age group of the person 32, and set the width of the warning area R based on the prediction result. This prediction may be performed using the appearance information (information on the appearance of the person such as physique information, clothing information, etc.) of the person 32 based on the detection result from the detection unit 16.

Further, the prediction ECU 17 sets the warning area R for the obstacle 33 on the roadway 21 with information on the obstacle 33 (for example, position information such as a relative position with respect to the own vehicle 1 and a distance from the own vehicle 1). , Type, shape, dimensions, and other state information), set outside the contour of the obstacle 33. Since it is considered that the obstacle 33 does not move, the width of the caution area R may be set to a predetermined value. If the detection unit 16 further includes, for example, a wind speed sensor and can detect the wind speed, the width of the warning region R may be set based on the wind speed.

The width of the warning area R for each object 3 may be further set based on the vehicle speed of the own vehicle 1. When the own vehicle 1 is traveling at a relatively high speed, for example, by setting the width of the warning area R1 for the other vehicle 31 to be wide, it is possible to obtain a sufficient inter-vehicle distance from the other vehicle 31 and the like. It is possible to avoid contact with the vehicle 31.

The driving operation ECU 12 prevents contact with each object 3 of the own vehicle 1 by setting a traveling route so as not to pass through the warning area R for each object 3 based on the prediction result from the prediction ECU 17. Make it possible.

<Automatic operation processing>
Subsequently, FIG. 3B is a flowchart showing a processing procedure for performing the automatic operation according to the present embodiment. The content of this flowchart is mainly performed by the CPU 171 in the prediction ECU 17. When the own vehicle 1 starts automatic driving, the prediction ECU 17 recognizes each object 3 around the own vehicle 1 based on the peripheral information of the own vehicle 1, sets a warning area R for each object 3, and sets the warning area R thereof. The result is output to the operation ECU 12.

In S101, it is determined whether or not the own vehicle 1 is in the automatic driving state. This step is performed, for example, by the prediction ECU 17 receiving a signal from the driving operation ECU 12 indicating whether or not the own vehicle 1 is in the automatic driving state. If it is in the automatic operation state, the process proceeds to S102, and if it is not in the automatic operation state, this flowchart ends.

In S102, the peripheral information of the own vehicle 1 is acquired. This step is performed by the prediction ECU 17 receiving the peripheral information of the own vehicle 1 detected by the detection unit 16.

In S103, each object 3 existing around the own vehicle 1 is extracted from the peripheral information obtained in S102, and a caution area R is set for each object 3. This step is performed by performing predetermined data processing (for example, data processing for contour extraction) on the data indicating the peripheral information. The alert area R for each object 3 is set based on the extracted information of each object 3.

For example, for the other vehicle 31, the warning area R is set based on the information (position information, state information, etc. described above). For example, for the person 32, the caution area R is set based on the information (such as the above-mentioned position information and state information). The details of the warning area setting process will be described later.

In S104, the information of the warning area R set as described above is output to the driving operation ECU 12. Based on this, the driving operation ECU 12 determines the traveling route of the own vehicle 1 and determines the content of the driving operation of the own vehicle 1.

In S105, it is determined whether or not to end the automatic driving state of the own vehicle 1. This step is performed, for example, by the prediction ECU 17 receiving a signal indicating the end of the automatic operation state from the operation operation ECU 12. If the automatic operation state is not terminated, the process returns to S102, and if the automatic operation state is terminated, this flowchart is terminated.

The series of steps of S101 to S105 are repeated for a period of, for example, about 10 [msec] or shorter. That is, the acquisition of peripheral information of the own vehicle 1, the detection of each object 3 around the own vehicle 1, the setting of the warning area R accompanying the acquisition, and the output of the results to the driving operation ECU 12 are performed periodically. Be told.

Each step of the flowchart may be changed without departing from the spirit of the present invention, for example, the order thereof may be changed, some steps may be omitted, or the steps may be omitted. , Other steps may be added.

<Explanation of occupant status of service vehicles>
In the present embodiment, for example, another vehicle 31 traveling in front of the own vehicle 1 (for example, a service vehicle in which passengers such as a taxi can get on and off) is extracted, and a warning area is set for the extracted other vehicle 31. Set. Here, FIG. 3C is a diagram showing an example of an external view of another vehicle 31 (taxi) traveling in front of the own vehicle 1. In FIG. 3C, 310 is, for example, a taxi company name indicator light, a so-called lantern. 311 is the occupant, 312 is the backrest of the back seat, 313 is the trunk for loading luggage, 314 is the hazard lamp, 315 is the brake lamp, and 316 is the license plate. Although each embodiment including the present embodiment will be described mainly for a taxi, the process of the present invention can be applied not only to a taxi but also to a passenger car in general.

The prediction ECU 17 detects the other vehicle 31 based on the peripheral information of the own vehicle 1 acquired from the detection unit 16, and acquires the occupant status (presence / absence of occupant 311, number of passengers, etc.) of the other vehicle 31. For example, by analyzing the image of the other vehicle 31 detected based on the peripheral information, the information indicating the occupant status of the other vehicle 31 is acquired. For example, it is information that one occupant 311 other than the driver exists, a plurality of occupants exist, or does not exist. In addition to the image analysis, it is detected that a occupant 311 other than the driver of the other vehicle 31 has boarded the other vehicle 31 based on the peripheral information, and the occupant status of the other vehicle 31 is acquired based on the detection result. You may. Alternatively, information indicating the occupant status may be acquired from the other vehicle 31 by vehicle-to-vehicle communication between the own vehicle 1 and the other vehicle 31.

The prediction ECU 17 determines whether the other vehicle 31 is a service vehicle (taxi) based on the presence / absence of the lantern 311 of the other vehicle 31 based on the peripheral information of the own vehicle 1 acquired from the detection unit 16 and the analysis of the license plate 316. Whether or not it can be determined.

When the lantern 311 is extracted, it can be determined that the other vehicle 31 is a service vehicle (taxi). In addition, the license plate of a taxi is, for example, a white number on a green background, which is different from that of a general vehicle. Therefore, when green and white are detected by analyzing the color of the license plate 316, the other vehicle 31 It can be determined that it is a service vehicle (taxi). Further, it may be determined whether or not the other vehicle 31 is a service vehicle (taxi) by analyzing the appearance and color composition of the other vehicle 31 and performing template matching.

The prediction ECU 17 can also detect opening and closing of the trunk 313 of another vehicle 31, blinking of the hazard lamp 314, lighting of the brake lamp 315, and the like by image analysis.

<Explanation of caution area>
Next, with reference to FIGS. 4 to 6, the procedure for setting the warning area implemented by the prediction ECU 17 according to the present embodiment will be described. First, FIG. 4 is a top view showing a state in which the own vehicle 1 is traveling along the roadway. The own vehicle 1 is traveling by automatic driving, and the other vehicle 31 is traveling in front of the traveling lane of the own vehicle 1.

In 401, the caution area R1 is set for the other vehicle 31 traveling in front of the own vehicle 1. The warning area R1 is a warning area for the other vehicle 31 when an occupant 311 other than the driver is present in the other vehicle 31 that is traveling, and is, for example, an area within a distance L1 from the outer edge of the other vehicle 31.

In 402, the other vehicle 31 traveling in front of the own vehicle 1 has stopped, and a warning area R2 wider than the warning area R1 is set for the stopped other vehicle 31. The warning area R2 is a warning area set for the other vehicle 31 when the other vehicle 31 stops in a state where the occupant 311 other than the driver is present in the other vehicle 31 running. For example, the warning area R2 of the other vehicle 31. It is a region within a range of a distance L2 (> distance L1) from the outer edge.

The warning area R1 and the warning area R2 need not be within the equidistant distance (L1, L2) from the outer edge in all of the front, side, and rear of the other vehicle 31.

In the present embodiment, when the other vehicle 31 stops (or starts moving to the shoulder side) in a state where the occupant 311 other than the driver is present in the other vehicle 31 traveling in front of the own vehicle 1. ), Since it can be predicted that the occupant 311 will get off from the other vehicle 31, the caution area is set to R2, which is wider than R1.

<Caution area setting process>
Subsequently, FIG. 5 is a flowchart showing a processing procedure for setting a warning area for the other vehicle 31 according to the present embodiment. The content of this flowchart is the details of the processing of S103, and is mainly performed by the CPU 171 in the prediction ECU 17.

In S201, another vehicle 31 is detected from the objects 3 extracted based on the peripheral information acquired in S102. This step is performed by pattern matching, for example, based on the appearance information of the object 3 to be determined.

In S202, information on the occupant status is acquired based on the peripheral information acquired in S102. As described with reference to FIG. 3C, information such as whether or not the other vehicle 31 traveling in front of the own vehicle 1 has a occupant 311 other than the driver, zero, one person, and a plurality of people is acquired.

In S203, a caution area is set for the other vehicle 31. Details of the processing of S203 will be described later with reference to FIG. This completes the series of processes shown in FIG.

Subsequently, FIG. 6 is a flowchart showing a procedure for setting the warning area of S203 according to the present embodiment. The content of this flowchart is the details of the processing of S203, and is mainly performed by the CPU 171 in the prediction ECU 17.

In S301, it is determined whether or not there is an occupant 311 other than the driver in the other vehicle 31 based on the information indicating the occupant status acquired in S202. If there is an occupant 311 other than the driver, the process proceeds to S302. On the other hand, if there is no occupant 311 other than the driver, the process proceeds to S304.

In S302, it is determined whether or not the other vehicle 31 is stopped based on the peripheral information. This step is performed by determining whether the other vehicle 31 is moving or stopped based on the result that the prediction ECU 17 sequentially receives the peripheral information of the own vehicle 1 detected by the detection unit 16. .. If the other vehicle 31 is stopped, the process proceeds to S303. On the other hand, if the other vehicle 31 is not stopped, the process proceeds to S304.

In S303, the caution area for the other vehicle 31 is set in the caution area R2 shown in 402 of FIG. That is, a wide warning area is set for the other vehicle 31. This is because, as described above, when the other vehicle 31 is stopped in the state where the occupant 311 other than the driver is present in the other vehicle 31 traveling in front of the own vehicle 1, the other vehicle 31 starts from the other vehicle 31. This is because it can be predicted that the occupant 311 will get off.

In S304, the caution area for the other vehicle 31 is set in the caution area R1 shown in 401 of FIG. That is, if there is no occupant 311 other than the driver, or if there is an occupant 311 other than the driver but the other vehicle is not stopped (running), is there a possibility of getting off? , Set a narrow alert area because it is considered low. This completes the series of processes shown in FIG.

Each step of the flowchart may be changed without departing from the spirit of the present invention, for example, the order thereof may be changed, some steps may be omitted, or the steps may be omitted. , Other steps may be added.

As described above, in the present embodiment, the prediction ECU 17 has an occupant 311 other than the driver in the other vehicle 31 in front of the traveling lane of the own vehicle 1 based on the peripheral information of the own vehicle 1 by the detection unit 16. When the other vehicle 31 is stopped, the warning area of the other vehicle 31 is set wide.

According to the present embodiment, it is possible to realize safer automatic driving in consideration of the occupant situation of the vehicle in which people get on and off.

(Second Embodiment)
In the first embodiment, when a occupant 311 other than the driver is present in the other vehicle 31 in front of the traveling lane of the own vehicle 1 and the other vehicle 31 is stopped, the warning area of the other vehicle 31 is not set. An example of setting the warning area R2 wider than the warning area R1 in the case has been described. On the other hand, in the second embodiment, when there are a plurality of occupants 311 other than the driver, the occupants may get off from the doors on both sides. Therefore, when the other vehicle 31 stops. , An example of setting a warning area R3 wider than the warning area R2 will be described.

<Explanation of caution area>
The processing performed by the prediction ECU 17 according to the present embodiment will be described with reference to FIGS. 7 and 8. First, FIG. 7 is a top view showing a state in which the own vehicle 1 is traveling along the roadway. The own vehicle 1 is traveling by automatic driving, and the other vehicle 31 is traveling in front of the traveling lane of the own vehicle 1.

In 701, another vehicle 31 traveling in front of the own vehicle 1 has stopped, and a warning area R3 wider than the warning area R2 is set for the stopped other vehicle 31. The warning area R3 is a warning area set for the other vehicle 31 when the other vehicle 31 stops in a state where a plurality of occupants 311 other than the driver are present in the other vehicle 31 while the vehicle is running. For example, the other vehicle 31 It is a region within a range of a distance L3 (> distance L2) from the outer edge of.

The caution area R3 does not have to be within the equidistant distance (L3) from the outer edge in all of the front, side, and rear of the other vehicle 31. For example, when multiple people are on board, people may come out not only from the left door of the other vehicle 31 but also from the right door when getting off, so at least the outer edge on the right side. The distance from the outer edge may be L3, and the distance from the outer edge may be L2.

<Caution area setting process>
Subsequently, FIG. 8 is a flowchart showing a procedure for setting the warning area of S203 according to the present embodiment. The content of this flowchart is the details of the processing of S203, and is mainly performed by the CPU 171 in the prediction ECU 17.

In S401, it is determined whether or not there are a plurality of occupants 311 other than the driver in the other vehicle 31 based on the information indicating the occupant status acquired in S202. If there are a plurality of occupants 311 other than the driver, the process proceeds to S402. On the other hand, if there are no plurality of occupants 311 other than the driver, the process proceeds to S404.

In S402, it is determined whether or not the other vehicle 31 is stopped based on the peripheral information. This step is the same as the process of S302. If the other vehicle 31 is stopped, the process proceeds to S403. On the other hand, if the other vehicle 31 is not stopped, the process proceeds to S407.

In S403, the caution area for the other vehicle 31 is set in the caution area R3 shown in 701 of FIG. 7. That is, a wide warning area is set for the other vehicle 31. This is because, as described above, when the other vehicle 31 stops in a state where a plurality of occupants 311 other than the driver are present in the other vehicle 31 traveling in front of the own vehicle 1, the other vehicle 31 This is because it can be predicted that the occupant 311 may get off from the doors on both sides of the vehicle.

In S404, it is determined whether or not there is one occupant 311 other than the driver in the other vehicle 31 based on the information indicating the occupant status acquired in S202. If there is one occupant 311 other than the driver, the process proceeds to S405. On the other hand, if there is no occupant 311 other than the driver, the process proceeds to S407.

Since each process of S405 to S407 is the same as each process of S302 to S304, the description thereof will be omitted. This completes the series of processes shown in FIG.

Each step of the flowchart may be changed without departing from the spirit of the present invention, for example, the order thereof may be changed, some steps may be omitted, or the steps may be omitted. , Other steps may be added.

As described above, in the present embodiment, the prediction ECU 17 has a plurality of occupants 311 other than the driver in the other vehicle 31 in front of the traveling lane of the own vehicle 1 based on the peripheral information of the own vehicle 1 by the detection unit 16. Since there is a possibility of getting off from the doors on both sides when the other vehicle 31 exists and the other vehicle 31 is stopped, the warning area of the other vehicle 31 is wider than the warning area R2 described in the first embodiment. Set to R3. Then, when there is one occupant 311 other than the driver, the warning area R2 is set. As a result, it is possible to set a more appropriate warning area depending on whether the number of occupants is multiple or one.

According to the present embodiment, it is possible to realize safer automatic driving in consideration of the occupant situation of the vehicle in which people get on and off.

(Third Embodiment)
In the first embodiment, when a occupant 311 other than the driver is present in the other vehicle 31 in front of the traveling lane of the own vehicle 1 and the other vehicle 31 is stopped, the warning area of the other vehicle 31 is not set. An example of setting the warning area R2 wider than the warning area R1 in the case has been described. On the other hand, in the third embodiment, the occupant 311 other than the driver exists in the other vehicle 31 in front of the traveling lane of the own vehicle 1, the other vehicle 31 stops, and the other vehicle 31 is further loaded with luggage. An example of setting a warning area R3 that is wider than the warning area R2 when there is no luggage when the vehicle is loaded will be described. This is because the driver may get off from the door on the driver's side in order to take out the luggage of the occupant 311 from the trunk 313.

<Caution area setting process>
FIG. 9 is a flowchart showing a processing procedure for setting a warning area for another vehicle 31 according to the present embodiment. The content of this flowchart is the details of the processing of S203, and is mainly performed by the CPU 171 in the prediction ECU 17. Since the processes of S501, S502, and S505 to S506 in FIG. 9 are the same as the processes of S301 to S304 described in FIG. 6, detailed description thereof will be omitted.

In S503, it is determined whether or not the other vehicle 31 is loaded with luggage. In this step, based on the result that the prediction ECU 17 sequentially receives the peripheral information of the own vehicle 1 detected by the detection unit 16, it is determined in advance that the load is loaded in the trunk 313 when the occupant gets into the other vehicle 31. It depends on whether it was detected or not. For example, it is assumed that another vehicle 31 traveling in front of the own vehicle 1 carries the occupant 31, loads the luggage into the trunk 313, then continues to travel in front of the own vehicle 1, and then disembarks later. In addition to detecting the loading operation of the trunk 313 of the luggage, it may be determined that the luggage has been loaded when the opening / closing operation of the trunk 313 is detected. Alternatively, information on the loading status of the luggage may be directly acquired by vehicle-to-vehicle communication, and the determination may be made based on the information. If the other vehicle 31 is loaded with luggage, the process proceeds to S504. On the other hand, if no luggage is loaded on the other vehicle 31, the process proceeds to S505.

In S504, the caution area R for the other vehicle 31 is set in the caution area R3 shown in 701 of FIG. 7. That is, the warning area for the other vehicle 31 is set wider than that of R2. This is because, as described above, the other vehicle 31 is stopped while the occupant 311 other than the driver is present in the other vehicle 31 traveling in front of the vehicle 1 and the luggage is loaded in the trunk 313. In this case, the driver may get off from the driver's seat side door in order to take out the luggage of the occupant 311 from the trunk 313. This completes the series of processes shown in FIG.

Each step of the flowchart may be changed without departing from the spirit of the present invention, for example, the order thereof may be changed, some steps may be omitted, or the steps may be omitted. , Other steps may be added.

As described above, in the present embodiment, the prediction ECU 17 has an occupant 311 other than the driver in the other vehicle 31 in front of the traveling lane of the own vehicle 1 based on the peripheral information of the own vehicle 1 by the detection unit 16. Therefore, when the other vehicle 31 is stopped and the other vehicle 31 is loaded with luggage, there is a possibility of getting off from the doors on both sides. Therefore, the caution area of the other vehicle 31 is set in the first embodiment. The warning area R3 is set to be wider than the warning area R2 described above. As a result, it is possible to set an appropriate warning area in consideration of the possibility of the driver getting off.

According to the present embodiment, it is possible to realize safer automatic driving in consideration of the occupant situation of the vehicle in which people get on and off.

(Fourth Embodiment)
In the first embodiment, when a occupant 311 other than the driver is present in the other vehicle 31 in front of the traveling lane of the own vehicle 1 and the other vehicle 31 is stopped, the warning area of the other vehicle 31 is not set. An example of setting the warning area R2 wider than the warning area R1 in the case has been described. On the other hand, in the fourth embodiment, when there is a occupant 311 other than the driver in the other vehicle 31 in front of the traveling lane of the own vehicle 1, and the other vehicle 31 is moving to the shoulder side of the road, An example of setting the caution area R2 will be described. This is because when the other vehicle 31 is moving to the shoulder side of the road, the other vehicle 31 may stop and the occupant may get off.

<Caution area setting process>
FIG. 10 is a flowchart showing a processing procedure for setting a warning area for another vehicle 31 according to the present embodiment. The content of this flowchart is the details of the processing of S203, and is mainly performed by the CPU 171 in the prediction ECU 17. Since the processes of S601 and S602 to S604 in FIG. 10 are the same as the processes of S301 and S302 to S304 described with reference to FIG. 6, detailed description thereof will be omitted.

In S602, it is determined whether or not the other vehicle 31 is moving to the shoulder side based on the peripheral information. This step is performed by analyzing the behavior of the other vehicle 31 based on the result that the prediction ECU 17 sequentially receives the peripheral information of the own vehicle 1 detected by the detection unit 16. If the other vehicle 31 is moving to the shoulder side, the process proceeds to S603. On the other hand, if the other vehicle 31 has not moved to the shoulder side, the process proceeds to S604. This completes the series of processes shown in FIG.

Each step of the flowchart may be changed without departing from the spirit of the present invention, for example, the order thereof may be changed, some steps may be omitted, or the steps may be omitted. , Other steps may be added.

For example, by combining the process of FIG. 10 and the process of FIG. 3, when another vehicle 31 having an occupant other than the driver is moving to the shoulder side of the road and further stops, a warning area is given to the other vehicle 31. It may be configured to set R2.

As described above, in the present embodiment, the prediction ECU 17 has an occupant 311 other than the driver in the other vehicle 31 in front of the traveling lane of the own vehicle 1 based on the peripheral information of the own vehicle 1 by the detection unit 16. Since there is a possibility that the occupant 311 will get off when the other vehicle 31 is moving to the shoulder side of the road, the warning area of the other vehicle 31 is set to the warning area R2 described in the first embodiment. As a result, it is possible to set an appropriate warning area in consideration of the possibility of getting off at the stage before the other vehicle 31 actually stops and the possibility of getting off becomes high.

According to the present embodiment, it is possible to realize safer automatic driving in consideration of the occupant situation of the vehicle in which people get on and off.

(Fifth Embodiment)
In the first embodiment, when a occupant 311 other than the driver is present in the other vehicle 31 in front of the traveling lane of the own vehicle 1 and the other vehicle 31 is stopped, the warning area of the other vehicle 31 is not set. An example of setting the warning area R2 wider than the warning area R1 in the case has been described. On the other hand, in the fifth embodiment, when the occupant 311 other than the driver is present in the other vehicle 31 in front of the traveling lane of the own vehicle 1 and the hazard lamp 314 of the other vehicle 31 is blinking. , An example of setting the caution area R2 will be described. This is because when the hazard lamp 314 of the vehicle 31 is blinking, the other vehicle 31 may stop and the occupant may get off.

<Caution area setting process>
FIG. 11 is a flowchart showing a processing procedure for setting a warning area for another vehicle 31 according to the present embodiment. The content of this flowchart is the details of the processing of S203, and is mainly performed by the CPU 171 in the prediction ECU 17. Since the processes of S701 and S703 to S704 in FIG. 11 are the same as the processes of S301 and S303 to S304 described in FIG. 6, detailed description thereof will be omitted.

In S702, it is determined whether or not the hazard lamp 314 of the other vehicle 31 is blinking based on the peripheral information. This step is performed by analyzing the behavior of the other vehicle 31 based on the result that the prediction ECU 17 sequentially receives the peripheral information of the own vehicle 1 detected by the detection unit 16. If the hazard lamp 314 of the other vehicle 31 is blinking, the process proceeds to S703. On the other hand, if the hazard lamp 314 of the other vehicle 31 is not blinking, the process proceeds to S704. This completes the series of processes shown in FIG.

Each step of the flowchart may be changed without departing from the spirit of the present invention, for example, the order thereof may be changed, some steps may be omitted, or the steps may be omitted. , Other steps may be added.

For example, by combining the process of FIG. 11 and the process of FIG. 3, the hazard lamp 314 of the other vehicle 31 in which an occupant other than the driver is present is blinking, and when the other vehicle 31 is stopped, the other vehicle 31 The warning area R2 may be set for the above.

As described above, in the present embodiment, the prediction ECU 17 has an occupant 311 other than the driver in the other vehicle 31 in front of the traveling lane of the own vehicle 1 based on the peripheral information of the own vehicle 1 by the detection unit 16. If the hazard lamp 314 of the other vehicle 31 is blinking, there is a possibility that the occupant 311 will get off. Therefore, the warning area of the other vehicle 31 is set to the warning area R2 described in the first embodiment. .. As a result, it is possible to set an appropriate warning area in consideration of the possibility of getting off at the stage before the other vehicle 31 actually stops and the possibility of getting off becomes high.

According to the present embodiment, it is possible to realize safer automatic driving in consideration of the occupant situation of the vehicle in which people get on and off.

(Sixth Embodiment)
In the first embodiment, when a occupant 311 other than the driver is present in the other vehicle 31 in front of the traveling lane of the own vehicle 1 and the other vehicle 31 is stopped, the warning area of the other vehicle 31 is not set. An example of setting the warning area R2 wider than the warning area R1 in the case has been described. On the other hand, in the sixth embodiment, when the other vehicle 31 is traveling in a state where there is no occupant 311 other than the driver in the other vehicle 31 in front of the traveling lane of the own vehicle 1, a person is put on the vehicle. Therefore, since a sudden lane change may occur, an example of setting a warning area R4 wider than the warning area R1 will be described. In this embodiment, it is a case that can occur particularly in a service vehicle (taxi).

<Explanation of caution area>
The processing performed by the prediction ECU 17 according to the present embodiment will be described with reference to FIGS. 12 and 13. First, FIG. 12 is a top view showing a state in which the own vehicle 1 is traveling along the roadway. The own vehicle 1 is traveling by automatic driving, and the other vehicle 31 is traveling in front of the traveling lane of the own vehicle 1. In the illustrated example, it is a road with two lanes on each side.

In 1201, a warning area R4 wider than the warning area R1 is set for the other vehicle 31 traveling in front of the own vehicle 1. The warning area R4 is a warning area set for the other vehicle 31 when the other vehicle 31 is running in a state where there is no occupant 311 other than the driver in the other vehicle 31 running. For example, the other vehicle. It is a region within a range of a distance L4 (> distance L1) from the outer edge of 31. Further, in a plurality of lanes on one side, a warning area R4 is set when another vehicle 31 exists in the second and subsequent lanes counting from the shoulder, and is narrower than the warning area R4 when another vehicle 31 exists in the first lane. It may be configured to set a warning zone. This is because it is considered unlikely that a sudden lane change of the other vehicle 31 will occur when the vehicle is already in the first lane.

The caution area R4 does not have to be within the equidistant distance (L4) from the outer edge in all of the front, side, and rear of the other vehicle 31. For example, assuming an example of making a sudden lane change to the shoulder side in order to carry a person, the distance from the outer edge on the left side may be L4, and the distance from the outer edge may be L1.

<Caution area setting process>
Subsequently, FIG. 13 is a flowchart showing a procedure for setting the warning area of S203 according to the present embodiment. The content of this flowchart is the details of the processing of S203, and is mainly performed by the CPU 171 in the prediction ECU 17. Since the processes of S801 to S803 and S806 in FIG. 13 are the same as the processes of S301 to S304 described in FIG. 6, detailed description thereof will be omitted.

In S804, it is determined whether or not the other vehicle 31 is traveling based on the peripheral information. In this step, as in S302, whether the other vehicle 31 is moving or stopped is determined based on the result that the prediction ECU 17 sequentially receives the peripheral information of the own vehicle 1 detected by the detection unit 16. It is done by judging. If the other vehicle 31 is running, the process proceeds to S805. On the other hand, if the other vehicle 31 is not traveling, the process proceeds to S806.

In S805, the caution area for the other vehicle 31 is set in the caution area R4 shown in 1201 of FIG. That is, a wide warning area is set for the other vehicle 31. This is because, as described above, when the other vehicle 31 is traveling in a state where there is no occupant 311 other than the driver among the other vehicles 31 traveling in front of the own vehicle 1, a person is carried. This is because there is a possibility of making a sudden lane change toward the shoulder side of the road. This completes the series of processes shown in FIG.

Each step of the flowchart may be changed without departing from the spirit of the present invention, for example, the order thereof may be changed, some steps may be omitted, or the steps may be omitted. , Other steps may be added.

As described above, in the present embodiment, the prediction ECU 17 has an occupant 311 other than the driver in the other vehicle 31 in front of the traveling lane of the own vehicle 1 based on the peripheral information of the own vehicle 1 by the detection unit 16. If this is not the case and the other vehicle 31 is running, the warning area of the other vehicle 31 is wider than that of R1 because there is a possibility of making a sudden lane change toward the shoulder side in order to carry a person. Set in the alert area R4. As a result, it is possible to set an appropriate warning area in consideration of a sudden lane change of the other vehicle 31 or a sudden movement to the shoulder side of the road.

According to the present embodiment, it is possible to realize safer automatic driving in consideration of the occupant situation of the vehicle in which people get on and off.

In each of the above-described embodiments, the case where another vehicle exists in front of the own vehicle has been described as an example, but the vehicle does not necessarily have to be in front of the same lane. Even in other lanes, it can be applied as long as it can recognize the presence or absence of occupants in other vehicles.

(Other)
Although some preferred embodiments have been illustrated above, the present invention is not limited to these examples, and some of them may be modified without departing from the spirit of the present invention. For example, it is possible to combine the contents of each embodiment with other elements according to the purpose, use, etc., or it is possible to combine the contents of one embodiment with a part of the contents of another embodiment. is there. Further, it goes without saying that the individual terms described in the present specification are used only for the purpose of explaining the present invention, and the present invention is not limited to the strict meaning of the terms. The equivalent may also be included.

Also, a program that implements one or more functions described in each embodiment is supplied to a system or device via a network or storage medium, and one or more processors in the computer of the system or device read this program. Can be executed. The present invention can also be realized by such an aspect.

(Summary of Embodiment)
The processing apparatus (for example, 17) according to the first aspect is
Acquisition means (for example, 171 and S102) for acquiring peripheral information of the own vehicle (for example, 1), and
Detection means (for example, 171 and S201) for detecting another vehicle (for example, 31) based on the peripheral information, and
An acquisition means (for example, 171 and S202) for acquiring information indicating the occupant status of the other vehicle, and
Setting means (for example, 171 and S203) for setting a warning area (for example, R1 and R2) for the other vehicle based on the occupant situation, and
To be equipped.

According to the first aspect, safer automatic driving can be realized in consideration of the occupant situation of the vehicle in which people get on and off.

The processing apparatus (for example, 17) according to the second aspect is
Further provided with a determination means (for example, 171 and S302) for determining whether or not the other vehicle (for example, 31) is stopped based on the peripheral information.
When the occupant (for example, 311) is present other than the driver of the other vehicle and the other vehicle is stopped, the setting means is applied to the other vehicle from the first warning area (for example, R1) before the stop. Also sets a wide second alert area (eg R2) (eg 171, S303).

According to the second aspect, safer automatic driving can be realized in consideration of the possibility that a person gets off from another vehicle.

In the third aspect, the setting means refers to the other vehicle when a plurality of occupants (for example, 311) are present in addition to the driver of the other vehicle (for example, 31) and the other vehicle stops. A third warning area (for example, R3) that is wider than the second warning area (for example, R2) is set at least on the side of the driver's seat side of the other vehicle (for example, 171 and S401 to S403).

According to the third aspect, when the other vehicle stops while there are a plurality of occupants other than the driver among the other vehicles traveling in front of the own vehicle, the occupants are occupies from the doors on both sides of the other vehicle. It is possible to realize safer automatic driving in consideration of the possibility of getting off the vehicle.

The processing apparatus (for example, 17) according to the fourth aspect is
Further provided with a determination means (for example, 171 and S502) for determining whether or not the other vehicle (for example, 31) is stopped based on the peripheral information.
The detection means further detects that the other vehicle is loaded with luggage based on the peripheral information (for example, 171 and S503).
In the setting means, when a occupant (for example, 311) is present in addition to the driver of the other vehicle, luggage is loaded on the other vehicle, and the other vehicle stops, the setting means refers to the other vehicle. A second warning area (for example, R3) that is wider than the first warning area (for example, R2) before stopping is set (for example, 171 and S504).

According to the fourth aspect, safer automatic driving in consideration of the possibility that the doors on both sides may be opened when the driver gets off the door on the driver's side in order to take out the luggage of the occupant from the trunk or the like. Can be realized.

In the fifth aspect, the acquisition means analyzes the image of the other vehicle detected based on the peripheral information (for example, the image of the other vehicle 31 as shown in FIG. 3C) to obtain the occupant status of the other vehicle. Get the information that indicates.

According to the fifth aspect, information indicating the occupant status of another vehicle can be acquired by image analysis.

In the sixth aspect, the detection means further detects that a occupant (for example, 311) other than the driver of the other vehicle (for example, 31) has boarded the other vehicle based on the peripheral information.
The acquisition means acquires information indicating the occupant status of the other vehicle based on the detection result of the detection means.

According to the sixth aspect, more accurate information can be obtained by directly detecting the behavior of the occupant boarding.

The processing apparatus (for example, 17) according to the seventh aspect is
Further provided with a determination means (for example, 171 and S602) for determining whether or not the other vehicle (for example, 31) is moving to the shoulder side based on the peripheral information.
When there is an occupant (for example, 311) other than the driver of the other vehicle and the other vehicle is moving to the shoulder side of the road, the setting means is before starting the movement to the shoulder side of the other vehicle. A second alert area (for example, R2) wider than the first alert area (for example, R1) is set (for example, 171 and S603).

According to the seventh aspect, an appropriate warning area can be set in consideration of the possibility of getting off before the other vehicle actually stops and the possibility of getting off becomes high.

In the eighth aspect, the detection means further detects the blinking of the hazard lamp (for example, 314) of the other vehicle (for example, 31) based on the peripheral information (for example, 171 and S702).
When the setting means has an occupant (for example, 311) other than the driver of the other vehicle and the blinking of the hazard lamp is detected, the setting means is before the blinking of the hazard lamp starts for the other vehicle. A second alert area (for example, R2) that is wider than the first alert area (for example, R1) is set (for example, 171 and S703).

According to the eighth aspect, an appropriate warning area can be set in consideration of the possibility of getting off before the other vehicle actually stops and the possibility of getting off becomes high.

The processing apparatus (for example, 17) according to the ninth aspect is
Further provided with a determination means (for example, 171 and S804) for determining whether or not the other vehicle (for example, 31) is traveling based on the peripheral information.
When there is no occupant (for example, 311) other than the driver of the other vehicle and the other vehicle is traveling, the setting means means that the other vehicle is not the driver of the other vehicle. A second warning area (for example, R4) that is wider than the first warning area (for example, R1) when an occupant is present and the other vehicle is traveling is set (for example, 171 and S805).

According to the ninth aspect, it is possible to set an appropriate warning area in consideration of a sudden lane change of another vehicle for carrying a person or a sudden movement to the shoulder side of the road.

The vehicle according to the tenth aspect (for example, 1) includes a processing device (for example, 17) according to any one of the first to ninth aspects.

According to the tenth aspect, safer automatic driving can be realized in the vehicle in consideration of the occupant situation of the vehicle in which people get on and off.

The processing method according to the eleventh aspect is
The acquisition process (for example, 171 and S102) for acquiring the peripheral information of the own vehicle (for example, 1) and
A detection step (for example, 171 and S201) for detecting another vehicle (for example, 31) based on the peripheral information.
An acquisition step (for example, 171 and S202) for acquiring information indicating the occupant status of the other vehicle, and
A setting step (for example, 171 and S203) for setting a warning area (for example, R1 and R2) for the other vehicle based on the occupant situation, and
Have.

According to the eleventh aspect, as in the first aspect, safer automatic driving can be realized in consideration of the occupant situation of the vehicle in which people get on and off.

A twelfth aspect is a program for causing a computer to execute each step of the processing method of the eleventh aspect.

According to the twelfth aspect, the processing method of the eleventh aspect can be realized by a computer.

1: Own vehicle 3: Object, 31: Other vehicle, 32: Person, 17: Prediction ECU (processing device)

Claims (11)

The first acquisition method for acquiring information on the surroundings of the own vehicle,
A detection means for detecting another vehicle based on the peripheral information,
A determination means for determining whether or not the other vehicle is traveling based on the peripheral information, and
Second acquisition means for acquiring information indicating the occupant status of the other vehicle,
A setting means for setting a warning area for the other vehicle based on the occupant situation, and
Equipped with a,
In the setting means, when there is no occupant other than the driver of the other vehicle and the other vehicle is traveling, there is an occupant other than the driver of the other vehicle with respect to the other vehicle. and said other vehicle processing apparatus characterized that you set the wide warning area than warning area when the is running. Before Symbol setting means, the other vehicle the driver than the present occupant and the case where another vehicle is stopped, the relative other vehicle, a wide second warning area than the first warning area before stopping The processing apparatus according to claim 1, wherein the processing apparatus is set. When a plurality of occupants other than the driver of the other vehicle are present and the other vehicle is stopped, the setting means causes the other vehicle to have at least the driver's seat of the other vehicle rather than the second warning area. The processing apparatus according to claim 2, wherein a wider third warning area is set on the side of the side. Before Symbol detection means, said further detected that the package is stacked in the other vehicle based on the peripheral information,
In the setting means, when there is a occupant other than the driver of the other vehicle, luggage is loaded on the other vehicle, and the other vehicle stops, the other vehicle is warned before the stop. processing apparatus according to claim 1, than戒領zone and sets a wide I警戒領zone. The second acquisition means according to claim 1 to 4, wherein the second acquisition means acquires information indicating the occupant status of the other vehicle by analyzing an image of the other vehicle detected based on the peripheral information. The processing apparatus according to any one item. The detection means further detects that an occupant other than the driver of the other vehicle has boarded the other vehicle based on the peripheral information.
The processing device according to any one of claims 1 to 4, wherein the second acquisition means acquires information indicating the occupant status of the other vehicle based on the detection result of the detection means. It said determining means further determines whether the other vehicle is moving to the road shoulder side on the basis of the peripheral information,
The setting means, when said another vehicle of the present occupant other than the driver and the other vehicle is moving to the road shoulder side, to the other vehicle, warning戒領area before starting to move to the road shoulder side processing apparatus according to claim 1, characterized in that to set a wide I警戒領range than. The detection means further detects the blinking of the hazard lamp of the other vehicle based on the peripheral information, and further detects the blinking of the hazard lamp of the other vehicle.
The setting means, when the present occupant other than the driver of the other vehicle and blinking of the hazard lamps is detected, with respect to the other vehicle, from warning戒領area before flashing the hazard lamp is started also processing apparatus according to claim 1, characterized in that to set a wide I警戒領zone. A vehicle comprising the processing device according to any one of claims 1 to 8. The acquisition process to acquire the peripheral information of the own vehicle and
A detection process that detects other vehicles based on the peripheral information,
A determination process for determining whether or not the other vehicle is traveling based on the peripheral information, and
The acquisition process for acquiring information indicating the occupant status of the other vehicle, and
A setting process for setting a warning area for the other vehicle based on the occupant situation, and
Have a,
In the setting process, when there is no occupant other than the driver of the other vehicle and the other vehicle is traveling, there is an occupant other than the driver of the other vehicle with respect to the other vehicle. Moreover, a processing method characterized in that a warning area wider than the warning area when the other vehicle is traveling is set. A program for causing a computer to execute each step of the processing method according to claim 10.

Images