JP6947542B2 - Vehicle control support device, vehicle control support system, information providing device, vehicle control support method, and information providing method - Google Patents

Description

The present invention relates to a technique for assisting control of a vehicle with respect to an obstacle.

A vehicle that is stopped in the lane due to a traffic accident or breakdown becomes an obstacle to other vehicles approaching from behind. Patent Document 1 proposes a driving support device that notifies other vehicles of the existence of the own vehicle by inter-vehicle communication when the stopped own vehicle obstructs traffic.

Japanese Unexamined Patent Publication No. 2006-99453

In the driving support device proposed in Patent Document 1, another vehicle traveling behind the stopped own vehicle changes lanes to the oncoming lane in order to avoid the stopped own vehicle. When doing so, there was no support for the avoidance behavior itself. For a vehicle that changes lanes to the oncoming lane, the following vehicle traveling behind the oncoming vehicle is blinded by the oncoming vehicle, so that the following vehicle traveling behind the oncoming vehicle may hinder smooth avoidance behavior. there were.

In view of the above problems, it is an object of the present invention to provide a technique for supporting vehicle control that can smoothly perform avoidance actions to avoid obstacles.

The vehicle control support device according to one aspect of the present invention includes the information providing device mounted on the oncoming vehicle traveling in the oncoming lane when an obstacle exists in front of the traveling direction in the own lane in which the own vehicle travels. A transmission unit that transmits a request signal for requesting peripheral information regarding the surrounding conditions of the oncoming vehicle, including information on a following vehicle traveling behind the oncoming vehicle, a receiving unit that receives the peripheral information from the information providing device, and the above. A configuration (first configuration) including a notification unit for supporting the avoidance of the obstacle and a support unit for executing at least one of the operation control of the own vehicle based on the peripheral information received by the receiving unit (first configuration). ).

The information providing device according to one aspect of the present invention includes a request signal receiving unit that receives the request signal transmitted from the vehicle control support device of the first configuration, and the request signal received by the request signal receiving unit. This is a configuration (second configuration) including a peripheral information transmission unit that transmits the peripheral information to the vehicle control support device according to the above.

The vehicle control support device according to another aspect of the present invention can be used as an information providing device mounted on an oncoming vehicle traveling in an oncoming lane when an obstacle exists in front of the traveling direction in the own lane in which the own vehicle travels. Peripheral information transmitting unit that transmits peripheral information about the surrounding situation of the own vehicle, and instruction information for receiving notification for supporting the avoidance of the obstacle and instruction information for instructing at least one of the driving control of the own vehicle. The receiving unit and the support unit that executes at least one of the notification for supporting the avoidance of the obstacle and the driving control of the own vehicle based on the instruction information received by the instruction information receiving unit. It is a configuration to be provided (third configuration).

The information providing device according to another aspect of the present invention includes a peripheral information receiving unit that receives the peripheral information transmitted from the vehicle control support device having the third configuration, and the peripheral information receiving unit that receives the peripheral information. The instruction information generation unit that generates the instruction information and the instruction information generation unit generate the instruction information based on the information and the peripheral information about the surrounding situation of the oncoming vehicle including the information of the following vehicle traveling behind the oncoming vehicle. It is a configuration (fourth configuration) including an instruction information transmission unit that transmits the instruction information to the vehicle control support device.

In the information providing device having the second configuration, the peripheral information transmitting unit may be configured to continuously transmit the peripheral information (fifth configuration).

In the information providing device of the fourth configuration, the instruction information generation unit gives the instruction based on continuous peripheral information regarding the surrounding situation of the oncoming vehicle, including information on the following vehicle traveling behind the oncoming vehicle. It may be a configuration for generating information (sixth configuration).

In the information providing device having the fourth or sixth configuration, the second instruction information different from the first instruction information which is the instruction information is transmitted to the peripheral information received by the peripheral information receiving unit and the opposite side. A second instruction information generation unit generated based on peripheral information regarding the surrounding situation of the oncoming vehicle including information on a following vehicle traveling behind the vehicle, and the second instruction information generation unit generated by the second instruction information generation unit. The second instruction information transmitting unit is provided with a second instruction information transmitting unit for transmitting the information to the following vehicle, and the second instruction information instructs at least one of notification for supporting safe driving of the following vehicle and driving control of the following vehicle. It may be a configuration (seventh configuration) that is information to be used.

In the vehicle control support device having the first configuration, the support unit determines whether or not a median strip is provided between the own lane and the oncoming lane, and based on the determination result, the support unit It may be a configuration (eighth configuration) in which at least one of the notification for supporting the avoidance of obstacles and the operation control of the own vehicle is executed.

In the information providing device having the fourth or seventh configuration, the instruction information generation unit determines whether or not a median strip is provided between the own lane and the oncoming lane, and uses the determination result as a result. Based on this, the configuration may be such that the instruction information is generated (nineth configuration).

In the vehicle control support method according to one aspect of the present invention, when an obstacle exists in front of the traveling direction in the own lane in which the own vehicle travels, the oncoming vehicle traveling in the oncoming lane travels behind the oncoming vehicle. A transmission step of transmitting a request signal requesting peripheral information regarding the surrounding situation of the oncoming vehicle including information of the following vehicle, a receiving step of receiving the peripheral information from the oncoming vehicle, and the peripheral area received by the receiving step. It is a configuration (tenth configuration) including a notification for supporting the avoidance of the obstacle and a support step for executing at least one of the operation control of the own vehicle based on the information.

The information providing method according to one aspect of the present invention includes a request signal receiving step of receiving the request signal transmitted by the transmission step provided in the vehicle control support method of the tenth configuration, and a request signal receiving step of receiving the request signal. It is a configuration (11th configuration) including a peripheral information transmission step of transmitting the peripheral information to the own vehicle in response to the requested signal.

The vehicle control support method according to another aspect of the present invention relates to the surrounding situation of the own vehicle to the oncoming vehicle traveling in the oncoming lane when an obstacle exists in front of the traveling direction in the own lane in which the own vehicle travels. A peripheral information transmission process for transmitting peripheral information, an instruction information receiving process for receiving instruction information for instructing at least one of notification for supporting the avoidance of the obstacle and driving control of the own vehicle, and the instruction information. A configuration including a notification for supporting the avoidance of the obstacle and a support step for executing at least one of the driving control of the own vehicle based on the instruction information received by the receiving step (12th configuration). ).

The information providing method according to another aspect of the present invention includes a peripheral information receiving step of receiving the peripheral information transmitted by the peripheral information transmitting step provided in the vehicle control support method of the twelfth configuration, and the peripheral information receiving. An instruction information generation step of generating the instruction information based on the peripheral information received by the process and the peripheral information regarding the surrounding situation of the oncoming vehicle including the information of the following vehicle traveling behind the oncoming vehicle. It is a configuration (13th configuration) including an instruction information transmission step of transmitting the instruction information generated by the instruction information generation step to the own vehicle.

According to the present invention, vehicle control is supported based on information on a following vehicle traveling behind an oncoming vehicle, that is, blind spot information. Therefore, it is possible to support vehicle control that can smoothly perform avoidance actions to avoid obstacles. can.

Top view showing road conditions Top view showing road conditions The figure which shows the structure of the vehicle control support device which concerns on 1st Embodiment The figure which shows the structure of the information providing apparatus which concerns on 1st Embodiment A flowchart showing a procedure in which the vehicle control support device executes an obstacle avoidance action. A flowchart showing a procedure for each of the vehicle control support device and the information providing device to collect peripheral information. A flowchart showing a procedure for the information providing device to transmit peripheral information. The figure which shows the structure of the information providing apparatus which concerns on 2nd Embodiment A flowchart showing a procedure in which the vehicle control support device executes an obstacle avoidance action. A flowchart showing a procedure for the information providing device to transmit instruction information.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings.

<1. Overview of obstacle avoidance>
In the following description, a vehicle that performs an evasive action to avoid an obstacle is referred to as a own vehicle. As shown in FIG. 1, when there is a stopped vehicle V0 which is an obstacle in front of the traveling direction in the own lane L1 in which the own vehicle V1 travels, the own vehicle V1 is between the oncoming vehicle V2 traveling in the oncoming lane L2 and the vehicles. Communicate and determine the content of avoidance action based on the information obtained by inter-vehicle communication. As a result, the own vehicle V1 can acquire an appropriate timing when taking the avoidance action, and can smoothly perform the avoidance action to avoid the obstacle (stopped vehicle V0). Here, the appropriate timing is, for example, as shown in FIG. 2, after the oncoming vehicle V2 has passed the stopped vehicle V0 and before the following vehicle V3 traveling behind the oncoming vehicle V2 has passed the stopped vehicle V0. Is. In other words, it is the timing when the own vehicle V1 can safely change lanes to the adjacent lane in order to avoid obstacles.

In FIGS. 1 and 2, the obstacle (stopped vehicle V0) and the following vehicle V3 are four-wheeled vehicles, but the obstacles are not limited to the four-wheeled vehicle and are objects that hinder the running of the own vehicle V1. The following vehicle is not limited to the four-wheeled vehicle, and may be, for example, a motorcycle.

<2. First Embodiment>
The first embodiment capable of realizing the above-mentioned obstacle avoidance will be described. FIG. 3 is a diagram showing the configuration of the vehicle control support device 100 according to the first embodiment. FIG. 4 is a diagram showing a configuration of the information providing device 200 according to the first embodiment.

The vehicle control support device 100 is mounted on the own vehicle V1 together with the radar device 1, the camera 2, and the vehicle control unit 3 shown in FIG. The radar device 1 is, for example, a forward radar device that detects a target existing in front of the own vehicle V1. The camera 2 is, for example, a front camera that photographs the front of the vehicle V1. In the present embodiment, both the radar device 1 and the camera 2 are mounted on the own vehicle V1, but only one of the radar device 1 and the camera 2 may be mounted on the own vehicle V1.

As the vehicle control support device 100, for example, an ECU (Electronic Control Unit) can be used. The vehicle control support device 100 includes a peripheral information detection unit 101, a peripheral information holding unit 102, a driving algorithm generation unit 103, an inter-vehicle communication control unit 104, and an inter-vehicle communication unit 105.

The peripheral information detection unit 101 analyzes the information acquired by the radar device 1 and the camera 2, and detects the peripheral information regarding the peripheral condition of the own vehicle V1 based on the analysis result. The peripheral information detected by the peripheral information detection unit 101 may include the position information of an obstacle existing in front of the vehicle in the own lane L1 in the traveling direction.

The peripheral information holding unit 102 holds peripheral information regarding the peripheral situation of the own vehicle V1 output from the peripheral information detection unit 101 and peripheral information regarding the peripheral situation of the oncoming vehicle V2, which will be described later.

The driving algorithm generation unit 103 acquires peripheral information regarding the peripheral situation of the own vehicle V1 and peripheral information regarding the peripheral situation of the oncoming vehicle V2 from the peripheral information holding unit 102, and generates a driving algorithm based on the acquired peripheral information. In the present embodiment, the operation algorithm generation unit 103 calculates the deceleration amount as the operation algorithm. Further, the driving algorithm generation unit 103 outputs a request signal requesting peripheral information regarding the peripheral situation of the oncoming vehicle V2 to the inter-vehicle communication control unit 104 as necessary.

The inter-vehicle communication control unit 104 transmits a request signal output from the driving algorithm generation unit 103 to the information providing device 200 by using the inter-vehicle communication unit 105. Further, the inter-vehicle communication control unit 104 supplies the peripheral information holding unit 102 with peripheral information regarding the peripheral situation of the oncoming vehicle V2 received by the inter-vehicle communication unit 105.

The vehicle control unit 3 controls the braking of the own vehicle V1 according to the damping amount calculated by the driving algorithm generation unit 103. The control by the vehicle control unit 3 may support the adjustment of the vehicle speed in manual driving, for example, or the driving algorithm generation unit 103 may also calculate the steering amount to support automatic driving.

The information providing device 200 is mounted on the oncoming vehicle V2 together with the radar device 4 and the camera 5 shown in FIG. The radar device 4 is, for example, a rear radar device that detects a target existing behind the oncoming vehicle V2. The camera 5 is, for example, a rear camera that photographs the rear of the oncoming vehicle V2. In the present embodiment, both the radar device 4 and the camera 5 are mounted on the oncoming vehicle V2, but only one of the radar device 4 and the camera 5 may be mounted on the oncoming vehicle V2.

As the information providing device 200, for example, an ECU can be used. The information providing device 200 includes a peripheral information detection unit 201, a peripheral information holding unit 202, an inter-vehicle communication control unit 203, and an inter-vehicle communication unit 204.

The peripheral information detection unit 201 analyzes the information acquired by the radar device 4 and the camera 5, and detects the peripheral information regarding the peripheral condition of the oncoming vehicle V2 based on the analysis result. The peripheral information detected by the peripheral information detection unit 201 may include the position information of the following vehicle V3.

The peripheral information holding unit 202 holds peripheral information regarding the peripheral situation of the oncoming vehicle V2 output from the peripheral information detecting unit 201.

When the inter-vehicle communication unit 204 receives the request signal, the inter-vehicle communication control unit 203 acquires peripheral information regarding the peripheral situation of the oncoming vehicle V2 from the peripheral information holding unit 202, and acquires peripheral information regarding the peripheral situation of the oncoming vehicle V2. Is transmitted to the vehicle control support device 100 using the inter-vehicle communication unit 204.

Here, considering one vehicle, one vehicle has both the possibility of becoming the own vehicle V1 and the possibility of becoming the oncoming vehicle V2. Therefore, each vehicle may be provided with both the in-vehicle parts shown in FIG. 3 and the in-vehicle parts shown in FIG.

Next, the operations of the vehicle control support device 100 and the information providing device 200 will be described. FIG. 5 is a flowchart showing a procedure in which the vehicle control support device 100 executes an obstacle avoidance action. FIG. 6 is a flowchart showing a procedure in which the vehicle control support device 100 and the information providing device 200 each collect peripheral information. FIG. 7 is a flowchart showing a procedure in which the information providing device 200 transmits peripheral information. The operation of each flowchart is repeatedly executed.

In the flowchart shown in FIG. 5, the driving algorithm generation unit 103 first acquires peripheral information regarding the peripheral condition of the own vehicle V1 (step S110). Then, the driving algorithm generation unit 103 determines whether or not there is an obstacle in front of the own vehicle V1 based on the peripheral information acquired in step S110 (step S120).

When it is determined that there is no obstacle in front of the own vehicle V1, the flowchart shown in FIG. 5 ends. On the other hand, when it is determined that there is an obstacle in front of the own vehicle V1, the driving algorithm generation unit 103 outputs a request signal, and the request signal is transmitted from the inter-vehicle communication unit 105 (step S130).

In step S140 following step S130, the driving algorithm generation unit 103 acquires peripheral information regarding the peripheral situation of the oncoming vehicle V2. After that, the driving algorithm generation unit 103 calculates the deceleration amount based on the peripheral information regarding the peripheral situation of the own vehicle V1 and the peripheral information regarding the peripheral situation of the oncoming vehicle V2 (step S150), and transfers the deceleration amount to the vehicle control unit 3. Output (step S160). As a result of the calculation in step S150, there may be a case where there is no deceleration or a case where the own vehicle V1 stops. When the process of step S160 is completed, the flowchart shown in FIG. 5 ends.

Next, the flowchart shown in FIG. 6 will be described. First, a case where the vehicle control support device 100 collects peripheral information will be described, and then a case where the information providing device 200 collects peripheral information will be described.

In the flowchart shown in FIG. 6, when the vehicle control support device 100 collects peripheral information, the peripheral information detection unit 101 first analyzes the information acquired by the radar device 1 and the camera 2 (step S210). Then, the peripheral information detection unit 101 detects peripheral information regarding the peripheral condition of the own vehicle V1 based on the analysis result (step S220). After that, the peripheral information regarding the peripheral situation of the own vehicle V1 is held in the peripheral information holding unit 102 (step S230). Peripheral information holding unit 102 updates the held peripheral information and holds the latest peripheral information. When the process of step S230 is completed, the flowchart shown in FIG. 6 ends.

In the flowchart shown in FIG. 6, when the information providing device 200 collects peripheral information, the peripheral information detecting unit 201 first analyzes the information acquired by the radar device 4 and the camera 5 (step S210). Then, the peripheral information detection unit 201 detects peripheral information regarding the peripheral condition of the oncoming vehicle V2 based on the analysis result (step S220). After that, the peripheral information regarding the peripheral condition of the oncoming vehicle V2 is held in the peripheral information holding unit 202 (step S230). Peripheral information holding unit 202 updates the held peripheral information and holds the latest peripheral information. When the process of step S230 is completed, the flowchart shown in FIG. 6 ends.

In the flowchart shown in FIG. 7, first, whether or not the inter-vehicle communication unit 204 has received the request signal is determined by the inter-vehicle communication control unit 203 (step S310).

When the inter-vehicle communication unit 204 has not received the request signal, the flowchart shown in FIG. 7 ends. On the other hand, when the inter-vehicle communication unit 204 receives the request signal, the inter-vehicle communication control unit 203 acquires peripheral information regarding the peripheral situation of the oncoming vehicle V2 from the peripheral information holding unit 202 (step S320). Then, the inter-vehicle communication control unit 203 transmits the acquired peripheral information regarding the peripheral situation of the oncoming vehicle V2 to the vehicle control support device 100 using the inter-vehicle communication unit 204 (step S330). When the process of step S330 is completed, the flowchart shown in FIG. 7 ends.

According to the present embodiment, the information providing device 200 transmits the information of the following vehicle V3, that is, the blind spot information to the vehicle control support device 100, and the vehicle control support device 100 bases the vehicle on the obstacle (stopped vehicle V0) based on the blind spot information. Supports vehicle control related to V1 avoidance behavior. As a result, the own vehicle V1 can acquire an appropriate timing when taking the avoidance action, and can smoothly perform the avoidance action to avoid the obstacle (stopped vehicle V0). Here, the appropriate timing is, for example, as shown in FIG. 2, after the oncoming vehicle V2 has passed the stopped vehicle V0 and before the following vehicle V3 traveling behind the oncoming vehicle V2 has passed the stopped vehicle V0. Is. In other words, it is the timing when the own vehicle V1 can safely change lanes to the adjacent lane in order to avoid obstacles.

It is desirable that the inter-vehicle communication unit 204 of the information providing device 200 continuously transmits peripheral information regarding the peripheral situation of the oncoming vehicle V2, which may include information on the following vehicle V3. The vehicle-to-vehicle communication unit 204 of the information providing device 200 does not transmit peripheral information about the peripheral situation of the oncoming vehicle V2 instantaneously, but continuously transmits peripheral information about the peripheral situation of the oncoming vehicle V2 to control the vehicle. The driving algorithm generation unit 103 of the support device 100 can generate a driving algorithm in consideration of the transition of the traveling state of the following vehicle V3. Therefore, the vehicle control support device 100 can support a smooth avoidance action even when the traveling state of the following vehicle V3 suddenly changes.

<3. Second Embodiment>
In the first embodiment described above, the content of the avoidance action is determined on the own vehicle V1 side, but the content of the avoidance action may be determined on the oncoming vehicle V2 side. The second embodiment is an embodiment in which the content of the avoidance action is determined on the oncoming vehicle V2 side.

The vehicle control support device according to the present embodiment has the same configuration as the vehicle control support device according to the first embodiment. However, the procedure for the vehicle control support device 100 to execute the obstacle avoidance action is different from that of the first embodiment.

FIG. 8 is a diagram showing a configuration of an information providing device 200 ′ according to the present embodiment. The information providing device 200'according to the present embodiment has a configuration in which the instruction information generating unit 205 is added to the information providing device 200 according to the first embodiment shown in FIG.

The instruction information generation unit 205 generates instruction information based on the peripheral information regarding the peripheral situation of the own vehicle V1 and the peripheral information regarding the peripheral situation of the oncoming vehicle V2. In the present embodiment, the instruction information is information indicating the deceleration amount.

Here, considering one vehicle, one vehicle has both the possibility of becoming the own vehicle V1 and the possibility of becoming the oncoming vehicle V2. Therefore, each vehicle may be provided with both the in-vehicle parts shown in FIG. 3 and the in-vehicle parts shown in FIG.

Next, the operations of the vehicle control support device 100 and the information providing device 200'will be described. FIG. 9 is a flowchart showing a procedure in which the vehicle control support device 100 executes an obstacle avoidance action. The procedure for each of the vehicle control support device 100 and the information providing device 200'to collect peripheral information is basically the same as the procedure for each of the vehicle control support device 100 and the information providing device 200 to collect peripheral information in the first embodiment. be. However, the peripheral information holding unit 202 of the information providing device 200'holds peripheral information regarding the peripheral situation of the own vehicle V1 received by the inter-vehicle communication unit 204 in addition to the peripheral information regarding the peripheral situation of the oncoming vehicle V2. FIG. 10 is a flowchart showing a procedure in which the information providing device 200'transmits instruction information. The operation of each flowchart is repeatedly executed.

In the flowchart shown in FIG. 9, the driving algorithm generation unit 103 first acquires peripheral information regarding the peripheral condition of the own vehicle V1 (step S110). Then, the driving algorithm generation unit 103 determines whether or not there is an obstacle in front of the own vehicle V1 based on the peripheral information acquired in step S110 (step S120).

When it is determined that there is no obstacle in front of the own vehicle V1, the flowchart shown in FIG. 9 ends. On the other hand, when it is determined that there is an obstacle in front of the own vehicle V1, the driving algorithm generation unit 103 outputs peripheral information regarding the peripheral situation of the own vehicle V1, and the peripheral information regarding the peripheral situation of the own vehicle V1 is used for inter-vehicle communication. It is transmitted from the unit 105 (step S131).

In step S151 following step S131, the inter-vehicle communication unit 105 receives the instruction information. The inter-vehicle communication control unit 104 outputs the instruction information received by the inter-vehicle communication unit 105 to the driving algorithm generation unit 103. The driving algorithm generation unit 103 outputs the deceleration amount corresponding to the instruction information output from the vehicle-to-vehicle communication control unit 104 to the vehicle control unit 3 (step S160). When the process of step S160 is completed, the flowchart shown in FIG. 9 ends.

In the flowchart shown in FIG. 10, first, the vehicle-to-vehicle communication control unit 203 determines whether or not the vehicle-to-vehicle communication unit 204 has received peripheral information regarding the peripheral situation of the own vehicle V1 (step S311).

When the inter-vehicle communication unit 204 has not received the peripheral information regarding the peripheral situation of the own vehicle V1, the flowchart shown in FIG. 10 ends. On the other hand, when the inter-vehicle communication unit 204 receives the peripheral information regarding the peripheral situation of the own vehicle V1, the instruction information generation unit 205 obtains the peripheral information regarding the peripheral situation of the own vehicle V1 and the peripheral information regarding the peripheral situation of the oncoming vehicle V2. It is acquired from the holding unit 202, and instruction information is generated based on the acquired peripheral information (step S321). Then, the inter-vehicle communication control unit 203 transmits the instruction information generated by the instruction information generation unit 205 to the vehicle control support device 100 using the inter-vehicle communication unit 204 (step S331). When the process of step S331 is completed, the flowchart shown in FIG. 10 ends.

According to the present embodiment, the information providing device 200'determines the avoidance action of the own vehicle V1 against the obstacle (stopped vehicle V0) based on the information of the following vehicle V3, that is, the blind spot information, and the determined content is used as the vehicle control support device. Instruct 100. The vehicle control support device 100 supports vehicle control related to the avoidance action of the content instructed by the information providing device 200'. As a result, the own vehicle V1 can acquire an appropriate timing when taking the avoidance action, and can smoothly perform the avoidance action to avoid the obstacle (stopped vehicle V0). Here, the appropriate timing is, for example, as shown in FIG. 2, after the oncoming vehicle V2 has passed the stopped vehicle V0 and before the following vehicle V3 traveling behind the oncoming vehicle V2 has passed the stopped vehicle V0. Is. In other words, it is the timing when the own vehicle V1 can safely change lanes to the adjacent lane in order to avoid obstacles.

It is desirable that the instruction information generation unit 205 of the information providing device 200'continuously acquires peripheral information regarding the peripheral situation of the oncoming vehicle V2. The instruction information generation unit 205 of the information providing device 200'does not acquire the peripheral information regarding the peripheral situation of the oncoming vehicle V2 instantaneously, but continuously acquires the peripheral information regarding the peripheral situation of the oncoming vehicle V2. The instruction information generation unit 205 of the information providing device 200'can generate instruction information in consideration of the transition of the traveling state of the following vehicle V3. Therefore, the vehicle control support device 100 can support a smooth avoidance action even when the traveling state of the following vehicle V3 suddenly changes.

Further, the instruction information generation unit 205 of the information providing device 200'not only generates instruction information for the own vehicle V1, but also based on the peripheral information regarding the peripheral situation of the own vehicle V1 and the peripheral information regarding the peripheral situation of the oncoming vehicle V2. , Instruction information for the following vehicle V3 may also be generated. As a result, the traveling state of the following vehicle V3 can be adjusted, so that the avoidance behavior of the own vehicle V1 can be made smoother. Further, even when the own vehicle V1 changes lanes to the oncoming lane and travels, the safety of the following vehicle V3 is improved. When the instruction information generation unit 205 of the information providing device 200'also generates instruction information for the following vehicle V3, the oncoming vehicle V2 and the following vehicle V3 are made to perform inter-vehicle communication, and the following vehicle V3 is the information providing device 200'. Based on the instruction information transmitted from the vehicle, at least one of notification and operation control for supporting safe driving is executed.

<4. Modification example>
It should be considered that the embodiments are exemplary in all respects and are not restrictive, and the technical scope of the invention is indicated by the claims rather than the description of the embodiments. It should be understood that it is intended and includes all changes that fall within the meaning and scope of the claims.

For example, in the above-described embodiment, the vehicle control support device 100 controls the operation of the own vehicle V1 by using the vehicle control unit 3, but instead of or in addition to this, in order to support the avoidance of obstacles. (For example, display of attenuation amount or voice output) may be performed.

Further, for example, the driving algorithm generation unit 103 in the first embodiment and the instruction information generation unit 205 in the second embodiment determine whether or not a median strip is provided between the own lane L1 and the oncoming lane L2. , The content of the avoidance action may be determined based on the judgment result. If a median strip on which curbs, poles, etc. are installed is provided between the own lane L1 and the oncoming lane L2, the own vehicle V1 cannot change lanes to the oncoming lane L2, so for example, the own vehicle. Processing such as stopping V1 in front of the stopped vehicle V0 may be executed.

100 Vehicle control support device 101, 201 Peripheral information detection unit 102, 202 Peripheral information holding unit 103 Driving algorithm generation unit 104, 203 Inter-vehicle communication control unit 105, 204 Inter-vehicle communication unit 200, 200'Information providing device 205 Instruction information generation unit L1 Own lane L2 Oncoming lane V0 Stopped vehicle V1 Own vehicle V2 Oncoming vehicle V3 Following vehicle

Claims (12)

When an obstacle exists in front of the traveling direction in the own lane in which the own vehicle travels, information on the surroundings of the own vehicle regarding the surrounding situation of the own vehicle is transmitted to the information providing device mounted on the oncoming vehicle traveling in the oncoming lane. Peripheral information transmitter and
An instruction information receiving unit that receives from the information providing device instruction information for instructing at least one of the notification for supporting the avoidance of the obstacle and the driving control of the own vehicle, and the instruction information receiving unit.
Based on the instruction information received by the receiving unit, the support unit that executes at least one of the notification for supporting the avoidance of the obstacle and the driving control of the own vehicle, and the support unit.
A vehicle control support device. A vehicle control support system including the vehicle control support device according to claim 1 and the information providing device.
The information providing device generates the instruction information based on the information on the surroundings of the own vehicle and the information on the surroundings of the oncoming vehicle including the information on the following vehicle traveling behind the oncoming vehicle. Vehicle control support system . The vehicle control support system according to claim 2, wherein the information providing device continuously acquires information on the vicinity of the oncoming vehicle. A peripheral information receiving unit that receives the peripheral information of the own vehicle transmitted from the vehicle control support device according to claim 1.
The instruction information is provided based on the oncoming vehicle peripheral information regarding the surrounding situation of the oncoming vehicle including the information on the surrounding vehicle of the own vehicle received by the peripheral information receiving unit and the information on the following vehicle traveling behind the oncoming vehicle. Instruction information generator to generate and
An instruction information transmission unit that transmits the instruction information generated by the instruction information generation unit to the vehicle control support device, and an instruction information transmission unit.
An information providing device. The information providing device according to claim 4, wherein the peripheral information receiving unit continuously receives the peripheral information of the own vehicle. The information providing device according to claim 5, wherein the instruction information generation unit generates the instruction information based on continuous information on the vicinity of the oncoming vehicle. The second instruction information different from the first instruction information which is the instruction information is generated based on the own vehicle peripheral information received by the peripheral information receiving unit and the oncoming vehicle peripheral information. Generator and
A second instruction information transmission unit that transmits the second instruction information generated by the second instruction information generation unit to the following vehicle, and a second instruction information transmission unit.
With
The second instruction information is the information for instructing at least one of the notification for supporting the safe driving of the following vehicle and the driving control of the following vehicle, according to any one of claims 4 to 6. Information providing device. The instruction information generation unit determines whether or not a median strip is provided between the own lane and the oncoming lane, and generates the instruction information based on the determination result. The information providing device according to any one of 7. When an obstacle exists in front of the traveling direction in the own lane in which the own vehicle travels, the information providing device mounted on the oncoming vehicle traveling in the oncoming lane includes information on the following vehicle traveling behind the oncoming vehicle. A transmission unit that transmits a request signal for requesting information on the surroundings of the oncoming vehicle regarding the surrounding conditions of the oncoming vehicle.
A receiving unit that receives information on the vicinity of the oncoming vehicle from the information providing device, and
Based on the oncoming vehicle peripheral information received by the receiving unit, a support unit that executes at least one of notification for supporting the avoidance of the obstacle and driving control of the own vehicle, and
With
The support unit determines whether or not a median strip is provided between the own lane and the oncoming lane, and based on the determination result, notifies the vehicle to support avoidance of the obstacle and the above. A vehicle control support device that executes at least one of the driving controls of the own vehicle. When there is an obstacle in front of the vehicle in the direction of travel in the vehicle in which the vehicle is traveling, a peripheral information transmission process for transmitting information about the vehicle's surroundings to the oncoming vehicle in the oncoming lane, and a peripheral information transmission process.
An instruction information receiving process for receiving from the oncoming vehicle instruction information for instructing at least one of the notification for supporting the avoidance of the obstacle and the driving control of the own vehicle, and the process of receiving the instruction information.
Based on the instruction information received by the reception step, a support step for executing at least one of notification for supporting the avoidance of the obstacle and driving control of the own vehicle, and
A vehicle control support method. A peripheral information receiving step for receiving the own vehicle peripheral information transmitted by the peripheral information transmitting step provided in the vehicle control support method according to claim 10.
The instruction information is provided based on the oncoming vehicle peripheral information regarding the surrounding situation of the oncoming vehicle including the information on the surrounding vehicle of the own vehicle received by the peripheral information receiving step and the information on the following vehicle traveling behind the oncoming vehicle. Instruction information generation process to be generated and
An instruction information transmission step of transmitting the instruction information generated by the instruction information generation step to the own vehicle, and
Information provision method. When an obstacle exists ahead in the traveling direction in the own lane in which the own vehicle travels, the surrounding situation of the oncoming vehicle including information on the following vehicle traveling behind the oncoming vehicle in the oncoming vehicle traveling in the oncoming lane. A transmission process for transmitting a request signal requesting information on the surroundings of an oncoming vehicle,
A receiving process for receiving information on the vicinity of the oncoming vehicle from the oncoming vehicle,
Based on the oncoming vehicle peripheral information received by the receiving process, a support process for executing at least one of notification for supporting the avoidance of the obstacle and driving control of the own vehicle, and
With
In the support step, it is determined whether or not a median strip is provided between the own lane and the oncoming lane, and based on the determination result, notification for supporting the avoidance of the obstacle and the said A vehicle control support method in which at least one of the driving controls of the own vehicle is executed.

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