JP6885022B2 - Driving support device - Google Patents

Description

The present invention relates to a driving support device.

Conventionally, when there is no oncoming vehicle and the width of the traveling path is equal to or less than the first predetermined value and the speed of the vehicle is equal to or less than the second predetermined value, or when there is an oncoming vehicle and the width of the traveling path is the first. When it is equal to or less than the third predetermined value, which is larger than the predetermined value, and the speed of the vehicle is equal to or less than the second predetermined value, the power of the camera and the monitor is turned on, and the left front wheel and the left rear wheel of the vehicle are photographed, respectively. Patent Document 1 proposes a technique for displaying an image of a camera on a monitor.

Japanese Unexamined Patent Publication No. 2000-2226997

However, it is difficult to accurately calculate the width of the road due to the pavement condition of the road surface, the environment outside the road surface, and the like. Therefore, if it is difficult to calculate the width of the road or if the calculation accuracy of the width of the road is low, the monitor display can notify the driver of appropriate information when passing by an oncoming vehicle on a narrow road. There is a possibility that the road is not wide enough, or unnecessary notification is given to the driver even though the road is wide enough, and improvement is desired.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a driving support device capable of preventing unnecessary notification and transmitting appropriate information.

The driving support device according to the present invention that solves the above problems has an oncoming vehicle that detects an oncoming vehicle that passes by the own vehicle, and a notification that notifies the occupants of the situation around the own vehicle based on the information of the oncoming vehicle. In the driving support device including the unit, the notification unit indicates that when the own vehicle and the oncoming vehicle overlap in the vehicle width direction, the amount of overlap is equal to or less than the first threshold value, and the own vehicle and the oncoming vehicle Is separated in the vehicle width direction, and on the condition that the separation amount is equal to or less than the second threshold value, the support image for visually recognizing the positional relationship between the own vehicle and the obstacle on the passenger side is notified to the occupant. ..

The present invention can provide a driving support device capable of preventing unnecessary notification and transmitting appropriate information.

FIG. 1 is a functional configuration diagram showing a main part of a vehicle equipped with a driving support device according to an embodiment of the present invention. FIG. 2 is a first conceptual diagram for explaining a support image displayed on a display device by the driving support device according to the embodiment of the present invention. FIG. 3 is a second conceptual diagram for explaining a support image displayed on the display device by the driving support device according to the embodiment of the present invention. FIG. 4 is a conceptual diagram for explaining a relative amount in the width direction calculated by the driving support device according to the embodiment of the present invention, particularly an overlapping amount. FIG. 5 is a conceptual diagram for explaining a relative amount in the width direction calculated by the driving support device according to the embodiment of the present invention, particularly a separation amount. FIG. 6 is a conceptual diagram for explaining the relative ratio in the width direction calculated by the driving support device according to the embodiment of the present invention, particularly the overlap ratio. FIG. 7 is a conceptual diagram for explaining the relative ratio in the width direction calculated by the driving support device according to the embodiment of the present invention, particularly the separation ratio. FIG. 8 is a graph showing the time change of the relative ratio in the width direction calculated by the driving support device according to the embodiment of the present invention. FIG. 9 is a graph showing changes in the vehicle speed of the vehicle and the inter-vehicle distance with other vehicles over time. FIG. 10 is a flowchart showing a driving support operation of the driving support device according to the embodiment of the present invention. FIG. 11 is a conceptual diagram for explaining a first calculation process of the relative ratio in the width direction between vehicles traveling on a curved road calculated by the driving support device according to the embodiment of the present invention. FIG. 12 is a conceptual diagram for explaining a second calculation process of the relative ratio in the width direction between vehicles traveling on a curved road calculated by the driving support device according to the embodiment of the present invention.

The driving support device according to the embodiment of the present invention notifies the occupants of the situation around the own vehicle based on the information of the other vehicle detection unit that detects the other vehicle located around the own vehicle and the information of the other vehicle. In a driving support device including a notification unit, the notification unit is at least in accordance with a relative amount in the width direction, which is the distance between the end of the own vehicle on the other vehicle side and the end of the other vehicle on the own vehicle side in the vehicle width direction. , Notify the occupants of the situation around the own vehicle. As a result, the driving support device according to the embodiment of the present invention can prevent unnecessary notification from being performed and can notify appropriate information.

Hereinafter, a vehicle equipped with the driving support device according to the embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the vehicle 1 includes a first camera 2, a second camera 3, a notification device 4, and an ECU (Electronic Control Unit) 5. The first camera 2 photographs the periphery of the vehicle 1 including other vehicles other than the vehicle 1 as its own vehicle. In this embodiment, the first camera 2 is provided so as to capture the traveling direction of the vehicle 1. Specifically, the first camera 2 is provided so that the oncoming vehicle of the vehicle 1 can be photographed.

The second camera 3 is provided so as to capture an image of the periphery of the vehicle 1 that cannot be visually recognized from the driver's seat. Specifically, the second camera 3 captures a support image that supports the passing running with another vehicle.

The second camera 3 is embedded in the door mirror on the side opposite to the driver's seat side of the vehicle 1, that is, on the passenger seat side so that at least the lens is exposed downward and forward. In this embodiment, the second camera 3 photographs the surrounding road surface including a part of the side of the passenger seat side of the vehicle 1. For example, the second camera 3 captures a range from the front of the front fender to the vicinity of the installation position of the second camera 3.

For example, when vehicle 1 passes by another vehicle on a narrow road, the other vehicle can be moved without hitting obstacles on the passenger seat side such as telephone poles, utility poles, guardrails, gutters, and curbs. You need to avoid it. The second camera 3 captures an image that allows the driver to visually recognize the positional relationship between the vehicle 1 and the obstacle on the passenger seat side.

In this embodiment, the notification device 4 includes a display device 6 that displays an image or the like taken by the second camera 3. For example, the display device 6 is composed of a display device of a navigation system that guides a route to a set destination.

The display device 6 may be configured by a display device other than the display device of the navigation system. That is, the display device 6 may be any display device 6 as long as it can be visually recognized by the driver seated in the driver's seat. For example, the display device 6 is provided so as to be movable between the driver's seat and the windshield. It may be composed of a display panel having light property, a front mirror or a side mirror capable of displaying an image. Further, the display device 6 does not display or project an image two-dimensionally, but may be configured to reproduce an image three-dimensionally, for example, a 3D hologram.

The upper part of FIG. 2 shows an example in which a utility pole 10 is present as an obstacle on the passenger seat side in a state where the vehicle 1 is traveling by passing another vehicle on a narrow road. In this case, as shown in the lower part of FIG. 2, the display device 6 has an image 11 on the passenger seat side of the vehicle 1, an image 12 of the utility pole 10, and a region that does not overlap with the vehicle 1 in the vehicle width direction. A support image including the image 13 representing the above is displayed.

The upper part of FIG. 3 shows an example in which a side groove 15 is provided as an obstacle on the passenger seat side in a state where the vehicle 1 is traveling by passing another vehicle on a narrow road. In this case, as shown in the lower part of FIG. 3, the display device 6 has an image 11 on the passenger seat side of the vehicle 1, an image 16 of the gutter 15, and a region that does not overlap with the vehicle 1 in the vehicle width direction. A support image including the image 17 representing the above is displayed.

The ECU 5 is composed of a computer unit including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an input port, and an output port.

The ROM of the computer unit stores various constants, various maps, and the like, as well as a program for making the computer unit function as an ECU 5. That is, when the CPU executes the program stored in the ROM in the computer unit, the computer unit functions as the ECU 5 in this embodiment.

In addition to the first camera 2 and the second camera 3, various sensors for detecting various states of the vehicle 1, such as a vehicle speed sensor 20 for detecting the vehicle speed, are connected to the input port of the ECU 5. Various control objects including the notification device 4 are connected to the output port of the ECU 5.

The ECU 5 controls various control targets based on the information obtained from the various sensors. For example, the ECU 5 has a function as another vehicle detection unit 30 that detects another vehicle located in the vicinity of the vehicle 1. Specifically, the ECU 5 detects an image of another vehicle closest to the vehicle 1 by edge detection, pattern matching, or the like from the peripheral image taken by the first camera 2.

The ECU 5 has a function as a notification unit 31 that notifies the occupants of the situation around the vehicle 1 based on the information of the other vehicle. By controlling the notification device 4, the ECU 5 notifies the occupants of the situation around the vehicle 1. Specifically, the ECU 5 causes the display device 6 to display the image taken by the second camera 3 based on the image of the other vehicle detected from the peripheral image taken by the first camera 2.

The ECU 5 notifies the occupants of the situation around the vehicle 1 at least according to the relative amount in the width direction, which is the distance between the end of the vehicle 1 on the other vehicle side and the end of the other vehicle on the vehicle 1 side in the vehicle width direction. To do. The relative amount in the width direction represents the amount of overlap when the vehicle 1 and the other vehicle overlap in the vehicle width direction, and represents the amount of separation when the vehicle 1 and the other vehicle are separated in the vehicle width direction.

The end of the vehicle 1 on the other vehicle side is the end of the vehicle 1 located closest to the other vehicle in the vehicle width direction. The end of the other vehicle on the vehicle 1 side is the end of the other vehicle that is closest to the vehicle 1 in the vehicle width direction.

For example, as shown in FIG. 4, when the vehicle 1 and the other vehicle 25 overlap in the vehicle width direction, the width direction relative amount L represents the overlapping amount, and in this embodiment, it is represented by a positive value. On the other hand, as shown in FIG. 5, when the vehicle 1 and the other vehicle 25 are separated in the vehicle width direction, the relative amount L in the width direction represents the separation amount, which is a negative value in this embodiment. Represent. In both FIGS. 4 and 5, the end portion P is the end portion of the vehicle 1 on the other vehicle 25 side, and the end portion Q is the end portion of the other vehicle 25 on the vehicle 1 side.

That is, in this embodiment, when the relative amount L in the width direction is positive, it represents the amount of overlap of the vehicle 1 and the other vehicle 25 in the vehicle width direction, and when it is negative, its absolute value is the vehicle. It represents the amount of separation between 1 and the other vehicle 25 in the vehicle width direction.

In FIG. 1, in the ECU 5, when the vehicle 1 and the other vehicle overlap in the vehicle width direction, the amount of overlap is equal to or less than the first threshold value TH1, and when the vehicle 1 and the other vehicle are separated in the vehicle width direction. Causes the notification device 4 to notify the situation around the vehicle 1 on condition that the separation amount is equal to or less than the second threshold value TH2.

The first threshold value TH1 and the second threshold value TH2 are predetermined conforming values experimentally determined. In this embodiment, the first threshold value TH1 and the second threshold value TH2 will be described later in order to control the notification by the notification device 4 based on the peripheral image taken by the first camera 2 as described later. It is converted in advance to the first upper limit value UL1 and the second upper limit value UL2.

The ECU 5 has a function of acquiring a peripheral image taken by the first camera 2, and when the vehicle 1 and another vehicle overlap in the vehicle width direction, the overlap amount and the ratio of the vehicle width W of the vehicle 1 are calculated from the peripheral image. A function to calculate the overlap ratio R1 to be represented, and to calculate the separation ratio R2 to represent the ratio between the separation amount and the vehicle width W of the vehicle 1 from the peripheral image when the vehicle 1 and another vehicle are separated in the vehicle width direction. It has a function as a control unit 32 having the above.

As described above, the ECU 5 detects an image of another vehicle from the peripheral image taken by the first camera 2. In this embodiment, as shown in FIG. 6, the ECU 5 has the base of a rectangle (hereinafter, simply referred to as “other vehicle area”) 40 surrounding the image of the other vehicle as an axis in the peripheral image, and this axis and the vehicle 1 have the same axis. The intersection of the area 41 corresponding to the traffic area with the other vehicle image side is set as the reference point O, the area side (left side in the figure) corresponding to the traffic area of the vehicle 1 is the positive area, and the symmetrical side (right side in the figure) is the positive area. The overlap rate R1 and the separation rate R2 are calculated as negative regions.

The passage area of the vehicle 1 indicates the vehicle width of the own vehicle 1 corresponding to the case where the vehicle 1 is present at each position in the vertical direction on the peripheral image, and the passage area of the vehicle 1 becomes higher on the peripheral image. Becomes smaller.

In FIG. 6, the ECU 5 calculates the number of pixels from the reference point O to the side of the other vehicle region 40 on the vehicle 1 side in the peripheral image as a relative quantity l in the width direction in the peripheral image. In the peripheral image, the ECU 5 defines the number of pixels of the width on the axis of the region 41 corresponding to the passage region of the vehicle 1 as the vehicle width w in the peripheral image.

The vehicle width w represents the vehicle width of the vehicle 1 shown in the peripheral image, assuming that the vehicle 1 exists at the same position as the other vehicle in the vehicle front-rear direction. The ECU 5 calculates the overlap ratio R1 by l / w.

In FIG. 7, the ECU 5 calculates the separation rate R2 in the same manner as the overlap rate R1. However, since the relative amount l in the width direction in the peripheral image is negative, the ECU 5 calculates the separation ratio R2 by | l / w |.

The overlap ratio R1 and the separation ratio R2 can be uniquely treated as the width direction relative ratio R, and the width direction relative ratio R can be calculated by l / w. That is, the width direction relative ratio R becomes positive when the vehicle 1 and the other vehicle overlap in the vehicle width direction, and the width direction relative ratio R becomes positive when the vehicle 1 and the other vehicle are separated in the vehicle width direction. , Become negative.

In FIG. 1, when the vehicle 1 and the other vehicle overlap in the vehicle width direction, the overlap ratio R1 is equal to or less than the first upper limit value UL1 and the vehicle 1 and the other vehicle are separated from each other in the vehicle width direction. If so, the occupants are notified of the situation around the vehicle 1 on condition that the separation rate R2 is equal to or less than the second upper limit value UL2.

That is, in the ECU 5, the relative ratio R in the width direction is equal to or less than the first upper limit value UL1 (hereinafter, also referred to as “upper limit value UL”) and the reciprocal of the second upper limit value UL2 (hereinafter, also referred to as “lower limit value DL”). On condition that the above conditions are met, the occupants are notified of the situation around the vehicle 1.

The upper limit value UL is set to a value that is considered so as not to detect the preceding vehicle traveling in front of the vehicle 1 as another vehicle that needs to pass each other. In this embodiment, the amount of overlap is half the vehicle width W (see FIG. 4 or FIG. 5) of the vehicle 1, that is, the upper limit value UL is set to 50%.

The lower limit value DL is set to a value in consideration of a margin when traveling by passing another vehicle. In this embodiment, the separation amount is 1/4 of the vehicle width W of the vehicle 1, that is, the lower limit DL is set to -25%.

As a notification condition for notifying the occupants of the situation around the vehicle 1, the ECU 5 has a relative ratio R in the width direction of UL or less and a lower limit DL or more, and the vehicle speed detected by the vehicle speed sensor 20. Includes that the speed is Vth or less, and that the inter-vehicle distance D (see FIG. 4 or 5) between the vehicle 1 and another vehicle is the predetermined value Dth or less.

The predetermined speed Vth is set to 5 km / h in this embodiment as a general upper limit of the speed when traveling by passing another vehicle. The predetermined value Dth is set to 10 m in this embodiment as a general inter-vehicle distance when starting a traveling passing by another vehicle.

The inter-vehicle distance D may be measured by the ECU 5 by configuring the first camera 2 with a stereo camera, and may be measured by the ECU 5 by providing the vehicle 1 with a distance measuring sensor such as a laser radar or a millimeter wave radar. You may be able to do it.

The ECU 5 does not detect the oncoming right-turning vehicle and the preceding vehicle that turns left as other vehicles that are passing each other, and the other vehicle is detected when the vehicle 1 turns right or left so that the notification is not performed. In addition, the situation around the vehicle 1 is notified to the occupants when the state in which the notification condition for notifying the occupants of the surroundings of the vehicle 1 is satisfied continues for a predetermined time Tth or more. Here, the predetermined time Tth is set by an experiment or conformity, and may be set to a time longer than the time during which the notification condition is satisfied for the oncoming right-turning vehicle and the left-turning preceding vehicle.

As shown in FIG. 8, the width direction relative ratio R with respect to the preceding vehicle is continuously detected in a state of 50% or more. The widthwise relative ratio R of other vehicles passing by on a narrow road is continuously held at a small negative value compared to other vehicles passing on narrow roads, and other vehicles are not detected when the passing is completed (that is,). , Lost).

The width-direction relative ratio R with respect to other vehicles passing by on a narrow road decreases almost monotonously as the inter-vehicle distance D becomes shorter, but the width-direction relative ratio R of the oncoming right-turning vehicle starts from a negative value as the inter-vehicle distance D becomes shorter. After the monotonous increase to 100% and then the monotonous decrease to a negative value, other vehicles are not detected.

As shown in FIG. 9, at the start of the passing travel, the speed of the vehicle 1 decreases with the inter-vehicle distance D. Specifically, the inter-vehicle distance becomes shorter than 10 m, the speed of the vehicle 1 decelerates to 5 km / h or less, and the speed change continues slowly in a slow-moving state or a stopped state. On the other hand, at the end of the passing run, not only is the vehicle lost after the relative ratio R in the width direction becomes negative, but also the vehicle speed rapidly recovers to 10 km / h or more.

Therefore, the ECU 5 is informing the occupants of the situation around the vehicle 1, and when the vehicle speed detected by the vehicle speed sensor 20 becomes 10 km / h or more, the situation around the vehicle 1 is changed. End the notification to the occupants.

The driving support operation by the driving support device of the present embodiment configured as described above will be described with reference to FIG. The driving support operation described below is repeatedly executed while the ECU 5 is operating.

First, in step S1, the ECU 5 determines whether or not another vehicle is detected. In this process, when the other vehicle is detected in the previously executed step S1, the ECU 5 determines whether or not the detected other vehicle is continuously detected.

On the other hand, when the step S1 is executed first, or when the other vehicle is not detected in the previously executed step S1, the ECU 5 determines whether or not a new other vehicle is detected.

If it is determined that no other vehicle has been detected, the ECU 5 executes the process of step S11. If it is determined that another vehicle has been detected, the ECU 5 executes the process of step S2.

In step S2, the ECU 5 calculates the inter-vehicle distance D between the other vehicle (hereinafter, also referred to as “detected other vehicle”) detected in step S1 and the vehicle 1. After executing the process of step S2, the ECU 5 executes the process of step S3.

In step S3, the ECU 5 determines whether or not the inter-vehicle distance D is equal to or less than the predetermined value Dth. In this process, the ECU 5 determines that if the inter-vehicle distance D is equal to or less than the predetermined value Dth, the vehicle 1 and the detected other vehicle may pass each other, and the inter-vehicle distance D is not equal to or less than the predetermined value Dth. , It is determined that the vehicle 1 and the detected other vehicle are not in a state of passing each other.

When it is determined that the inter-vehicle distance D is not equal to or less than the predetermined value Dth, the ECU 5 executes the process of step S11. When it is determined that the inter-vehicle distance D is equal to or less than the predetermined value Dth, the ECU 5 executes the process of step S4.

In step S4, the ECU 5 determines whether or not the vehicle speed detected by the vehicle speed sensor 20 is equal to or lower than the predetermined speed Vth. In this process, the ECU 5 determines that if the vehicle speed is Vth or less, the vehicle 1 and the detected other vehicle may pass each other, and if the vehicle speed is not Vth or less, the vehicle It is judged that 1 and the other vehicle are not in a state of passing each other on a narrow road.

When it is determined that the vehicle speed is not equal to or lower than the predetermined speed Vth, the ECU 5 executes the process of step S11. When it is determined that the vehicle speed is equal to or lower than the predetermined speed Vth, the ECU 5 executes the process of step S5.

In step S5, the ECU 5 calculates the relative amount l in the width direction in the peripheral image. Specifically, with reference to FIG. 6, the ECU 5 calculates the number of pixels from the reference point O in the peripheral image to the side of the other vehicle region 40 on the vehicle 1 side as the relative quantity l in the width direction in the peripheral image. After executing the process of step S5, the ECU 5 executes the process of step S6.

In step S6, the ECU 5 calculates the relative ratio R in the width direction. Specifically, with reference to FIG. 6, the ECU 5 calculates the number of pixels of the width on the axis of the region 41 corresponding to the passage region of the vehicle 1 in the peripheral image as the vehicle width w in the peripheral image.

The ECU 5 calculates the width direction relative ratio R by dividing the width direction relative amount l calculated in step S5 by the vehicle width w in the peripheral image. After executing the process of step S6, the ECU 5 executes the process of step S7.

In step S7, the ECU 5 determines whether or not the relative ratio R in the width direction is equal to or less than the upper limit value UL and equal to or more than the lower limit value DL. In this process, if the relative ratio R in the width direction is equal to or less than the upper limit value UL and equal to or more than the lower limit value DL, the ECU 5 determines that the vehicle 1 and the detected other vehicle may pass each other and travel in the width direction. If the relative ratio R is not less than or equal to the upper limit value UL or not more than or equal to the lower limit value DL, it is determined that the vehicle 1 and the detected other vehicle are not in a state of passing each other.

When it is determined that the relative ratio R in the width direction is not equal to or less than the upper limit value UL or not more than or equal to the lower limit value DL, the ECU 5 executes the process of step S11. When it is determined that the relative ratio R in the width direction is equal to or less than the upper limit value UL and equal to or more than the lower limit value DL, the ECU 5 executes the process of step S8.

In step S8, the ECU 5 starts counting if it has not started counting, and continues counting if it has started counting. That is, the ECU 5 measures the time when the notification condition is satisfied. After executing the process of step S8, the ECU 5 executes the process of step S9.

In step S9, the ECU 5 determines whether or not the count value T is equal to or greater than the predetermined time Tth. In this process, if the count value T is Tth or more for the predetermined time, the ECU 5 determines that the state in which the notification condition is satisfied has continued for Tth or more for the predetermined time, and if the count value T is not Tth or more for the predetermined time, the notification condition. It is determined that the state in which is established does not continue for a predetermined time Tth or more.

If it is determined that the count value T is not equal to or greater than the predetermined time Tth, the ECU 5 executes the process of step S1. When it is determined that the count value T is equal to or longer than the predetermined time Tth, the ECU 5 executes the process of step S10.

In step S10, if the notification device 4 has not notified the situation around the vehicle 1, the ECU 5 causes the notification device 4 to notify the situation around the vehicle 1. In this embodiment, if the support image captured by the second camera 3 is not displayed on the display device 6, the ECU 5 causes the display device 6 to display the support image captured by the second camera 3. After executing the process of step S10, the ECU 5 ends the driving support operation. That is, the ECU 5 continues the notification by the notification device 4.

In step S11, the ECU 5 determines whether or not the notification device 4 is notified of the situation around the vehicle 1. In this embodiment, the ECU 5 determines whether or not the support image captured by the second camera 3 is displayed on the display device 6.

When it is determined that the support image is displayed on the display device 6, the ECU 5 executes the process of step S12. When it is determined that the support image is not displayed on the display device 6, the ECU 5 executes the process of step S13.

In step S12, the ECU 5 determines whether or not the vehicle speed detected by the vehicle speed sensor 20 is less than the predetermined speed Vth2. Here, the predetermined speed Vth2 is a preset value, and is a value larger than the predetermined speed Vth. As described with reference to FIG. 9, in this embodiment, the predetermined speed Vth is 5 km / h, and the predetermined speed Vth2 is 10 km / h.

When it is determined that the vehicle speed is less than the predetermined speed Vth2, the ECU 5 executes the process of step S10. If it is determined that the vehicle speed is not less than the predetermined speed Vth2, the ECU 5 executes the process of step S13.

In step S13, the ECU 5 ends the notification by the notification device 4 if it is an opportunity to end the notification by the notification device 4 while the notification by the notification device 4 is being performed. Specifically, the ECU 5 ends the display of the support image captured by the second camera 3 while the support image captured by the second camera 3 is displayed on the display device 6. If so, the image display end process for ending the display of the support image display device 6 captured by the second camera 3 is executed.

That is, in the present embodiment, if the vehicle speed detected by the vehicle speed sensor 20 is the predetermined speed Vth2 or more while the support image captured by the second camera 3 is displayed on the display device 6. The display of the support image display device 6 captured by the second camera 3 is terminated.

After executing the process of step S13, the ECU 5 ends the driving support operation. That is, the ECU 5 ends the notification by the notification device 4. The other vehicle in the driving support operation of the present embodiment means another vehicle closest to the vehicle 1 as described above.

As described above, the driving support device according to the present embodiment has at least a relative quantity L in the width direction, which is the distance between the end of the vehicle 1 on the other vehicle side and the end of the other vehicle on the vehicle 1 side in the vehicle width direction. Correspondingly, since the situation around the vehicle 1 is notified to the occupants, unnecessary notification is prevented even when it is difficult to calculate the width of the road or the calculation accuracy of the width of the road is low. However, appropriate information can be notified.

Further, in the driving support device according to the present embodiment, when the vehicle 1 and the other vehicle overlap in the vehicle width direction, the amount of overlap is equal to or less than the first threshold value TH1, and the vehicle 1 and the other vehicle overlap in the vehicle width direction. When the vehicle is far away, the occupant is notified of the situation around the vehicle 1 on condition that the separation amount is equal to or less than the second threshold value TH2. Therefore, it is necessary to accurately notify the occupant of the situation around the vehicle 1. It can be determined.

Further, in the driving support device according to the present embodiment, when the vehicle 1 and another vehicle overlap in the vehicle width direction, the overlap ratio R1 calculated from the peripheral image taken around the vehicle 1 is the first upper limit value UL1. When the vehicle 1 and the other vehicle are separated from each other in the vehicle width direction, the separation ratio R2 calculated from the peripheral image taken around the vehicle 1 is equal to or less than the second upper limit value UL2. As a condition, since the situation around the vehicle 1 is notified to the occupants, the necessity of notifying the occupants of the situation around the vehicle 1 can be determined with a simple configuration.

Further, in the driving support device according to the present embodiment, the driver notifies the occupants of the situation around the vehicle 1 on the condition that the vehicle speed of the vehicle 1 is Vth or less, so that the driver can use the narrow road. It is possible to notify on the condition that the vehicle is in a state of being presumed to be operating at a reduced vehicle speed due to passing, and it is possible to prevent unnecessary notification of the relationship between the vehicle 1 and another vehicle. it can.

Further, the driving support device according to the present embodiment further informs the occupants of the situation around the vehicle 1 on the condition that the distance between the vehicle 1 and the other vehicle is equal to or less than a predetermined value. The notification can be performed only when the vehicle and the vehicle pass each other, and it is possible to prevent unnecessary notification in the relationship between the vehicle 1 and the other vehicle.

Further, since the calculation accuracy becomes low when the inter-vehicle distance is large, the driving support device according to this embodiment prevents unnecessary notification by performing notification based on the low-accuracy width direction relative ratio R. It can be notified appropriately.

Further, the driving support device according to the present embodiment determines not to perform notification without calculating the width direction relative ratio R when the inter-vehicle distance is large, so that unnecessary calculation is prevented and the calculation load of the ECU 5 is calculated. Can be reduced.

Further, since the driving support device according to the present embodiment displays a support image for supporting the passing running with another vehicle on the display device 6 as a notification of the situation around the vehicle 1, it is difficult to calculate the width of the road. Even in some cases or when the calculation accuracy of the width of the road is low, it is possible to prevent the display of unnecessary support images and display an appropriate support image.

Further, when the display device 6 displays the support image, the driving support device according to the present embodiment ends the image display on condition that the vehicle speed is a predetermined speed Vth2 or higher, which is larger than the predetermined speed Vth. To do.

Therefore, in the driving support device according to the present embodiment, although the support image is displayed satisfying the condition for displaying the support image, the vehicle speed slightly increases and becomes larger than the predetermined speed Vth, or the inter-vehicle distance D. When the display of the support image is prevented from being terminated due to the relative ratio R in the width direction temporarily deviating from the condition for displaying the support image due to disturbance, etc., and the support is surely unnecessary. The display of the support image can be terminated.

In this embodiment, an example in which the vehicle 1 passes by another vehicle on a narrow road has been described, but the positions and attitudes of the first camera 2 and the second camera 3 are adjusted to the rear side. Therefore, the driving support device according to the present embodiment can also support the vehicle 1 to pass the reverse vehicle with another vehicle on a narrow road.

Further, in each of the figures referred to in this embodiment, an example in which the vehicle 1 is traveling on a road traveling on the left side is shown, but in this embodiment, the vehicle 1 is traveling on a road traveling on the right side. However, it can be easily applied by exchanging the left and right sides with respect to the vehicle 1 in each figure.

Further, in this embodiment, an example in which the notification device 4 is configured by the display device 6 has been described. On the other hand, the notification device 4 may be configured by an alarm device that issues an alarm. The alarm device constituting the notification device 4 includes a speaker that outputs sound in the vehicle interior, a lamp that irradiates light toward the driver's seat, and an eccentric motor that transmits vibration to the driver seated in the driver's seat. Any device that can issue an alarm to the seated driver may be used, and two or more devices may be combined to form the alarm device of the notification device 4. Further, the notification device 4 may be composed of a display device that displays an image or the like taken by the second camera 3 and an alarm device that issues an alarm.

For example, when the notification device 4 is composed of the display device 6 and the alarm device, and the width direction relative ratio R is negative, the notification is performed by the display of the display device 6, and the width direction relative ratio R becomes positive. In addition to the notification by the display of the display device 6, the alarm device may be made to issue an alarm.

Further, the intensity of the alarm issued to the alarm device may be increased as the relative ratio R in the width direction increases while the relative ratio R in the width direction is positive. In this way, the mode of notification by the notification device 4 may be changed according to the relative ratio R in the width direction.

Further, in the present embodiment, the image captured by the second camera 3 in the range from the front of the front fender to the vicinity of the installation position of the second camera 3 is displayed on the display device 6, but the operation according to the present embodiment. The support device may display an image taken behind the second camera 3 or in the vicinity of the rear wheel on the display device 6. Further, the driving support device according to the present embodiment may display a preset image on the display device 6 instead of the captured image.

Further, in the present embodiment, the ECU 5 has the functions of the other vehicle detection unit 30, the notification unit 31, and the control unit 32, but the ECU 5 is not limited to one but is operated by a plurality of different ECUs. It may be configured.

Further, in this embodiment, as shown in FIGS. 6 and 7, an example in which the vehicle 1 and the other vehicle are traveling on a straight road has been described. On the other hand, as shown in FIG. 11, even when the vehicle 1 and the other vehicle are traveling on a curved road, the vehicle 1 and the other vehicle are traveling on a straight road, as in the case of the same. The ECU 5 can calculate the relative ratio R in the width direction. However, in the example shown in FIG. 11, the ECU 5 is configured to correct the relative amount l in the width direction by the correction amount X according to the steering angle of the steering wheel and the like.

Further, as shown in FIG. 12, even when the vehicle 1 and the other vehicle are traveling on a curved road, the ECU 5 is similar to the example in which the vehicle 1 and the other vehicle are traveling on a straight road. , The relative ratio R in the width direction can be calculated. However, in the example shown in FIG. 12, the ECU 5 is configured to change the area 41 corresponding to the passage area of the vehicle 1 according to the steering angle of the steering wheel and the like.

Further, the other vehicles in this embodiment include not only automobiles but also motorized bicycles, light vehicles, trolley buses and the like.

Further, the area 41 corresponding to the passage area of the vehicle 1 used for calculating the width direction relative ratio R described with reference to FIGS. 6 and 7 may be changed to be wider. As a result, appropriate information can be notified even to a vehicle loaded with luggage so as to extend beyond the vehicle width. In addition, it is possible to allow a driver who feels uneasy about driving a vehicle to drive by passing the vehicle with a margin.

Further, in the present embodiment, the ECU 5 is a width direction relative ratio calculated from a width direction relative amount which is a distance in the vehicle width direction between the end portion of the vehicle 1 on the other vehicle side and the end portion of the other vehicle on the vehicle 1 side. In order to notify the occupants of the situation around the vehicle 1, the relative ratio in the width direction does not exceed 100%.

On the other hand, for example, when the vehicle 1 is traveling on a road traveling on the left side, the ECU 5 calculates the relative ratio in the width direction from the relative distance between the right end of the vehicle 1 and the right end of another vehicle. You may.

In this case, the relative ratio in the width direction may exceed 100%. When the relative ratio in the width direction exceeds 100%, the ECU 5 does not detect the preceding vehicle turning left or the preceding vehicle traveling to the left as another vehicle passing by, so that the occupant can see the situation around the vehicle 1. Does not notify.

Further, in the present embodiment, a mode in which the support image is displayed on the display device 6 by the above-mentioned driving support operation, a mode in which the support image is not displayed on the display device 6, and a mode in which the support image is unconditionally displayed on the display device 6. The vehicle 1 may be provided with a switch capable of switching to any of the modes.

Although the examples of the present invention have been disclosed above, it is clear that the examples can be modified without departing from the scope of the present invention. The embodiments of the present invention are disclosed on the premise that the equivalents to which such modifications have been made are included in the invention described in the claims.

1 vehicle (own vehicle)
4 Notification device 6 Display device 25 Other vehicle 30 Other vehicle detection unit 31 Notification unit 32 Control unit

Claims (5)

In a driving support device including another vehicle detection unit that detects an oncoming vehicle passing by the own vehicle and a notification unit that notifies an occupant of the situation around the own vehicle based on the information of the oncoming vehicle.
In the notification unit, when the own vehicle and the oncoming vehicle overlap in the vehicle width direction, the amount of overlap is equal to or less than the first threshold value, and the own vehicle and the oncoming vehicle are separated in the vehicle width direction. In this case, the driving support device is characterized in that it notifies the occupant of a support image for visually recognizing the positional relationship between the own vehicle and the obstacle on the passenger seat side, provided that the separation amount is equal to or less than the second threshold value. A function to acquire a peripheral image of the surroundings of the own vehicle including the oncoming vehicle, and
When the own vehicle and the oncoming vehicle overlap in the vehicle width direction, an overlap ratio representing the ratio of the overlap amount to the vehicle width of the own vehicle is calculated from the peripheral image, and the own vehicle and the oncoming vehicle are calculated. Further includes a control unit having a function of calculating a separation ratio indicating a ratio between the separation amount and the vehicle width of the own vehicle from the peripheral image when the vehicle is separated in the vehicle width direction.
In the notification unit, when the own vehicle and the oncoming vehicle overlap in the vehicle width direction, the overlap ratio calculated by the control unit is equal to or less than the first upper limit value, and the own vehicle and the oncoming vehicle claim 1, characterized in that the condition that separation rate calculated by the control unit is equal to or less than the second upper limit, notifies the support image but when you are away to the vehicle width direction Driving support device. The driving support according to claim 1 or 2 , wherein the notification unit notifies the occupant of the support image on the condition that the vehicle speed of the own vehicle is equal to or lower than the first predetermined speed. apparatus. The notification unit, the assist image when the vehicle speed of the vehicle during the display is greater than the second higher predetermined speed said first predetermined speed, and claims, characterized in that to terminate the notification of the support image The driving support device according to 3. Any of claims 1 to 4 , wherein the notification unit notifies the occupant of the support image on the condition that the distance between the own vehicle and the oncoming vehicle is not more than a predetermined value. The driving support device according to one claim.

Images