RU2803100C1 - Driving assistance method and driving assistance device - Google Patents

Abstract

FIELD: vehicle driving assistants.

SUBSTANCE: in a driving assistance method using a controller that uses a sensor to detect another vehicle that changes lane in front of the considered vehicle, the sensor detection field is set in front of the considered vehicle and it is determined that another vehicle has changed lane in front the considered vehicle when the considered vehicle is moving. The excess of the degree of occurrence of another vehicle in the detection field relative to the first given value is determined. It is determined that another vehicle has changed lane in front of the vehicle under consideration when the vehicle under consideration is stopped and said degree is greater than or equal to the second predetermined value which is less than the first predetermined value.

EFFECT: detecting a lane-changing vehicle.

6 cl, 12 dwg

Description

TECHNICAL FIELD

[0001] The present invention relates to a driving assistance method and a driving assistance device.

BACKGROUND OF THE INVENTION

[0002] An invention that causes the subject vehicle to autonomously follow a vehicle in front is known from the prior art (Patent Document 1). In the invention disclosed in Patent Document 1, when the subject vehicle stops at a traffic light, the number of start requests is detected, and the start approval period is set according to the detected number of start requests.

BACKGROUND DOCUMENTS

PATENT DOCUMENTS

[0003] Patent Document 1: Publication of International Application No. 2017/009940

SUMMARY OF THE INVENTION

The problem solved by the invention

[0004] When the subject vehicle stops, it is desirable to detect vehicles that may be built in front of the subject vehicle.

[0005] In view of the problem described above, an object of the present invention is to provide a driving assistance method and a driving assistance device that is capable of detecting vehicles that can be built in front of a subject vehicle when the subject vehicle is stopped.

Problem Solution

[0006] In the driving assistance method according to one aspect of the present invention, a sensor detection field is installed in front of the subject vehicle; when the subject vehicle is moving, it is determined that another vehicle has entered in front of the subject vehicle, if the degree to which the other vehicle has entered the detection field is greater than or equal to the first predetermined value, and when the subject vehicle is stopped, it is determined that the other vehicle the means is built in front of the vehicle in question if said degree is greater than or equal to a second predetermined value, which is less than the first predetermined value.

Effects of the invention

[0007] Through the present invention, it becomes possible to detect vehicles that may be built in front of a subject vehicle when the subject vehicle is stopped.

BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Fig. 1 is a block diagram of a driving assistance device 1 according to an embodiment of the present invention.

FIG. 2 is a diagram showing one example of an embedding detection method.

FIG. 3 is a diagram showing another example of an embedding detection method.

FIG. 4 is a diagram showing another example of an embedding detection method.

FIG. 5 is a diagram showing another example of an embedding detection method.

FIG. 6 is a diagram showing another example of an embedding detection method.

FIG. 7 is a diagram showing another example of an embedding detection method.

FIG. 8 is a flowchart for explaining one example of operation of the driving assistance device 1. FIG.

FIG. 9 is a diagram showing another example of an embedding detection method.

FIG. 10 is a diagram showing another example of an embedding detection method.

FIG. 11 is a diagram showing another example of an embedding detection method.

FIG. 12 is a diagram showing another example of an embedding detection method.

IMPLEMENTATION OF THE INVENTION

[0009] An embodiment of the present invention is described below with reference to the drawings. In the drawing descriptions, identical parts are assigned identical reference locations and descriptions thereof are omitted.

[0010] A configuration example of the driving assistance device 1 will be described with reference to FIG. 1. The driving assistance device 1 is installed on a subject vehicle equipped with an autonomous driving function. The autonomous driving function includes ACC (adaptive cruise control), lane keeping, automatic lane change, automatic parking and the like, but in the present embodiment, the driving assistance device 1 is mainly used for ACC. ACC is an autonomous driving feature that automatically controls the acceleration/deceleration of the subject vehicle at a speed pre-set by the user as an upper limit, thereby causing the subject vehicle to follow the vehicle in front. Inter-vehicle distance control is also performed to maintain the inter-vehicle distance corresponding to the speed set at that time.

[0011] Following control includes control for causing a subject vehicle to follow a ahead vehicle after detecting the start of movement of a ahead vehicle when the subject vehicle is stopped due to traffic congestion, waiting for a traffic light, or the like.

[0012] As shown in FIG. 1, the driving assistance device 1 includes a camera 10, a radar 11, a sonar 12, a vehicle speed sensor 13, a GPS receiver 14, a switch 15, a controller 20, a steering actuator 30, a pedal actuator 31 accelerator and brake drive 32.

[0013] A plurality of cameras 10 are provided on front, side, rear view mirrors and the like. The camera 10 includes an imaging element such as a CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor) or the like. The camera 10 detects objects in the vicinity of the vehicle (pedestrians, bicycles, two-wheelers, other vehicles, etc.), as well as information related to the vehicle's environment (road boundary lines, traffic lights, signs, crosswalks, intersections etc.). Camera 10 outputs captured images to controller 20.

[0014] A plurality of radars 11 are provided on the front, sides, rear, etc. the vehicle in question. Radar 11 emits radio waves towards an object on the periphery of the vehicle in question and measures the reflected waves, thereby measuring the distance and direction to the object. Radar 11 transmits measurement data to controller 20.

[0015] Sonar 12 is mounted on the front bumper or front grille. The sonar 12 emits ultrasonic waves and measures the reflected waves, thereby measuring the direction and distance of an object located in the vicinity (eg, approximately 1-2 m) of the vehicle in question. Sonar 12 provides measured data to controller 20.

[0016] Vehicle speed sensor 13 detects the speed of the vehicle in question and outputs the detected speed to controller 20.

[0017] GPS receiver 14 receives radio waves from a satellite to detect information about the location of the subject vehicle on earth. The location information of the subject vehicle detected by the GPS receiver 14 includes latitude and longitude information. However, the method for detecting location information about the vehicle in question is not limited to the use of GPS receiver 14. For example, the location can be estimated using a method called odometry. Odometry is a method of estimating the position of a vehicle in question by calculating the magnitude and direction of motion of the vehicle in question according to the turning angle and angular velocity of the vehicle in question. The location where the GPS receiver 14 is installed is not particularly limited, but the GPS receiver 14 may be installed, for example, on the dashboard of the vehicle in question. The GPS receiver 14 outputs information about the detected location to the controller 20.

[0018] A plurality of switches 15 are mounted on the steering wheel. The plurality of switches 15 includes a switch for selecting a radio channel, a switch for adjusting the volume, a switch for activating ACC, a switch for adjusting speed controlled by ACC, a switch for setting the distance between vehicles when ACC is activated, a switch for activating following movement when the vehicle in front starts moving, etc. The switches 15 are described as physical switches in the present embodiment, but the present invention is not limited to this. The switches 15 may be virtual switches. If the switches 15 are virtual switches, the switches 15 may be displayed on a touch panel that is used for the navigation device.

[0019] The controller 20 is an electronic control unit (ECU) having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), CAN (Controller Area Network) communication circuit, and the like. A computer program is installed in the controller 20 to cause it to function as the driving assistance device 1. When executing a computer program, the controller 20 functions as a plurality of information processing circuits included in the driving assistance device 1. Here, an example is shown in which a plurality of information processing circuits included in the driving assistance device 1 are implemented in software, but the information processing circuits may of course include dedicated hardware for performing each of the information processing shown below. In addition, a variety of information processing circuits may be implemented in discrete hardware. The controller 20 contains, as a plurality of information processing circuits, a lane detection unit 21, a ahead vehicle detection unit 22, a following movement unit 23, a stop detection unit 24, and an embedding detection unit 25.

[0020] The lane detection unit 21 uses the image obtained by the camera 10 to detect the lane in which the subject vehicle is moving. In particular, the lane detection unit 21 extracts dividing lines from the image and detects the lane in which the subject vehicle is moving. The lane detection unit 21 may further add information about the location of the subject vehicle to detect a lane in which the subject vehicle is moving.

[0021] The front vehicle detection unit 22 uses the image acquired by the camera 10 to detect the presence of a front vehicle in front of the subject vehicle. In addition, the front vehicle detection unit 22 uses data received from the radar 11 to determine the inter-vehicle distance between the subject vehicle and the front vehicle, the relative speed of the front vehicle with respect to the subject vehicle, etc. . In the present embodiment, a lead vehicle is defined as a vehicle traveling in the same lane as the lane in which the subject vehicle is traveling.

[0022] The following movement unit 23 controls the subject vehicle such that the subject vehicle moves autonomously by following the vehicle in front. Specifically, when the user turns on the switch to activate ACC, the following motion unit 23 controls the steering actuator 30, the accelerator pedal actuator 31, and the brake actuator 32, thereby causing the subject vehicle to follow the vehicle in front at a speed preset by the user as an upper limit. . At this time, the following movement unit 23 also performs inter-vehicle distance control to maintain a distance between vehicles that corresponds to the speed set at this time. The user can specify the distance between vehicles.

[0023] If a vehicle in front is not detected when the user turns on the switch to activate ACC, the following motion unit 23 causes the vehicle in question to drive at a constant speed and a predetermined speed. If the speed is not set, the following motion unit 23 may cause the subject vehicle to move autonomously, with the permissible speed limit of the road on which the subject vehicle is currently traveling as an upper limit.

[0024] The stop determination unit 24 determines whether the subject vehicle has stopped. Specifically, the stop detection unit 24 determines that the subject vehicle has stopped when the speed of the subject vehicle measured by the vehicle speed sensor 13 is 0 km/h.

[0025] The embedding determination unit 25 determines whether another vehicle has been embedded between the vehicle in front and the vehicle in question. The embedding determination unit 25 determines embeddings in a variety of scenarios. For example, the embedding determination unit 25 detects embeddings between the subject vehicle and a front vehicle when the subject vehicle autonomously moves and follows the front vehicle. In addition, the embedding determination unit 25 determines the embedding in front of the subject vehicle when the subject vehicle stops at a traffic light, etc. Scenarios for stopping the vehicle in question exist in two versions. One is a scenario in which the vehicle in question stops behind the vehicle in front. This scenario occurs in busy traffic, while waiting at a traffic light at an intersection, etc. Another is a scenario in which the vehicle in question is stopped in a state in which there is no vehicle ahead. This scenario occurs when the vehicle in question stops in front of the line at an intersection.

[0026] One example of a method for determining the embedding determination unit 25 will be described with reference to FIGS. 2-4. The scenario in FIG. 2 shows the subject vehicle 40 driving autonomously and following the lead vehicle 41. Additionally, the scenario in FIG. 2 depicts an expressway, but it is also applicable to roads other than expressways. R1 in FIG. 2 indicates an area for detecting another vehicle that is embedded between the front vehicle 41 and the subject vehicle 40. The area R1 indicates the detection field of the camera 10. The size of the area R1 will be described. The width in the vehicle width direction of the region R1 is the vehicle width W1 of the subject vehicle 40, as shown in FIG. 2. The length in the driving direction of the region R1 is measured from the front end of the subject vehicle 40 to the rear end of the ahead vehicle 41.

[0027] P1-P5 in FIG. 2 indicate the locations of another vehicle 42. When another vehicle 42 from location P1 is inserted between the subject vehicle 40 and the ahead vehicle 41, the path of the other vehicle 42 will be described by a flat curve, indicated locations P2-P5. When the other vehicle 42 moves from location P4 to location P5, the rear surface of the other vehicle 42 enters the region R1. 50 in Fig. 2 indicates a portion of the rear surface of the other vehicle 42 that has entered the region R1 (hereinafter referred to as the rear surface 50). The rear surface 50 is photographed by the camera 10. The embedding determination unit 25 calculates the area of the rear surface 50 obtained by the camera 10. If the area of the rear surface 50 is greater than or equal to a predetermined value, the embedding determination unit 25 determines that another vehicle 42 is embedded between the front vehicle 41 and the subject vehicle 40. In other words, if the area of the rear surface 50 is not greater than or equal to a predetermined value, the embedding determination unit 25 determines that the vehicle is not embedded between the front vehicle 41 and the subject vehicle 40.

[0028] The rear surface of the vehicle in the present embodiment is defined as a projection view of the vehicle as viewed from the rear. The target value (third target value) used for comparison with the back surface area of 50 is obtained by experiment, simulation, etc.

[0029] The size of the region R1 is not limited to the size shown in FIG. 2. For example, as indicated by region R2 in FIG. 3, the width in the vehicle width direction may be the width W2 of the lane in which the subject vehicle 40 is traveling. In this case, since the time required for the area of the rear surface 50 to exceed or equal to a predetermined value decreases, the embedding determination unit 25 can determine the embedding of another vehicle 42 earlier compared to the scenario shown in FIG. 2. Specifically, the embedding determination unit 25 determines that another vehicle 42 is embedded at location P5 in the scenario shown in FIG. 2, while the embedding determination unit 25 determines that the other vehicle 42 is embedded at location P4 in the scenario shown in FIG. . 3.

[0030] For example, as indicated by area R3 in FIG. 4, the width in the vehicle width direction may be a width W3 that is larger than a width W2. The width of W3 is set taking into account the margin. In the scenario shown in FIG. 4, since the time required for the area of the rear surface 50 to be greater than or equal to a predetermined value is further reduced, the embedding determination unit 25 can determine the embedding of another vehicle 42 even earlier compared to the scenario shown in FIG. Fig.3. Specifically, the embedding determination unit 25 determines that another vehicle 42 is embedded at location P4 in the scenario shown in FIG. 3, while the embedding determination unit 25 determines that the other vehicle 42 is embedded at location P3 in the scenario shown in FIG. .4.

[0031] Next, the process performed when the embedding of another vehicle 42 is detected in the scenarios shown in FIGS. 2-4. If the embedding of another vehicle 42 is detected, the controller 20 provides a warning to the user riding the subject vehicle 40, slows the subject vehicle 40, and the like. Alternatively, the controller 20 may cancel the following control. The warning can be voice or displayed on the monitor.

[0032] In the present embodiment, determining that another vehicle 42 has been embedded is synonymous with detecting that another vehicle 42 has been embedded.

[0033] One example of a method for determining embedding when the subject vehicle 40 is stopped will now be described with reference to FIG. 5. In the scenario shown in FIG. 5, the lead vehicle 41 and the subject vehicle 40 are stopped at a traffic light. After stopping the ahead vehicle 41 and determining that the distance between the vehicles becomes less than or equal to a predetermined value, the following movement unit 23 automatically stops the subject vehicle 40. At this time, the following movement unit 23 maintains a stopped state.

[0034] When the subject vehicle 40 is stopped, the embedding determination unit 25 determines the embeds by a different method than that used when the subject vehicle 40 is moving. Specifically, when the subject vehicle 40 is moving, the embedding determination unit 25 uses the area of the rear surface 50 of the other vehicle 42, whereas when the subject vehicle 40 is stopped, the embedding determination unit 25 uses the area of the side surface 60 of the other vehicle 42. P1- P4 in FIG. 5 indicate the location of another vehicle 42. If another vehicle 42 from location P1 is inserted between the subject vehicle 40 and the ahead vehicle 41, the path of the other vehicle 42 will be described by the curve indicated by locations P2-P4. When the driving path (curve) of the other vehicle 42 shown in FIG. 2 is compared with the driving path (curve) of the other vehicle 42 shown in FIG. 5, the curvature of the curve in FIG. 5 turns out to be more. This is because the inter-vehicle distance between the vehicle in question 40 and the vehicle in front 41 is relatively large while driving, and therefore the angle at which the other vehicle 42 enters the lane of the vehicle in question (lane, in which the subject vehicle 40 is moving) is small, whereas when the distance between vehicles is small during a stop, the angle at which the other vehicle 42 enters the subject vehicle's lane is greater.

[0035] As a result, the side surface 60 of the other vehicle 42 entering the area R1 is more easily detected by the camera 10. Moreover, the side surface 60 of the other vehicle 42 enters the area R1 before the rear surface 50. Thus, in the present embodiment when the subject vehicle 40 is stopped, the embedding is determined using the area of the side surface 60 of the other vehicle 42. Thus, the embedding can be detected earlier than in the case where the embedding is determined using the rear surface 50. Because the side surface 60 is used when the subject vehicle 40 is stopped, erroneous detection of the side of a vehicle that is moving in an adjacent lane while turning can be reduced. Adjacent lane means a lane adjacent to the lane in which the subject vehicle 40 is traveling.

[0036] In the scenario shown in FIG. 5, if another vehicle 42 moves from location P3 to location P4, a portion of the side surface 60 of the other vehicle 42 enters the region R1. The side surface 60 is photographed by the camera 10. The embedding determination unit 25 calculates the area of the side surface 60 obtained from the camera 10. If the area of the side surface 60 is greater than or equal to a predetermined value, the embedding determination unit 25 determines that another vehicle 42 is embedded between the vehicle in front. 41 and the vehicle in question 40.

[0037] The side surface of the vehicle in the present embodiment is defined as a projection view of the vehicle as viewed from the side. The target value (fourth target value) used for comparison with the side surface area 60 may be the same value as the target value (third target value) used for comparison with the rear surface area 50, or a different value. The determination of the size of the region R1 shown in FIG. 5 is the same as the determination of the size of the region R1 shown in FIG. 2.

[0038] The size of the region R1 is not limited to the size shown in FIG. 5. For example, as indicated by region R2 in FIG. 6, the width in the vehicle width direction may be the width W2 of the lane in which the subject vehicle 40 is traveling. In this case, since the time required for the area of the side surface 60 to exceed or equal to a predetermined value decreases, the embedding determination unit 25 can determine the embedding of another vehicle 42 earlier compared to the scenario shown in FIG. 5. Specifically, the embedding determination unit 25 determines that another vehicle 42 is embedded at location P4 in the scenario shown in FIG. 5, while the embedding determination unit 25 determines that the other vehicle 42 is embedded at location P3 in the scenario shown in FIG. .6.

[0039] For example, as indicated by area R3 in FIG. 7, the width in the vehicle width direction may be a width W3 that is larger than a width W2. The width of W3 is set taking into account the margin. In the scenario shown in FIG. 7, since the time required for the area of the side surface 60 to be greater than or equal to a predetermined value is further reduced, the embedding determination unit 25 can determine the embedding of another vehicle 42 even earlier compared to the scenario shown in FIG. Fig.6. Specifically, the embedding determination unit 25 determines that another vehicle 42 is embedded at location P3 in the scenario shown in FIG. 6, while the embedding determination unit 25 determines that the other vehicle 42 is embedded at location P2 in the scenario shown in FIG. .7.

[0040] The process that is performed when the embedding of another vehicle 42 is detected in the scenarios shown in FIGS. 5-7. If the embedding of another vehicle 42 is detected, the following movement unit 23 prohibits the starting of following even if the user inputs a starting following command. In this case, since the user cannot use the following system, the user needs to manually start moving the subject vehicle 40. Thus, it is possible to start moving the subject vehicle 40 after the user checks the area ahead. The following motion unit 23 may provide a warning to the user when starting to follow is prohibited. When the ahead vehicle 41 starts moving and the embedding of another vehicle 42 is not detected, the following movement unit 23 automatically starts moving the subject vehicle 40 in accordance with the user's following command.

[0041] Now, one example of operation of the driving assistance device 1 will be described with reference to the flowchart of FIG. 8.

[0042] In step S101, the stopping determination unit 24 uses the speed of the subject vehicle 40 measured by the vehicle speed sensor 13 to determine whether the subject vehicle 40 has stopped. If the speed of the subject vehicle 40 is 0 km/h (YES in step S101 ), the process proceeds to step S103. When the speed of the subject vehicle 40 is not 0 km/h (NO in step S101), the process proceeds to step S109.

[0043] In step S103, the embedding determination unit 25 calculates the side surface area 60 of the other vehicle 42 obtained from the camera 10. If the side surface area 60 is greater than or equal to a predetermined value (YES in step S103), the embedding determination unit 25 determines that the other the vehicle 42 is built between the subject vehicle 40 and the ahead vehicle 41. Then, the process proceeds to step S107, and the following movement unit 23 prohibits the start of following. If, on the other hand, the area of the side surface 60 is less than a predetermined value (NO in step S103), the embedding determination unit 25 determines that the embedding has not occurred. The process then proceeds to step S105, and the following movement unit 23 automatically starts moving the subject vehicle 40.

[0044] In step S109, the embedding determination unit 25 calculates the area of the rear surface 50 of the other vehicle 42 obtained from the camera 10. If the rear surface area 50 is greater than or equal to a predetermined value (YES in step S109), the embedding determination unit 25 determines that the other the vehicle 42 is embedded between the subject vehicle 40 and the ahead vehicle 41. The process then proceeds to step S113, and the controller 20 alerts the user, slows down the subject vehicle 40, and the like. If, on the other hand, the area of the rear surface 50 is less than a predetermined value (NO in step S109), the embedding determination unit 25 determines that the embedding has not occurred. The process then proceeds to step S111, and the following movement unit 23 causes the subject vehicle 40 to follow the ahead vehicle 41.

[0045] (Action and effects)

As described above, the following actions and effects can be achieved by the driving assistance device 1 according to the present embodiment.

[0046] The controller 20 sets the detection field (regions R1-R3) of the sensor (camera 10) to detect another vehicle 42 between the subject vehicle 40 and the lead vehicle 41. If the subject vehicle 40 moves and follows the lead vehicle 41, and the area of the rear surface 50 of the other vehicle 42 detected in the detection field is greater than or equal to a predetermined value, the controller 20 determines that the other vehicle 42 is embedded between the ahead vehicle 41 and the subject vehicle 40. The detection field is established between the subject vehicle 40. vehicle 40 and the vehicle in front 41.

[0047] If the subject vehicle 40 is stopped and the side surface area 60 of another vehicle 42 detected in the detection field is greater than or equal to a predetermined value, the controller 20 determines that the other vehicle 42 has embedded itself between the ahead vehicle 41 and the subject vehicle 40. As described above, due to the difference in characteristics between the driving and stopped states (different entry angle), when the subject vehicle 40 is stopped, the side surface 60 of the other vehicle 42 entering the detection field is more easily detected by the camera 10. In addition Moreover, the side surface 60 of another vehicle 42 enters the detection field in front of the rear surface 50. By detecting the embedding by the side surface 60, the embedding can be detected more quickly when the subject vehicle 40 is stopped, as opposed to when the subject vehicle 40 is moving.

[0048] The controller 20 can determine whether the subject vehicle 40 is on a car-only road based on location information of the subject vehicle 40. A car-only road is defined in Japan as a road intended for the exclusive use of motor vehicles on which traffic is permitted only to those vehicles assigned by the road administrator. A representative highway is an expressway. The embedding determination unit 25 can determine the embedding only when it is determined that the subject vehicle 40 is located on a road intended only for cars. By defining embeddings only on straight roads or curved roads with limited curvature, such as car-only roads, erroneous embedding detections can be prevented.

[0049] If the embedding of another vehicle 42 is detected while the subject vehicle 40 is moving and following the ahead vehicle 41, the controller 20 issues a warning to the user, slows the subject vehicle 40, and the like. If the embedding of another vehicle 42 is detected when the subject vehicle 40 is stopped, the following movement unit 23 prohibits the subject vehicle 40 from starting to move and follow the ahead vehicle 41. By the present embodiment, since the embedding can be quickly detected, sudden braking is reduced. . In addition, the start of the trail can be prevented.

[0050] (Modified Example 1)

Another example of a method for determining the embedding determination unit 25 will be described.

[0051] When the subject vehicle 40 moves and follows the lead vehicle 41, the embedding determination unit 25 can determine the presence or absence of an embedding based on changes in the rear surface of the lead vehicle 41 captured in the camera image. If another vehicle 42 is inserted, part of the rear surface of the ahead vehicle 41 is obscured by the other vehicle 42 as seen by the camera 10. As a result, the image of the rear surface of the ahead vehicle 41 is changed. 41, the embedding detection unit 25 can determine that another vehicle 42 has embedded itself between the ahead vehicle 41 and the subject vehicle 40.

[0052] If the subject vehicle 40 is stopped behind a ahead vehicle 41 and the distance from the front of the other vehicle 42 to the subject vehicle 40 is detected in the detection field of the camera 10 (regions R1-R3 shown in FIGS. 5-7) is less or equal to a predetermined value, the embedding determination unit 25 can determine that another vehicle 42 is embedded between the front vehicle 41 and the subject vehicle 40. The distance from the front of the other vehicle 42 to the subject vehicle 40 means the shortest distance between the subject vehicle 40 and the bumper of another vehicle 42. In addition, the target value (fifth target value) specified here is different from the target value (fourth target value) that was used in the comparison with the side surface 60. By determining this distance, the embedding can be quickly detected.

[0053] (Modified Example 2)

The embedding determination unit 25 can determine the embedding of another vehicle 42 according to the degree of entry of the other vehicle 42 into the detection field of the camera 10. The degree of entry into the detection field is defined as the area of overlap of the other vehicle 42 with the detection field. The overlap area of the other vehicle 42 with the detection field is defined as the overlap area of the other vehicle 42 when viewed directly from above.

[0054] If the subject vehicle 40 is moving and it is determined that the entry degree of the other vehicle 42 into the detection field is greater than or equal to a predetermined value (first set value), the embedding determination unit 25 determines that the other vehicle 42 has been embedded in front of the subject vehicle 40 In addition, if the subject vehicle 40 is stopped and it is determined that the entry degree of the other vehicle 42 into the detection field is greater than or equal to a second predetermined value that is less than the first predetermined value, the embedding determination unit 25 determines that the other vehicle 42 has been embedded in front of the subject vehicle 42. vehicle 40. Specific examples will be described with reference to FIGS. 2 and 5.

[0055] Note the location of P5 in FIG. 2 and the location of P4 in FIG. 5. The extent of entry of another vehicle 42 into the detection field (area R1) at location P5 in FIG. 2 is about 50% of the total area when viewed from above. And the degree of entry of the other vehicle 42 into the detection field (area R1) at location P4 in FIG. 5 is approximately 10% of the total area when viewed from above. In the modified example 2, if the subject vehicle 40 is moving and it is determined that the entry degree of the other vehicle 42 into the detection field (region R1) is greater than or equal to the first set value (50%, as one example), the embedding determination unit 25 determines whether that another vehicle 42 has entered in front of the subject vehicle 40. On the other hand, if the subject vehicle 40 is stopped and it is determined that the entry rate of the other vehicle 42 into the detection field (region R1) is greater than or equal to the second predetermined value (10%, in as one example), less than the first predetermined value, the embedding determination unit 25 determines that another vehicle 42 has been embedded in front of the subject vehicle 40. The above-described numerical values of 50% and 10% are merely examples and are not limited. As long as the condition is satisfied that the second specified value is less than the first specified value, the numerical values of the first specified value and the second specified value can be anything.

[0056] Through the modified example 2, it becomes possible to detect another vehicle 42 that can be built in front of the subject vehicle 40 when the subject vehicle 40 is stopped. In addition, the threshold for determining the embedding of another vehicle 42 is smaller when the subject vehicle 40 is stopped, as opposed to when the subject vehicle 40 is moving. That is, since the second target value is smaller than the first target value, the embedding can be detected more quickly when the subject vehicle 40 is stopped, as opposed to when the subject vehicle 40 is moving. Setting the second set value less than the first set value is similarly applied in the above-described embodiment, modified example 1 and modified example 3 described below. That is, in the embodiment described above, the controller 20 sets the first set value to the third set value, which is the rear surface area of the other vehicle 42 detected by the detection field, and sets the second set value to the fourth set value, which is the lateral surface area of the other vehicle 42 detected in the detection field.

[0057] (Modified Example 3)

In the scenario in FIG. 2, the length of the region R1 was described as the distance in the driving direction from the front end of the subject vehicle 40 to the rear end of the vehicle in front 41. However, the length of the region R1 is not limited to this. As shown in FIG. 9, the length of the region R1 may be a distance in the driving direction that does not reach the rear end of the vehicle in front 41. However, the length of the region R1 is preferably greater than the distance in the driving direction at which the emergency braking by the autonomous function is activated. driving. This makes it possible to detect the build-in before the emergency braking is applied.

[0058] A method for determining embedding when the region R1 is as shown in FIG. 9 will now be described. The scenario shown in FIG. 10 displays the scenario of FIG. 9 at a subsequent time. In the scenarios in FIGS. 9-10, the subject vehicle 40 is moving. As shown in FIG. 10, when the subject vehicle 40 is moving and it is determined that the rear surface area of the other vehicle 42 detected within the region R1 is greater than or equal to a predetermined value (sixth predetermined value), the embedding determination unit 25 determines that the other the vehicle 42 is embedded in front of the subject vehicle 40. The rear surface area of the other vehicle 42 detected within the area R1 means the overlap area of the other vehicle 42 with the area R1 as described in Modified Example 2.

[0059] As shown in FIG. 11, the length of the region R1 in the driving direction when the subject vehicle 40 is stopped may also be a length that does not reach the rear end of the leading vehicle 41, in the same manner as in FIG. 9. However, in FIG. 11, as in FIG. 9, the length of the region R1 in the driving direction is preferably greater than the distance at which the emergency braking is activated by the autonomous driving function. A method for determining embedding when the region R1 is as shown in FIG. 11 will now be described. The scenario shown in FIG. 11 is the scenario shown in FIG. 12 at a subsequent time. In the scenarios in FIGS. 11-12, the vehicle in question 40 is stopped. As shown in FIG. 12, when the subject vehicle 40 is stopped and it is determined that the rear surface area of the other vehicle 42 detected within the region R1 is greater than or equal to the seventh predetermined value, which is less than the sixth predetermined value, the embedding determination unit 25 determines whether that another vehicle 42 has built in front of the subject vehicle 40. The rear surface area of the other vehicle 42 detected within the area R1 means the overlap area of the other vehicle 42 with the area R1 as described in Modified Example 2.

[0060] Through the modified example 3, it becomes possible to detect when another vehicle 42 may be built in front of the subject vehicle 40 when the subject vehicle 40 is stopped. In addition, the threshold for determining the embedding of another vehicle 42 is smaller when the subject vehicle 40 is stopped, as opposed to when the subject vehicle 40 is moving. That is, since the seventh target value is smaller than the sixth target value, the embedding can be detected faster when the subject vehicle 40 is stopped as opposed to when the subject vehicle 40 is moving.

[0061] Each of the functions described in the embodiments above may be implemented by one or more processing circuits. Processing circuits include programmed processing devices, such as processing devices including electronic circuits. In addition, processing circuits include devices such as circuit components and application specific integrated circuits (ASICs) designed to perform the described functions.

[0062] Embodiments of the present invention have been described above, but the descriptions and figures that form part of this disclosure should not be construed as limiting the present invention. From this disclosure, various alternative embodiments, examples and methods of operation will be apparent to those skilled in the art.

[0063] When the subject vehicle 40 is stopped, lane markings (so-called white lines) may not be detected due to vehicles in the vicinity of the subject vehicle 40. In such cases, the controller 20 may set the detection field of the camera 10 using a virtual lane markings based on past detection results. The lane width for the virtual lane marking may be the vehicle width of the subject vehicle 40 obtained by adding a margin to the vehicle width of the subject vehicle 40, or may be a width according to the type of road.

[0064] The embedding determination unit 25 may determine the embedding based on the side surface area of another vehicle 42. For example, when the subject vehicle 40 is moving and it is determined that the side surface area of the other vehicle 42 that overlaps in the detection field is greater than or equal to a predetermined value (the eighth predetermined value), it can be determined that another vehicle 42 has built in front of the subject vehicle 40. Moreover, when the subject vehicle 40 is stopped and the side surface area of the other vehicle 42 that overlaps the detection field is greater than or equal to the ninth a predetermined value that is less than the eighth predetermined value, the embedding determination unit 25 can determine that another vehicle 42 has been embedded in front of the subject vehicle 40. As a result, it becomes possible to detect embedding faster when the subject vehicle 40 is stopped, as opposed to when the subject vehicle 40 is stopped. vehicle 40 is moving.

[0065] The present invention can be used regardless of the presence or absence of a ahead vehicle 41. Thus, the driving assistance device according to the present invention can detect another vehicle that has entered in front of the subject vehicle 40 in the lane in which the subject vehicle is traveling. means 40, regardless of the presence or absence of the vehicle 41 in front.

Descriptions of reference items

[0066] 1 driving assistance device

10 Camera

11 Radar

12 Sonar

13 Vehicle speed sensor

14 GPS receiver

15 Switches

20 Controller

21 Lane detection unit

22 Forward detection unit

23 Follow movement block

24 Stop detection block

25 Embedding detection block

30 Steering drive

31 Accelerator pedal drive

32 Brake drive

Claims (25)

1. A method of driving assistance using a controller that uses a sensor to detect another vehicle that is embedded in front of a subject vehicle in a lane in which the subject vehicle is traveling, comprising the steps of: controller set the detection field of the sensor in front of the vehicle in question, determining that another vehicle has entered in front of the subject vehicle when the subject vehicle is moving, and the degree to which the other vehicle has entered the detection field is greater than or equal to the first predetermined value, and determining that another vehicle has built in front of the subject vehicle when the subject vehicle is stopped, and said degree is greater than or equal to a second predetermined value that is less than the first predetermined value. 2. The driving assistance method according to claim 1, in which controller controls the vehicle in question to follow a vehicle in front that is ahead of the vehicle in question, sets the sensor detection field between the vehicle in question and the vehicle in front, sets the first predetermined value to the third predetermined value, which is the rear surface area of the other vehicle detected in the detection field, and sets the second preset value to the fourth preset value, which is the side surface area of the other vehicle detected in the detection field. 3. The driving assistance method according to claim 1, in which the length of the detection field in the driving direction of the vehicle in question is greater than the distance at which emergency braking is performed by the autonomous driving function. 4. The method of driving assistance according to any one of paragraphs. 1-3, in which obtain information about the location of the vehicle in question, determining whether the subject vehicle is on a motor vehicle-only road based on the location information, and detecting only another vehicle that has built in front of the subject vehicle after determining that the subject vehicle is traveling on a car-only road. 5. The method of driving assistance according to any one of paragraphs. 1-4, in which prohibit the vehicle in question from starting and following the vehicle in front when the embedding is detected and the vehicle in question is stopped. 6. A driving assistance device that detects another vehicle that has entered in front of the subject vehicle in the lane in which the subject vehicle is traveling, comprising: a sensor that detects another vehicle in front of the vehicle in question; And controller that sets the detection field of the sensor, while controller determines that another vehicle has entered in front of the subject vehicle when the subject vehicle is moving, and the degree to which the other vehicle has entered the detection field is greater than or equal to the first predetermined value, and determines that another vehicle has built in front of the subject vehicle when the subject vehicle is stopped, and said degree is greater than or equal to a second predetermined value that is less than the first predetermined value.

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