WO2018230152A1

WO2018230152A1 - Driving assistance device, driving assistance system, driving assistance method, and program

Info

Publication number: WO2018230152A1
Application number: PCT/JP2018/016200
Authority: WO
Inventors: 亮行永井
Original assignee: 株式会社Ｊｖｃケンウッド
Priority date: 2017-06-14
Filing date: 2018-04-19
Publication date: 2018-12-20

Abstract

A driving assistance device comprising: the host-vehicle information acquisition unit (41) for acquiring host-vehicle information on the host vehicle; an other-vehicle information acquisition unit (42) for acquiring first other-vehicle information on a first other vehicle traveling in a lane adjacent to a host vehicle lane wherein the host vehicle is traveling; an assessment unit (43) for assessing whether the host vehicle and the first other vehicle satisfy a prescribed condition; and an output control unit (45) for outputting, if the assessment unit (43) assesses the prescribed condition to be satisfied, a control signal indicating execution of control over the speed of the host vehicle such that the distance between the host vehicle and first other vehicle is maintained at a safe passing distance whereat a second other vehicle can pass safely.

Description

Driving support device, driving support system, driving support method and program

The present invention relates to a driving support device, a driving support system, a driving support method, and a program.

Technology that supports driving by controlling a vehicle to travel at a constant speed is known. When such driving support technology becomes widespread and the number of vehicles traveling at a constant speed increases, there is a risk that vehicles traveling in adjacent lanes will be in a parallel running state on a road having a plurality of lanes in the same direction.

A technique is known in which the target speed is adjusted so as to reduce the time or probability that the host vehicle is located in the blind spot area of the driver of the preceding vehicle (see, for example, Patent Document 1). A technique for performing acceleration / deceleration control of the host vehicle when it is determined that the other team row and the own team row are in a parallel running state is known (see, for example, Patent Document 2).

JP 2003-237407 A JP 2014-0775049 A

On a road with multiple lanes in the same direction, if the distance between the host vehicle and the first other vehicle traveling in the adjacent lane is small, the second other vehicle traveling between the host vehicle and the first other vehicle is a lane. When changing and overtaking, it may be difficult to secure a sufficient distance between the second other vehicle and the host vehicle. For this reason, it is desirable to suppress the state where the distance between the host vehicle and the first other vehicle is equal to or less than the distance at which the second other vehicle can safely pass.

This invention is made in view of the above, Comprising: The distance between the own vehicle and the 1st other vehicle which drive | works an adjacent lane, the 2nd other vehicle which drive | works between an own vehicle and a 1st other vehicle is The purpose is to assist in suppressing the continuation of a state where the distance is less than the distance that can be safely overtaken by changing the lane.

In order to solve the above-described problems and achieve the object, a driving support device according to the present invention detects a host vehicle information acquisition unit that acquires host vehicle information of the host vehicle and other vehicles around the host vehicle. The other vehicle information acquisition unit that acquires the first other vehicle information of the first other vehicle that travels in the adjacent lane adjacent to the own lane on which the host vehicle is detected, and the own vehicle information acquisition unit that is detected by the detection unit A determination unit that determines whether or not the host vehicle and the first other vehicle satisfy a predetermined condition based on the host vehicle information and the first other vehicle information acquired by the other vehicle information acquisition unit And when the determination unit determines that the predetermined condition is satisfied, the distance between the host vehicle and the first other vehicle is a second other vehicle that travels between the host vehicle and the first other vehicle is safe. Will continue to be less than the safe overtaking distance. To suppress, the characterized in that it comprises an output control unit for outputting a control signal indicating that to control the speed of the vehicle.

A driving support system according to the present invention includes the driving support device, the driving support device, a detection unit that detects other vehicles around the host vehicle and outputs a detection signal to the other vehicle information acquisition unit, and the output At least one of the output part which notifies a driver | operator based on the output of a control part is provided.

The driving support method according to the present invention includes a host vehicle information acquisition step of acquiring host vehicle information of the host vehicle, and a host lane on which the host vehicle travels detected by a detection unit that detects other vehicles around the host vehicle. The other vehicle information acquisition step of acquiring the first other vehicle information of the first other vehicle traveling in the adjacent lane adjacent to the vehicle, the host vehicle information acquired in the host vehicle information acquisition step, and the other vehicle information acquisition step. A determination step for determining whether the host vehicle and the first other vehicle satisfy a predetermined condition based on the acquired first other vehicle information, and a case where it is determined that the predetermined condition is satisfied in the determination step The state where the distance between the host vehicle and the first other vehicle is equal to or less than the safe overtaking distance at which the second other vehicle traveling between the host vehicle and the first other vehicle can safely pass. Suppresses continuing In so that, and an output control step of said outputs a control signal indicating that to control the speed of the vehicle.

The program according to the present invention is adjacent to an own vehicle lane on which the own vehicle travels detected by an own vehicle information acquisition step for acquiring own vehicle information of the own vehicle and a detection unit that detects other vehicles around the own vehicle. Acquired in the other vehicle information acquisition step of acquiring the first other vehicle information of the first other vehicle traveling in the adjacent lane, the host vehicle information acquired in the host vehicle information acquisition step, and the other vehicle information acquisition step. Based on the first other vehicle information, when it is determined that the host vehicle and the first other vehicle satisfy a predetermined condition, and the determination step determines that the predetermined condition is satisfied, The state where the distance between the host vehicle and the first other vehicle is equal to or less than the safe overtaking distance at which the second other vehicle traveling between the host vehicle and the first other vehicle can safely pass is maintained. To suppress As such, it is executed by a computer which operates an output control step of outputting a control signal indicating that to control the speed of the vehicle as a driving support device.

According to the present invention, the distance between the host vehicle and the first other vehicle traveling in the adjacent lane can be safely passed by the second other vehicle traveling between the host vehicle and the first other vehicle. There is an effect that it is possible to support the suppression of the continuation of the state of being less than or equal to the distance.

FIG. 1 is a block diagram illustrating a configuration example of the driving support system according to the first embodiment. FIG. 2 is a diagram illustrating the own vehicle, the first other vehicle, the second other vehicle, and the third other vehicle, and the own lane and the adjacent lane. FIG. 3 is a flowchart illustrating an example of a process flow in the driving support apparatus of the driving support system according to the first embodiment. FIG. 4 is a diagram illustrating an example of the host vehicle and the first other vehicle in the first embodiment, and illustrates a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 5 is a diagram illustrating an example of the host vehicle and the first other vehicle in the first embodiment, and shows a state in which the speed of the host vehicle is adjusted. FIG. 6 is a diagram illustrating an example of the host vehicle and the first other vehicle in the second embodiment, and illustrates a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 7 is a diagram illustrating an example of the host vehicle and the first other vehicle in the second embodiment, and shows a state in which the speed of the host vehicle is adjusted. FIG. 8 is a diagram illustrating an example of the host vehicle and the first other vehicle in the second embodiment, and shows a state in which the speed adjustment of the host vehicle is finished. FIG. 9 is a diagram illustrating an example of the host vehicle and the first other vehicle in the third embodiment, and shows a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 10 is a diagram illustrating an example of the host vehicle and the first other vehicle in the third embodiment, and shows a state in which the speed of the host vehicle is being adjusted. FIG. 11 is a diagram showing an example of the host vehicle and the first other vehicle in the third embodiment, and shows a state where the speed adjustment of the host vehicle is finished. FIG. 12 is a diagram illustrating an example of the host vehicle and the first other vehicle in the fourth embodiment, and illustrates a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 13 is a diagram illustrating an example of the host vehicle and the first other vehicle in the fourth embodiment, and shows a state in which the speed of the host vehicle is being adjusted. FIG. 14 is a diagram illustrating an example of the host vehicle and the first other vehicle according to the fourth embodiment, and illustrates a state in which the speed adjustment of the host vehicle has been completed. FIG. 15 is a diagram illustrating an example of the host vehicle and the first other vehicle according to the fifth embodiment, and illustrates a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 16 is a diagram illustrating an example of the host vehicle and the first other vehicle in the fifth embodiment, and shows a state in which the speed of the host vehicle is being adjusted. FIG. 17 is a diagram showing an example of the host vehicle and the first other vehicle in the fifth embodiment, and shows a state where the speed adjustment of the host vehicle is finished. FIG. 18 is a diagram illustrating an example of the host vehicle and the first other vehicle in the sixth embodiment, and shows a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 19 is a diagram illustrating an example of the host vehicle and the first other vehicle in the sixth embodiment, and shows a state in which the speed of the host vehicle is being adjusted. FIG. 20 is a block diagram illustrating a configuration example of the driving support system according to the seventh embodiment. FIG. 21 is a diagram for explaining an example when a lane exists in addition to the own lane and the adjacent lane. FIG. 22 is a diagram illustrating an example of a case where a lane exists in addition to the own lane and the adjacent lane.

Embodiments of a driving support device 30, a driving support system 1, a driving support method, and a program according to the present invention will be described below in detail with reference to the accompanying drawings. In addition, this invention is not limited by the following embodiment.

[First embodiment]
FIG. 1 is a block diagram illustrating a configuration example of the driving support system according to the first embodiment. The driving support system 1 is mounted on the host vehicle A. In addition to what is mounted on the own vehicle A, the driving support system 1 may be a portable device that can be used in the own vehicle A.

The vehicle and lane will be described with reference to FIG. FIG. 2 is a diagram illustrating the own vehicle, the first other vehicle, the second other vehicle, and the third other vehicle, and the own lane and the adjacent lane. The lane in which the host vehicle A is traveling is referred to as the own lane L, and the lane adjacent to the own lane L and in which the first other vehicle B1 is traveling is referred to as the adjacent lane L1. In the present embodiment, the adjacent lane L1 is located on the right side of the own lane L. The first other vehicle B1 is a vehicle traveling in the adjacent lane L1. In the present embodiment, the first other vehicle B1 travels ahead of the host vehicle A in the adjacent lane L1. As for 1st other vehicle B1, the rear-end part is located ahead of the front-end part of the own vehicle A. FIG. In the present embodiment, the second other vehicle B2 travels behind the first other vehicle B1 in the adjacent lane L1. The third other vehicle C1 is traveling in front of the host vehicle A in the host lane L. The third other vehicle C1 is a forward traveling vehicle.

Passing means that a subsequent vehicle traveling in the second lane adjacent to the first lane changes lanes and exits ahead of the vehicle traveling in the first lane. In this embodiment, overtaking means that the second other vehicle B2 traveling behind the adjacent lane L1 changes its lane and comes out ahead of the own vehicle A traveling along the own lane L.

Returning to FIG. 1, the driving support system 1 will be described. The driving support system 1 is configured to allow the second other vehicle B2 to safely overtake the distance (inter-vehicle distance) D between the host vehicle A and the first other vehicle B1 traveling in the adjacent lane L1 (hereinafter referred to as “safety”). It is referred to as “overtaking distance.”) The adjustment speed of the host vehicle A is notified to the driver so as to prevent the following state from continuing. The driving support system 1 includes a sensor group (detecting unit) 10, a display unit (output unit) 21, a speaker (output unit) 22, and a driving support device 30. Either the display unit 21 or the speaker 22 may be provided. In this embodiment, the display unit 21 and the speaker 22 are provided.

The safe overtaking distance is a distance at which the own vehicle A, the first other vehicle B1, and the second other vehicle B2 can keep a safe distance when the second other vehicle B2 passes. The safe overtaking distance is a distance that should be maintained by vehicles traveling in the same lane, for example, a distance that is longer than the distance D1 that the own vehicle A and the third other vehicle C1 should maintain. The safe overtaking distance is preferably increased as the speed of the host vehicle A increases. In the present embodiment, for example, when the speed of the host vehicle A is 80 km / h, the safety overtaking distance is 100 m. For example, when the speed of the host vehicle A is 80 km / h, the distance D1 that the host vehicle A and the third other vehicle C1 should keep is 80 m.

The distance D1 between the host vehicle A and the third other vehicle C1 traveling in the same lane is, for example, 80 m or 100 m in the case of a highway, or 85 m if the speed is 100 km / h depending on the traveling speed. The distance such as is a standard. These are guidelines based on the distance from when the brake is stepped on until the vehicle stops, and the vehicle A can be safely stopped when the vehicle traveling ahead stops suddenly.

In the case where the distance D between the host vehicle A and the first other vehicle B1 that is the forward vehicle traveling in the adjacent lane L1 is short, the parallel running state is generally only a violation of manners and dangerous driving. However, after the second other vehicle B2 traveling behind the adjacent lane L1 overtakes the own vehicle A, the lane change may be made to the traveling lane L of the own vehicle A. When the distance D between the host vehicle A and the first other vehicle B1 is not sufficient, the second other vehicle B2 enters the front of the host vehicle A. In order to reduce such a situation that impairs safety, it is desirable to keep the distance D between the host vehicle A and the first other vehicle B1 sufficiently wide. When the distance between the host vehicle A and the first vehicle B1 is, for example, 80m, the distance between the front vehicle C1 and the front vehicle C1 traveling in the same lane L as the host vehicle A, the vehicle travels behind the adjacent lane L1. When the second other vehicle B2 changes the lane after overtaking the host vehicle A, the distance between the host vehicle A and the second other vehicle B2 is 80 m or less of the safe inter-vehicle distance, which is very dangerous. For this reason, it is preferable that the distance D between the host vehicle A and the first vehicle B1 is a longer safe inter-vehicle distance than the safe inter-vehicle distance between the host vehicle A and the forward vehicle C1.

In addition, such a safe inter-vehicle distance from another vehicle traveling in the adjacent lane is ensured when the presence of the second other vehicle B2 traveling behind the adjacent lane of the host vehicle A is detected from the sensor information. It may be a thing. In this case, when the second other vehicle B2 approaches the host vehicle A, the speed of the host vehicle A is decreased to increase the inter-vehicle distance from the first other vehicle B1. Such an operation of the host vehicle A has a behavior that gives the second other vehicle B2 the impression of allowing overtaking with lane change. At that time, if the host vehicle A is decelerating, the safety can be further ensured.

Sensor group 10 detects vehicles around host vehicle A. The sensor group 10 can detect the direction of a vehicle around the host vehicle A with respect to the host vehicle A, the distance D from the host vehicle A, and the relative speed with respect to the host vehicle A. The sensor group 10 includes, for example, a front right sensor, a front center sensor, a front left sensor, a rear right sensor, a rear center sensor, and a rear left sensor. The sensor group 10 detects vehicles in all directions around the host vehicle A by a front right sensor, a front center sensor, a front left sensor, a rear right sensor, a rear center sensor, and a rear left sensor. Since each sensor is configured in the same manner, the front right sensor will be described, and description of the other sensors will be omitted.

The front right sensor is disposed on the front right side of the host vehicle A and detects a vehicle existing on the front right side of the host vehicle A. The front right sensor detects a vehicle in a range of, for example, about 40 ° with the center of the sensor as the center when viewed in the vertical direction. The detection range of the front right sensor may overlap with a part of the detection range of the front center sensor. The front right sensor detects a vehicle positioned in front of the host vehicle A when the host lane L extends linearly. The front right sensor is capable of sensing from a distance of several tens of meters to several hundreds of meters depending on the sensing method. As the front right sensor, for example, various methods such as an infrared sensor, an ultrasonic sensor, a millimeter wave sensor, a sensor based on image recognition, and the like can be applied. The front right sensor outputs the detection result to the vehicle information acquisition unit 42 in addition to the control unit 40 of the driving support device 30.

The front right sensor, the front center sensor, and the front left sensor detect a vehicle ahead of the host vehicle A. The rear right sensor, the rear center sensor, and the rear left sensor detect a vehicle behind the host vehicle A.

The display unit 21 is a display including, for example, a liquid crystal display (LCD), an organic EL (Organic Electro-Luminescence) display, and a head-up display. The display unit 21 displays a video based on the video signal output from the driving support device 30 of the driving support system 1. The display unit 21 may be dedicated to the driving support system 1 or may be used jointly with other systems including a navigation system, for example. The display unit 21 is disposed at a position that is easily visible to the driver.

The speaker 22 is, for example, an audio output device shared with other systems including a navigation system. The speaker 22 outputs the adjustment speed by voice based on the voice signal output from the voice control unit 452 of the control unit 40 of the driving support device 30.

The driving support device 30 includes a control unit 40 and a storage unit 50.

The control unit 40 is an arithmetic processing unit configured with, for example, a CPU (Central Processing Unit) and a video processing processor. The control unit 40 loads the program stored in the storage unit 50 into the memory and executes instructions included in the program. The control unit 40 includes a host vehicle information acquisition unit 41, another vehicle information acquisition unit 42, a determination unit 43, a calculation unit 44, and an output control unit 45. The control unit 40 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 40. The control unit 40 may be composed of one or a plurality of devices.

The own vehicle information obtaining unit 41 obtains own vehicle information including the speed of the own vehicle A from various sensors that sense the state of the own vehicle A or a CAN (Controller Area Network). The own vehicle information acquisition part 41 acquires the present location information of the own vehicle A acquired using the GPS (Global Positioning System) receiver as own vehicle information. The own vehicle information acquisition unit 41 outputs the acquired own vehicle information to the determination unit 43 and the calculation unit 44.

The own vehicle information acquisition unit 41 acquires information on the own lane L and the adjacent lane L1 on which the own vehicle A travels. The information on the own lane L and the adjacent lane L1 may be acquired by performing an image analysis process on a surrounding image of the own vehicle A captured by a camera (not shown). Alternatively, the information on the own lane L and the adjacent lane L1 may be acquired from the current location information of the own vehicle A acquired by the GPS receiver and map information (not shown). Alternatively, the information on the own lane L and the adjacent lane L1 may be acquired from an external system including, for example, ITS (Intelligent Transport Systems).

The other vehicle information acquisition unit 42 acquires the first other vehicle information of the first other vehicle B1 based on the detection result of the sensor group 10. The other vehicle information acquisition unit 42 determines the direction relative to the own vehicle A, the distance D from the own vehicle A, and the relative to the own vehicle A for the first other vehicle B1 based on the detection results of the front right sensor, the front center sensor, and the front left sensor. Get speed and. The distance and the relative speed are calculated by a known method based on the difference between the transmission signal transmitted by each sensor of the sensor group 10 and the reception signal reflected by the first other vehicle B1.

The first other vehicle B1 is detected by a predetermined sensor in the sensor group 10 including the front or rear in the detection range according to the extending direction of the own lane L and the adjacent lane L1. In the present embodiment, the first other vehicle B1 is detected by the front right sensor when the own lane L and the adjacent lane L1 extend linearly.

Based on the own vehicle information of the own vehicle A acquired by the own vehicle information acquisition unit 41 and the first other vehicle information of the first other vehicle B1 acquired by the other vehicle information acquisition unit 42, the determination unit 43 It is determined whether A and the first other vehicle B1 satisfy a predetermined condition. The determination part 43 determines with satisfy | filling predetermined conditions, when the distance D of the own vehicle A and 1st other vehicle B1 is below the safety overtaking distance which is a threshold value.

The determination unit 43 may determine that the predetermined condition is satisfied when the state satisfying the predetermined condition continues for a predetermined time. Alternatively, the determination unit 43 may determine that the predetermined condition is satisfied when the vehicle travels a predetermined distance in a state where the predetermined condition is satisfied.

Even if the determination unit 43 satisfies the predetermined condition, the determination unit 43 may not determine that the predetermined condition is satisfied if the following exception condition is satisfied. For example, when determining that the traffic is congested, the determination unit 43 may determine that the exception condition is satisfied. More specifically, for example, when the vehicle speed is 40 km / h or less, it is determined that there is a traffic jam. For example, the determination unit 43 may determine that the exception condition is satisfied when it is determined that there is no adjacent lane L1 in the own lane L based on the information of the own lane L and the adjacent lane L1. For example, the determination unit 43 may determine that the exception condition is satisfied based on the information on the own lane L and the adjacent lane L1 when the curvature radii of the own lane L and the adjacent lane L1 are greater than or equal to a threshold value.

When the determination unit 43 determines that the determination unit 43 satisfies the predetermined condition, the calculation unit 44 suppresses the continuation of the state in which the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safety overtaking distance. The adjustment speed of the host vehicle A is calculated. The adjustment speed is the speed after adjustment of the host vehicle A.

Suppressing the situation in which the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safety overtaking distance is to keep the safety overtaking distance, in other words, not to approach the safety overtaking distance. And reducing the duration of the state even if it temporarily falls below the safe overtaking distance when overtaken or overtaken, in other words, to quickly resolve the state .

When the determination unit 43 determines that the predetermined condition is satisfied, the calculation unit 44, for example, adjusts to decelerate the host vehicle A so as to keep the distance D between the host vehicle A and the first other vehicle B1 at the safe overtaking distance. Calculate the speed. In such a case, the calculation unit 44 calculates an adjustment speed equal to or lower than the speed of the first other vehicle B1. In the present embodiment, the calculation unit 44 calculates the speed of the first other vehicle B1 as the adjustment speed.

Furthermore, when the determination unit 43 determines that the determination unit 43 satisfies the predetermined condition and determines that the host vehicle A does not pass the first other vehicle B1, the distance between the host vehicle A and the first other vehicle B1. An adjustment speed for decelerating the host vehicle A may be calculated so as to keep D at the safe overtaking distance.

“Overtaking” means that the following vehicle traveling in the second lane adjacent to the first lane exits ahead of the vehicle traveling in the first lane without changing the lane. In the present embodiment, overtaking means that the own vehicle A traveling in the own lane L comes out ahead of the first other vehicle B1 traveling in front of the adjacent lane L1 without changing the lane.

In the present embodiment, when the speed of the host vehicle A is higher than the speed of the first other vehicle B1 and the relative speed between the host vehicle A and the first other vehicle B1 is equal to or lower than the threshold speed, the calculation unit 44 It may be determined that the vehicle A does not overtake the first other vehicle B1. In the present embodiment, the threshold speed is preferably about 1/20 of the speed of the host vehicle A.

Furthermore, the calculation unit 44 adjusts the acceleration or deceleration of the host vehicle A when the host vehicle A decelerates or accelerates and the distance between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance. May be calculated. More specifically, the calculation unit 44 acquires the speed or acceleration of the host vehicle A based on the host vehicle information acquired by the host vehicle information acquisition unit 41, and the speed of the host vehicle A is lower than the previous traveling speed. Or it has been detected. When the speed of the host vehicle A decreases or increases, as a result of the calculation unit 44 being unable to maintain a safe inter-vehicle distance from the first other vehicle B1, the safe inter-vehicle distance from the first other vehicle B1 The speed at which the host vehicle A is accelerated or decelerated is calculated as the adjustment speed so as to ensure the distance.

When the determination unit 43 determines that the predetermined condition is satisfied, the output control unit 45 prevents the state where the distance D1 between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance. Controlling the speed of the vehicle A is output. More specifically, when the determination unit 43 determines that the predetermined condition is satisfied, the output control unit 45 controls the adjustment speed calculated by the calculation unit 44, information suggesting acceleration / deceleration, or the accelerator or brake. Outputs information that suggests Here, the control signal for controlling the speed of the host vehicle A is a control signal instruction for notifying the driver by display or voice of controlling the speed of the host vehicle A, and the host vehicle A as in the automatic driving control technique. And a control signal for controlling the speed. In the present embodiment, the output control unit 45 will be described assuming that the adjustment speed calculated by the calculation unit 44 is output by at least one of the display unit 21 and the speaker 22. The output control unit 45 includes a display control unit 451 and an audio control unit 452.

The display control unit 451 outputs a video signal that outputs the adjustment speed as character information to the display unit 21 based on the calculation result of the calculation unit 44. For example, the display control unit 451 outputs character information such as “decelerate to OO km / h”, “ΔΔ km / h deceleration”, and “slightly decelerate” on the display unit 21.

The voice control unit 452 outputs a voice signal that outputs the adjustment speed as voice information to the speaker 22 based on the calculation result of the calculation unit 44. For example, the voice control unit 452 outputs voice information such as “Decelerate to XX km / h”, “Decelerate △ Δ km / h”, and “Decelerate a little” on the speaker 22. To do.

The storage unit 50 stores data and various processing results required for various processes in the driving support device 30. The storage unit 50 is, for example, a semiconductor memory element such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory (Flash Memory), or a storage device such as a hard disk or an optical disk. Alternatively, an external storage device that is wirelessly connected via a communication device (not shown) may be used.

Next, the flow of processing in the driving support device 30 of the driving support system 1 will be described with reference to FIG. FIG. 3 is a flowchart illustrating an example of a process flow in the driving support apparatus of the driving support system according to the first embodiment.

During activation of the driving support system 1, the control unit 40 acquires the own vehicle information of the own vehicle A by the own vehicle information acquisition unit 41. The control unit 40 acquires the first other vehicle information of the first other vehicle B1 by the other vehicle information acquisition unit 42.

Control unit 40 determines whether or not host vehicle A and first other vehicle B1 satisfy a predetermined condition (step S11). When the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance, the control unit 40 determines that the predetermined condition is satisfied (Yes in step S11). When the determination unit 43 determines that the predetermined condition is satisfied (Yes in step S11), the control unit 40 proceeds to step S12. When the distance D between the host vehicle A and the first other vehicle B1 is larger than the safety overtaking distance, the control unit 40 determines that the predetermined condition is not satisfied (No in step S11). When the determination unit 43 determines that the predetermined condition is not satisfied (No in Step S11), the control unit 40 executes the process of Step S11 again.

When it is determined in step S11 that the predetermined condition is satisfied (Yes in step S11), the control unit 40 calculates the adjustment speed of the host vehicle A by the calculation unit 44 (step S12). In the present embodiment, the control unit 40 calculates the adjustment speed when the calculation unit 44 determines that the determination unit 43 satisfies the predetermined condition and determines that the host vehicle A does not overtake the first other vehicle B1. To do. The control unit 40 uses the calculation unit 44 to calculate the adjustment speed of the host vehicle A so that the speed of the host vehicle A matches the speed of the first other vehicle B1. The control unit 40 proceeds to step S13.

The control unit 40 outputs adjustment speed information at the output control unit 45 (step S13). The control unit 40 causes the display control unit 451 to display the adjustment speed character information on the display unit 21, and the voice control unit 452 outputs the adjustment speed voice information from the speaker 22.

The control unit 40 determines whether or not the speed adjustment end condition is satisfied (step S14). Satisfying the speed adjustment termination condition means a state in which it is determined that the speed adjustment may be terminated. In the present embodiment, the control unit 40 determines that the predetermined time has elapsed since the distance D between the host vehicle A and the first other vehicle B1 is greater than the safety overtaking distance or when the adjustment speed information is output in step S13. In this case, it is determined that the speed adjustment end condition is satisfied (Yes in step S14). If it is determined that the speed adjustment end condition is satisfied (Yes in step S14), the control unit 40 ends the process. When the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance, or when the predetermined time has not elapsed since the adjustment speed information was output in step S13, It is determined that the speed adjustment end condition is not satisfied (No in step S14). When it is determined that the speed adjustment end condition is not satisfied (No in step S14), the control unit 40 re-executes the process of step S12.

In step S14, the control unit 40 may determine that the speed adjustment end condition is satisfied when the state satisfying the speed adjustment end condition continues for a predetermined time. Alternatively, the determination unit 43 may determine that the speed adjustment end condition is satisfied when the vehicle travels a predetermined distance in a state where the speed adjustment end condition is satisfied.

When it is determined in step S14 that the speed adjustment end condition is satisfied (Yes in step S14), the control unit 40 causes the display control unit 451 to display the end of speed adjustment as character information on the display unit 21, and the voice control unit. At 452, the end of speed adjustment is output as audio information from the speaker 22.

A specific example of driving assistance by the driving assistance system 1 will be described with reference to FIGS. FIG. 4 is a diagram illustrating an example of the host vehicle and the first other vehicle in the first embodiment, and illustrates a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 5 is a diagram illustrating an example of the host vehicle and the first other vehicle in the first embodiment, and shows a state in which the speed of the host vehicle is adjusted.

As shown in FIG. 4, the host vehicle A travels along the host lane L at a speed of 60 km / h, and the first other vehicle B1 travels along the adjacent lane L1 at a speed of 58 km / h. The first other vehicle B1 travels ahead of the host vehicle A by a distance D. The distance D is a safety overtaking distance. In this embodiment, the threshold speed is 3 km / h, which is 1/20 of the speed 60 km / h of the host vehicle A. The own vehicle A has caught up with the first other vehicle B1.

The control unit 40 determines in the determination unit 43 that the predetermined condition is satisfied because the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance (Yes in step S11). And the control part 40 calculates the adjustment speed of the own vehicle A by the calculation part 44 (step S12). Since the relative speed 2 km / h between the own vehicle A and the first other vehicle B1 is equal to or less than the threshold speed 3 km / h in the calculation unit 44, the control unit 40 has to pass the first other vehicle B1. judge. And the control part 40 is the calculation part 44, and adjusts the adjustment speed of the own vehicle A to 58 km / h according to the speed of the 1st other vehicle B1. And the control part 40 displays the character information of adjustment speed on the display part 21 with the display control part 451, and outputs the audio | voice information of adjustment speed with the speaker 22 with the audio | voice control part 452 (step S13).

The driver confirms the adjustment speed based on the character information displayed on the display unit 21 or the voice information output from the speaker 22. The driver decelerates the speed of the host vehicle A from 60 km / h to 58 km / h in accordance with the confirmed adjustment speed. FIG. 5 shows a state where the speed of the host vehicle A is reduced to 58 km / h.

The control unit 40 determines that the speed adjustment end condition is satisfied when the distance D between the host vehicle A and the first other vehicle B1 is larger than the safe overtaking distance (Yes in step S14). For this reason, in this embodiment, while the speed of 1st other vehicle B1 is 58 km / h, speed adjustment is not complete | finished. When the speed of the first other vehicle B1 changes, it is determined that the speed adjustment end condition is satisfied.

Thus, when the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance, the adjustment speed of the host vehicle A is notified to the driver. This assists in keeping the distance D between the host vehicle A and the first other vehicle B1 at the safe overtaking distance.

As described above, in the present embodiment, when the own vehicle A and the first other vehicle B1 satisfy the predetermined condition, the distance D between the own vehicle A and the first other vehicle B1 maintains the safe overtaking distance. The adjustment speed of the host vehicle A is calculated and notified to the driver. More specifically, in the present embodiment, when it is determined that the distance D between the own vehicle A and the first other vehicle B1 is not more than the safe overtaking distance and the own vehicle A does not pass the first other vehicle B1, An adjustment speed for reducing the speed of the vehicle A is calculated and notified to the driver. Thus, according to this embodiment, when the own vehicle A approaches the first other vehicle B1, the driver appropriately decelerates the own vehicle A, and the distance between the own vehicle A and the first other vehicle B1. Driving can be supported by allowing D to maintain a safe overtaking distance.

According to the present embodiment, the driving support technology or the automatic driving control technology supporting the constant speed travel spreads and the number of vehicles that travel at a constant speed increases, so that the vehicle group that travels in the own lane L and the adjacent lane L1 are displayed. It is possible to prevent the traveling vehicle group from being in a parallel running state. According to the present embodiment, even when a group of vehicles traveling on the own lane L and a group of vehicles traveling on the adjacent lane L1 are in a parallel running state, driving for appropriately canceling the parallel running state is supported. Can do.

On the other hand, if the parallel running state continues, the own lane L and the adjacent lane L1 may be blocked, thereby hindering the smooth running of the second other vehicle B2. Moreover, if the parallel running state continues, the state where the host vehicle A is located in the blind spot of the first other vehicle B1 may continue. Furthermore, in the parallel running state, when there is an obstacle, there is a possibility that the avoidance action for changing the lane to another lane may be limited.

This embodiment can enable smooth travel in the own lane L and the adjacent lane L1. Moreover, this embodiment can suppress the state where the own vehicle A is located in the blind spot of the first other vehicle B1. Furthermore, this embodiment can reduce the time during which the retreat action for changing the lane to another lane is suppressed when an obstacle is present.

In the present embodiment, when the own vehicle A decelerates or accelerates, the adjustment speed for accelerating or decelerating the own vehicle A is calculated when the distance between the own vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance. To do. In the present embodiment, based on the adjustment speed calculated in this way, the driver is warned to increase or decrease the speed of the own vehicle A, thereby reducing the safe inter-vehicle distance from the first other vehicle B1. Can always be secured.

[Second Embodiment]
The driving support system 1 according to the present embodiment will be described with reference to FIGS. FIG. 6 is a diagram illustrating an example of the host vehicle and the first other vehicle in the second embodiment, and illustrates a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 7 is a diagram illustrating an example of the host vehicle and the first other vehicle in the second embodiment, and shows a state in which the speed of the host vehicle is adjusted. FIG. 8 is a diagram illustrating an example of the host vehicle and the first other vehicle in the second embodiment, and shows a state in which the speed adjustment of the host vehicle is finished. The driving support system 1 has the same basic configuration as the driving support system 1 of the first embodiment.

When the determination unit 43 determines that the determination unit 43 satisfies the predetermined condition and determines that the host vehicle A overtakes the first other vehicle B1, the calculation unit 44 overtakes the first other vehicle B1 in a short time. An adjustment speed for accelerating the host vehicle A is calculated so as to reduce the duration of the state in which the distance D to the first other vehicle B1 is equal to or less than the safe overtaking distance. For example, the adjustment speed is preferably a speed obtained by accelerating the speed before adjustment of the host vehicle A by about 1/10.

In the present embodiment, the calculation unit 44 determines that the host vehicle A overtakes the first other vehicle B1 when the speed of the host vehicle A is faster than the speed of the first other vehicle B1. Furthermore, when the relative speed between the host vehicle A and the first other vehicle B1 is larger than the threshold speed, the calculation unit 44 may determine that the host vehicle A overtakes the first other vehicle B1. In the present embodiment, the threshold speed is preferably about 1/20 of the speed of the host vehicle A.

A specific example of driving support by the driving support system 1 will be described with reference to FIGS. As shown in FIG. 6, the first other vehicle B1 travels in front of the adjacent lane L1 at a speed of 52 km / h. The own vehicle A is traveling on the own lane L at a speed of 60 km / h.

The control unit 40 determines in the determination unit 43 that the predetermined condition is satisfied because the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance (Yes in step S11). And the control part 40 calculates the adjustment speed of the own vehicle A by the calculation part 44 (step S12). The control unit 40 determines in the calculation unit 44 that the own vehicle A overtakes the first other vehicle B1 because the relative speed 8 km / h between the own vehicle A and the first other vehicle B1 is larger than the threshold speed 3 km / h. . And the control part 40 is the calculation part 44, and calculates the adjustment speed of the own vehicle A as 65 km / h. And the control part 40 displays the character information of adjustment speed on the display part 21 with the display control part 451, and outputs the audio | voice information of adjustment speed with the speaker 22 with the audio | voice control part 452 (step S13).

The driver accelerates the speed of the own vehicle A from 60 km / h to 65 km / h. FIG. 7 shows a state where the speed of the host vehicle A is accelerated to 65 km / h. The own vehicle A overtakes the first other vehicle B1, and the distance D between the own vehicle A and the first other vehicle B1 increases.

When the host vehicle A overtakes the first other vehicle B1, the control unit 40 is accelerating the host vehicle A or the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance. During this period, a warning display and a warning sound may be output.

Then, when the distance D between the host vehicle A and the first other vehicle B1 becomes larger than the safety overtaking distance, the control unit 40 determines that the speed adjustment end condition is satisfied (Yes in step S14). The control unit 40 causes the display control unit 451 to display character information instructing to return the speed on the display unit 21, and the voice control unit 452 outputs voice information instructing to return the speed to the speaker 22.

The driver confirms the end of the speed adjustment based on the character information displayed on the display unit 21 or the voice information output from the speaker 22. The driver decelerates the speed of the host vehicle A from 65 km / h to 60 km / h. FIG. 8 shows a state where the speed of the host vehicle A has returned to 60 km / h.

When the own vehicle A overtakes the first other vehicle B1, the speed of the own vehicle A returns, and the distance D between the own vehicle A and the first other vehicle B1 becomes greater than the safe overtaking distance. The warning display and warning sound output are terminated.

Thus, when the own vehicle A overtakes the first other vehicle B1, the distance D between the own vehicle A and the first other vehicle B1 can be increased in a short time by overtaking the first other vehicle B1. Notify the driver of the adjustment speed. Thereby, it overtakes the first other vehicle B1 and increases the distance D between the host vehicle A and the first other vehicle B1 in a short time, thereby assisting in ensuring a safe overtaking distance.

As described above, in the present embodiment, when it is determined that the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance and the host vehicle A overtakes the first other vehicle B1, An adjustment speed for accelerating the speed of the vehicle A is calculated and notified to the driver. Thus, in the present embodiment, when the own vehicle A overtakes the first other vehicle B1, the distance between the own vehicle A and the first other vehicle B1 is overtaken in a short time. The driver is notified of the adjustment speed at which D can be expanded. In this way, according to the present embodiment, the first other vehicle B1 is overtaken in a short time, the distance D between the own vehicle A and the first other vehicle B1 is increased, and a safe overtaking distance is ensured. Can help.

[Third embodiment]
The driving support system 1 according to the present embodiment will be described with reference to FIGS. 9 to 11. FIG. 9 is a diagram illustrating an example of the host vehicle and the first other vehicle in the third embodiment, and shows a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 10 is a diagram illustrating an example of the host vehicle and the first other vehicle in the third embodiment, and shows a state in which the speed of the host vehicle is being adjusted. FIG. 11 is a diagram showing an example of the host vehicle and the first other vehicle in the third embodiment, and shows a state where the speed adjustment of the host vehicle is finished. The driving support system 1 has the same basic configuration as the driving support system 1 of the first embodiment. In the present embodiment, the first other vehicle B1 travels behind the host vehicle A in the adjacent lane.

When the determination unit 43 determines that the determination unit 43 satisfies the predetermined condition and determines that the first other vehicle B1 overtakes the own vehicle A, the distance D between the own vehicle A and the first other vehicle B1 is safe. An adjustment speed for decelerating the host vehicle A is calculated so as to reduce the duration of the state of being less than or equal to the overtaking distance. For example, the adjustment speed is preferably a speed obtained by reducing the speed before adjustment of the host vehicle A by about 1/10.

In the present embodiment, the calculation unit 44 determines that the first other vehicle B1 overtakes the own vehicle A when the speed of the own vehicle A is slower than the speed of the first other vehicle B1.

Specific examples of driving assistance by the driving assistance system 1 will be described with reference to FIGS. 9 to 11. As shown in FIG. 9, the first other vehicle B <b> 1 is a vehicle that overtakes the host vehicle A. The speed of the own vehicle A is 60 km / h. The speed of the first other vehicle B1 is 62 km / h.

The control unit 40 determines in the determination unit 43 that the predetermined condition is satisfied because the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance (Yes in step S11). And the control part 40 calculates the adjustment speed of the own vehicle A by the calculation part 44 (step S12). Since the speed of the host vehicle A is slower than the speed of the first other vehicle B1, the control unit 40 determines that the host vehicle A is overtaken by the first other vehicle B1, and adjusts the speed of the host vehicle A. Is calculated as 55 km / h. And the control part 40 displays the character information of adjustment speed on the display part 21 with the display control part 451, and outputs the audio | voice information of adjustment speed with the speaker 22 with the audio | voice control part 452 (step S13).

The driver decelerates the speed of the own vehicle A from 60 km / h to 55 km / h. FIG. 10 shows a state where the speed of the host vehicle A is reduced to 55 km / h. The speed of the own vehicle A is decelerated, and the distance D between the own vehicle A and the first other vehicle B1 increases.

The control unit 40 may output a warning display and a warning sound while the host vehicle A is decelerating or while the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance. Good.

The driver confirms the end of the speed adjustment based on the character information displayed on the display unit 21 or the voice information output from the speaker 22. The driver accelerates the speed of the host vehicle A from 55 km / h to 60 km / h. FIG. 11 shows a state where the speed of the host vehicle A has returned to 60 km / h.

The control unit 40 determines that the host vehicle A is overtaken by the first other vehicle B1, the speed of the host vehicle A is restored, and the distance D between the host vehicle A and the first other vehicle B1 is greater than the safe overtaking distance. Then, the warning display and warning sound output are terminated.

In this way, when the first other vehicle B1 overtakes the own vehicle A, the distance D between the own vehicle A and the first other vehicle B1 by the first other vehicle B1 overtaking the own vehicle A in a short time. The driver is notified of the adjustment speed that can be expanded. As a result, the distance D between the host vehicle A and the first other vehicle B1 is increased in a short time to assist in securing a safe overtaking distance.

As described above, in the present embodiment, when the first other vehicle B1 overtakes the own vehicle A, the adjustment speed that can increase the distance D between the own vehicle A and the first other vehicle B1 in a short time is operated. The person in charge. Thus, according to the present embodiment, when the first other vehicle B1 overtakes the host vehicle A, the distance D between the host vehicle A and the first other vehicle B1 is increased in a short time, and the safety is increased. It can help to secure the overtaking distance.

[Fourth embodiment]
The driving support system 1 according to the present embodiment will be described with reference to FIGS. FIG. 12 is a diagram illustrating an example of the host vehicle and the first other vehicle in the fourth embodiment, and illustrates a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 13 is a diagram illustrating an example of the host vehicle and the first other vehicle in the fourth embodiment, and shows a state in which the speed of the host vehicle is being adjusted. FIG. 14 is a diagram illustrating an example of the host vehicle and the first other vehicle according to the fourth embodiment, and illustrates a state in which the speed adjustment of the host vehicle has been completed. The driving support system 1 has the same basic configuration as the driving support system 1 of the first embodiment. In the present embodiment, the first other vehicle B1 travels behind the host vehicle A in the adjacent lane.

When the determination unit 43 determines that the determination unit 43 satisfies the predetermined condition and determines that the first other vehicle B1 does not overtake the host vehicle A, the distance D between the host vehicle A and the first other vehicle B1 is An adjustment speed for accelerating the host vehicle A is calculated so as to reduce the duration of the state of being less than the safe overtaking distance. For example, the adjustment speed is preferably a speed obtained by accelerating the speed before adjustment of the host vehicle A by about 1/10.

In the present embodiment, the calculation unit 44 determines that the first other vehicle B1 does not overtake the own vehicle A when the speed of the first other vehicle B1 is slower than the speed of the own vehicle A.

A specific example of driving assistance by the driving assistance system 1 will be described with reference to FIG. The speed of the own vehicle A is 60 km / h. The speed of the first other vehicle B1 is 58 km / h.

The control unit 40 determines in the determination unit 43 that the predetermined condition is satisfied because the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance (Yes in step S11). And the control part 40 calculates the adjustment speed of the own vehicle A by the calculation part 44 (step S12). Since the speed of the first other vehicle B1 is slower than the speed of the own vehicle A, the control unit 40 determines that the own vehicle A is not overtaken by the first other vehicle B1, and determines the adjustment speed of the own vehicle A. It is calculated as 65 km / h. And the control part 40 displays the character information of adjustment speed on the display part 21 with the display control part 451, and outputs the audio | voice information of adjustment speed with the speaker 22 with the audio | voice control part 452 (step S13).

The driver accelerates the speed of the own vehicle A from 60 km / h to 65 km / h. FIG. 13 shows a state in which the speed of the host vehicle A is accelerated to 65 km / h. The speed of the host vehicle A is accelerated, and the distance D between the host vehicle A and the first other vehicle B1 increases.

The control unit 40 may output a warning display and a warning sound while the host vehicle A is accelerating or while the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance. Good.

The driver confirms the end of the speed adjustment based on the character information displayed on the display unit 21 or the voice information output from the speaker 22. The driver decelerates the speed of the host vehicle A from 65 km / h to 60 km / h. FIG. 14 shows a state where the speed of the host vehicle A has returned to 60 km / h.

When the distance D between the host vehicle A and the first other vehicle B1 becomes greater than the safe overtaking distance and the speed of the host vehicle A is restored, the control unit 40 ends the warning display and the warning sound output.

Thus, when the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance, the distance D between the host vehicle A and the first other vehicle B1 can be increased in a short time. The driver is notified of the correct adjustment speed. This assists in increasing the distance D between the host vehicle A and the first other vehicle B1 in a short time.

As described above, in the present embodiment, when the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance, the distance D between the host vehicle A and the first other vehicle B1 is increased in a short time. Notify the driver of possible adjustment speeds. Thus, according to the present embodiment, when the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance, the distance D between the host vehicle A and the first other vehicle B1 is shortened for a short time. To help secure a safe overtaking distance.

[Fifth embodiment]
The driving support system 1 according to the present embodiment will be described with reference to FIGS. 15 to 17. FIG. 15 is a diagram illustrating an example of the host vehicle and the first other vehicle according to the fifth embodiment, and illustrates a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 16 is a diagram illustrating an example of the host vehicle and the first other vehicle in the fifth embodiment, and shows a state in which the speed of the host vehicle is being adjusted. FIG. 17 is a diagram showing an example of the host vehicle and the first other vehicle in the fifth embodiment, and shows a state where the speed adjustment of the host vehicle is finished. The basic configuration of the driving support system 1 is the same as that of the driving support system 1 of the first embodiment and the second embodiment.

When the determination unit 43 determines that the predetermined condition is satisfied, the calculation unit 44 determines whether to reduce or accelerate the speed of the own vehicle A depending on whether the own lane L is in the overtaking lane or the traveling lane. Thus, the adjustment speed of the host vehicle A is calculated. The calculation unit 44 calculates an adjustment speed for accelerating the host vehicle A when the host lane L is in the overtaking lane. The calculation unit 44 calculates an adjustment speed for decelerating the host vehicle A when the host lane L is in the travel lane.

The overtaking lane and the driving lane are defined for each country and region. For example, in Japan or the United Kingdom, the right lane is the overtaking lane and the left lane is the traveling lane. For example, in Europe except the United States or the United Kingdom, the left lane is the overtaking lane and the right lane is the traveling lane. In this embodiment, the regulations of the overtaking lane and the traveling lane for each country are stored in the storage unit. Based on the current position information of the host vehicle A acquired by the GPS receiver, the country or region in which the host vehicle A is traveling is acquired, and the overtaking lane of the country or region is on the right side or the left side. It can be acquired from the storage unit. Or you may set and memorize | store whether the overtaking lane is the right side or the left side by a user's operation. Alternatively, when the country or region in which the vehicle A travels is fixed, it may be set and stored in advance whether the overtaking lane is on the right side or the left side.

The calculation unit 44 determines whether the own lane L is an overtaking lane or a traveling lane depending on whether the own lane L is on the right side or the left side with respect to the adjacent lane. The calculation unit 44 determines that the own lane L is on the left side of the adjacent lane L1 when the front right sensor detects the first other vehicle B1 when the own lane L extends in a straight line. When the host lane L extends in a straight line and the front left sensor detects the first other vehicle B1, the calculation unit 44 determines that the host lane L has the right side of the adjacent lane L1. The calculation unit 44 may determine which side of the adjacent lane the own lane L is by performing image analysis processing on video data captured by a camera that captures the periphery of the vehicle.

A specific example of driving assistance by the driving assistance system 1 will be described with reference to FIGS. Here, description will be made assuming that the right lane is an overtaking lane and the left lane is a travel lane. As shown in FIG. 15, the own lane L is located on the right side of the adjacent lane L1. The own lane L is an overtaking lane. The first other vehicle B1 travels in front of the adjacent lane L1 at a speed of 58 km / h. The own vehicle A is traveling on the own lane L at a speed of 60 km / h.

The control unit 40 determines in the determination unit 43 that the predetermined condition is satisfied because the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance (Yes in step S11). Since the own lane L is located on the right side of the adjacent lane L1 and is the overtaking lane, the control unit 40 calculates the adjustment speed of the own vehicle A as 65 km / h (step S12). And the control part 40 displays the character information of adjustment speed on the display part 21 with the display control part 451, and outputs the audio | voice information of adjustment speed with the speaker 22 with the audio | voice control part 452 (step S13).

The driver accelerates the speed of the own vehicle A from 60 km / h to 65 km / h. FIG. 16 shows a state where the speed of the host vehicle A is accelerated to 65 km / h. The own vehicle A overtakes the first other vehicle B1, and the distance D between the own vehicle A and the first other vehicle B1 increases.

The driver confirms the end of the speed adjustment based on the character information displayed on the display unit 21 or the voice information output from the speaker 22. The driver decelerates the speed of the host vehicle A from 65 km / h to 60 km / h. FIG. 17 shows a state where the speed of the host vehicle A has returned to 60 km / h.

Thus, when the speed of the own vehicle A is higher than the speed of the first other vehicle B1, in other words, whether the own lane L is an overtaking lane according to the positional relationship between the own lane L and the adjacent lane L1. The driver is notified of the adjustment speed for accelerating or decelerating the host vehicle A, depending on whether the vehicle is in the traveling lane.

As described above, this embodiment notifies the driver of the adjustment speed for accelerating the own vehicle A when the own lane L is located in the overtaking lane. In the present embodiment, when the own lane L is located in the traveling lane, the driver is notified of the adjustment speed for decelerating the own vehicle A. Thus, according to the present embodiment, depending on whether the own lane L is located on the left or right side of the adjacent lane L1, it is determined whether it is an overtaking lane or a traveling lane, and the own vehicle A is The driver can be notified of the adjustment speed for acceleration or deceleration.

[Sixth embodiment]
The driving support system 1 according to the present embodiment will be described with reference to FIGS. 18 and 19. FIG. 18 is a diagram illustrating an example of the host vehicle and the first other vehicle in the sixth embodiment, and shows a state in which the host vehicle and the first other vehicle are determined to satisfy a predetermined condition. FIG. 19 is a diagram illustrating an example of the host vehicle and the first other vehicle in the sixth embodiment, and shows a state in which the speed of the host vehicle is being adjusted. The driving support system 1 has the same basic configuration as the driving support system 1 of the first embodiment.

The other vehicle information acquisition unit 42 acquires the presence or absence of the third other vehicle C1 traveling in front of the own lane L. More specifically, the other vehicle information acquisition unit 42 determines that the third other vehicle C1 is present when the front center sensor detects another vehicle when the own lane L extends in a straight line.

The calculating unit 44 calculates an adjustment speed for decelerating the host vehicle A when the determining unit 43 determines that the predetermined condition is satisfied and the host vehicle A includes the third other vehicle C1. When the speed of the host vehicle A is faster than the speed of the first other vehicle B1, the calculation unit 44 may calculate an adjustment speed that matches the host vehicle A with the speed of the first other vehicle B1.

Specific examples of driving support by the driving support system 1 will be described with reference to FIGS. As shown in FIG. 18, the first other vehicle B1 travels in front of the adjacent lane L1 at a speed of 52 km / h. The own vehicle A is traveling on the own lane L at a speed of 60 km / h. The third other vehicle C1 is traveling in front of the own lane L at a speed of 55 km / h.

The control unit 40 determines in the determination unit 43 that the predetermined condition is satisfied because the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance (Yes in step S11). And the control part 40 calculates the adjustment speed which decelerates the own vehicle A in the calculation part 44, since the 3rd other vehicle C1 of the speed below the own vehicle A exists in the own vehicle A (step S12). The control unit 40 uses the calculation unit 44 to calculate the adjustment speed of the host vehicle A as 52 km / h according to the speed of the first other vehicle B1. And the control part 40 displays the character information of adjustment speed on the display part 21 with the display control part 451, and outputs the audio | voice information of adjustment speed with the speaker 22 with the audio | voice control part 452 (step S13).

The driver decelerates the speed of the own vehicle A from 60 km / h to 52 km / h. FIG. 19 shows a state where the speed of the host vehicle A is reduced to 52 km / h.

Thus, when the third other vehicle C1 exists in the host vehicle A, the driver is notified of the adjustment speed for decelerating the host vehicle A.

As described above, in the present embodiment, when the third other vehicle C1 exists in the host vehicle A, the driver is notified of the adjustment speed for decelerating the host vehicle A. Thus, according to this embodiment, when the third other vehicle C1 exists in the own vehicle A, the driver appropriately decelerates the own vehicle A, and the vehicle A and the first other vehicle B1 Driving can be supported by keeping the distance D at the safe overtaking distance.

[Seventh embodiment]
A driving support system 1A according to the present embodiment will be described with reference to FIG. FIG. 20 is a block diagram illustrating a configuration example of the driving support system according to the seventh embodiment. The driving support system 1A is different from the driving support system 1 of the first embodiment in that a speed control unit 46A is provided as an output control unit.

The speed control unit 46A outputs the adjustment speed calculated by the calculation unit 44 to the ECU (Engine Control Unit) as a control signal. In other words, the speed control unit 46A controls the speed of the host vehicle A to the adjusted speed by driving the actuator via the ECU.

As described above, in the present embodiment, the speed of the host vehicle A can be controlled to the adjustment speed. Thus, according to the present embodiment, the speed can be automatically adjusted so that the distance D between the host vehicle A and the first other vehicle B1 maintains the safe overtaking distance, and driving can be supported.

Now, although the driving support system 1 according to the present invention has been described so far, the present invention may be implemented in various different forms other than the above-described embodiment.

Each component of the illustrated driving support system 1 is functionally conceptual and does not necessarily have to be physically configured as illustrated. That is, the specific form of each device is not limited to the one shown in the figure, and all or a part of them is functionally or physically distributed or integrated in arbitrary units according to the processing load or usage status of each device. May be.

The configuration of the driving support system 1 is realized by, for example, a program loaded in a memory as software. The above embodiment has been described as a functional block realized by cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

The constituent elements described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the structures described above can be appropriately combined. In addition, various omissions, substitutions, or changes in the configuration can be made without departing from the scope of the present invention.

Although the sensor group 10 detects the vehicle around the host vehicle A, the detection of the vehicle is not limited to this. For example, you may detect the vehicle around the own vehicle A by performing an image analysis process to the video data image | photographed with the camera which image | photographs the circumference | surroundings of a vehicle.

As shown in FIGS. 21 and 22, in the case of a road with three or more lanes on one side other than the own lane L and the adjacent lane L1, there is no processing of the flowchart shown in FIG. You may do it. FIG. 21 is a diagram for explaining an example when a lane exists in addition to the own lane and the adjacent lane. The other lane L2 is located on the right side of the adjacent lane L1. FIG. 22 is a diagram illustrating an example of a case where a lane exists in addition to the own lane and the adjacent lane. The other lane L3 is located on the left side of the own lane L.

The calculation unit 44 may calculate the adjustment speed only when the second other vehicle B2 exists. This is because when there is no second other vehicle B2, there is no need to keep the distance D between the host vehicle A and the first other vehicle B1 at the safe overtaking distance.

In the first embodiment to the sixth embodiment, the control unit 40 of the driving support system 1 has been described as including the calculation unit 44, but the calculation unit 44 may not be included. When the calculation unit 44 is not provided, the output control unit 45, when the distance D between the host vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance, the distance D between the host vehicle A and the first other vehicle B1. The driver is notified that the speed of the host vehicle A is to be controlled so as to prevent the vehicle from continuing the state of being less than the safety overtaking distance.

More specifically, the output control unit 45 determines that the determination unit 43 satisfies the predetermined condition, and determines that the host vehicle A does not overtake the first other vehicle B1 traveling in front of the host vehicle A in the adjacent lane. In this case, the driver may be notified to control and decelerate the own vehicle A so that the distance D between the own vehicle A and the first other vehicle B1 is kept at the safe overtaking distance.

The output control unit 45 determines that the determination unit 43 satisfies the predetermined condition and determines that the host vehicle A overtakes the traveling first other vehicle B1 traveling in front of the host vehicle A in the adjacent lane. The driver may be notified to control and accelerate the own vehicle A so as to reduce the duration in which the distance D between the A and the first other vehicle B1 is equal to or less than the safe overtaking distance.

The output control unit 45 determines that the determination unit 43 satisfies the predetermined condition and determines that the first other vehicle B1 traveling behind the host vehicle A in the adjacent lane overtakes the host vehicle A. The driver may be notified to control and decelerate the host vehicle A so as to reduce the duration of the state in which the distance D between the vehicle and the first other vehicle B1 is equal to or less than the safe overtaking distance.

The output control unit 45 determines that the determination unit 43 satisfies the predetermined condition, and determines that the first other vehicle B1 traveling behind the host vehicle A in the adjacent lane does not pass the host vehicle A. The driver may be notified to control and accelerate the own vehicle A so as to reduce the duration in which the distance D between the A and the first other vehicle B1 is equal to or less than the safe overtaking distance.

In the third embodiment, after the first other vehicle B1 has overtaken the own vehicle A, the calculation unit 44 is in a state where the distance D between the own vehicle A and the first other vehicle B1 is equal to or less than the safe overtaking distance. You may calculate the adjustment speed which decelerates the own vehicle A so that continuation time may be reduced.

1 Driving support system 10 Sensor group (detection unit)
21 Display section (output section)
22 Speaker (output unit)
DESCRIPTION OF SYMBOLS 30 Driving assistance apparatus 40 Control part 41 Own vehicle information acquisition part 42 Other vehicle information acquisition part 43 Determination part 44 Calculation part 45 Output control part 451 Display control part 452 Voice control part A Own vehicle B1 1st other vehicle B2 2nd other vehicle C1 Third other vehicle D Distance between own vehicle and first other vehicle L Own lane L1 Adjacent lane

Claims

A host vehicle information acquisition unit for acquiring host vehicle information of the host vehicle;
Other vehicle information acquisition unit for acquiring first other vehicle information of a first other vehicle that travels in an adjacent lane adjacent to the own lane on which the host vehicle travels;
Based on the host vehicle information acquired by the host vehicle information acquisition unit and the first other vehicle information acquired by the other vehicle information acquisition unit, the host vehicle and the first other vehicle satisfy a predetermined condition. A determination unit for determining whether or not
When the determination unit determines that a predetermined condition is satisfied, the distance between the host vehicle and the first other vehicle safely overtakes the second other vehicle traveling between the host vehicle and the first other vehicle. An output control unit that outputs a control signal indicating that the speed of the host vehicle is controlled so as to prevent a state where the safety overtaking distance is less than the continuous
A driving support apparatus comprising:
The first other vehicle information includes a distance between the host vehicle and the first other vehicle,
The determination unit determines that a predetermined condition is satisfied when a distance between the host vehicle and the first other vehicle is equal to or less than the safety overtaking distance;
The safety overtaking distance is a distance longer than the distance between vehicles traveling in the same lane,
The driving support device according to claim 1.
The determination unit further determines whether or not there is the second other vehicle traveling behind the first other vehicle in the adjacent lane,
The safety overtaking distance is longer when the determination unit satisfies a predetermined condition and the second other vehicle is present than when the determination unit determines that the second other vehicle does not exist Distance
The driving support apparatus according to claim 1 or 2.
When it is determined that the determination unit satisfies a predetermined condition and the own vehicle does not pass the first other vehicle, the distance between the own vehicle and the first other vehicle is the safety overtaking distance. A calculation unit for calculating an adjustment speed for decelerating the host vehicle so as to maintain the vehicle;
Further comprising
The output control unit outputs a control signal for controlling the speed of the host vehicle to the adjustment speed calculated by the calculation unit.
The driving support device according to any one of claims 1 to 3.
When the determination unit determines that the determination unit satisfies a predetermined condition and determines that the host vehicle does not pass the first other vehicle, the distance between the host vehicle and the first other vehicle is When calculating an adjustment speed for decelerating the host vehicle so as to maintain a safe overtaking distance, determining that the determination unit satisfies a predetermined condition, and determining that the host vehicle overtakes the first other vehicle, Calculating an adjustment speed for accelerating the host vehicle so as to reduce the duration of the state in which the distance between the host vehicle and the first other vehicle is equal to or less than the safety overtaking distance;
The driving support device according to claim 4.
The calculation unit determines that the determination unit satisfies the predetermined condition and determines that the first other vehicle overtakes the own vehicle, the distance between the own vehicle and the first other vehicle is the safety An adjustment speed for decelerating the host vehicle is calculated so as to reduce the duration of the state of being less than the overtaking distance, the determination unit determines that a predetermined condition is satisfied, and the first other vehicle is the host vehicle If it is determined that the vehicle will not be overtaken, an adjustment speed for accelerating the host vehicle is calculated so that the distance between the host vehicle and the first other vehicle maintains the safe overtaking distance.
The driving support device according to claim 4.
When the distance between the host vehicle and the first other vehicle is equal to or less than the safe overtaking distance due to the host vehicle decelerating or accelerating, the calculating unit sets an adjustment speed for accelerating or decelerating the host vehicle. calculate,
The driving support device according to any one of claims 4 to 6.
The other vehicle information acquisition unit acquires the position of the own lane and the position of the adjacent lane,
The calculation unit determines that the determination unit satisfies a predetermined condition, and calculates an adjustment speed for accelerating the host vehicle when the host lane is an overtaking lane with respect to the adjacent lane.
The driving support device according to claim 4.
A speed control unit that controls the host vehicle to travel at the adjustment speed calculated by the calculation unit;
A driving support apparatus according to any one of claims 4 to 8.
The driving support device according to any one of claims 1 to 9,
At least one of a detection unit that detects other vehicles around the host vehicle and outputs a detection signal to the other vehicle information acquisition unit, and an output unit that notifies the driver based on the output of the output control unit Prepare
A driving support system characterized by that.
The other vehicle information acquisition unit acquires the first other vehicle information based on a detection signal from the detection unit,
The driving support system according to claim 10.
Own vehicle information acquisition step for acquiring own vehicle information of the own vehicle;
Other vehicle information acquisition step of acquiring first other vehicle information of a first other vehicle traveling in an adjacent lane adjacent to the own lane in which the host vehicle is traveling;
Based on the own vehicle information acquired in the own vehicle information acquisition step and the first other vehicle information acquired in the other vehicle information acquisition step, the own vehicle and the first other vehicle satisfy a predetermined condition. A determination step for determining whether or not,
If it is determined in the determination step that the predetermined condition is satisfied, the distance between the host vehicle and the first other vehicle is safely overtaken by the second other vehicle traveling between the host vehicle and the first other vehicle. An output control step for outputting a control signal indicating that the speed of the host vehicle is controlled so as to prevent the state of being less than a safe overtaking distance from continuing.
A driving support method comprising:
Own vehicle information acquisition step for acquiring own vehicle information of the own vehicle;
Other vehicle information acquisition step of acquiring first other vehicle information of a first other vehicle traveling in an adjacent lane adjacent to the own lane in which the host vehicle is traveling;
Based on the own vehicle information acquired in the own vehicle information acquisition step and the first other vehicle information acquired in the other vehicle information acquisition step, the own vehicle and the first other vehicle satisfy a predetermined condition. A determination step for determining whether or not,
If it is determined in the determination step that the predetermined condition is satisfied, the distance between the host vehicle and the first other vehicle is safely overtaken by the second other vehicle traveling between the host vehicle and the first other vehicle. An output control step for outputting a control signal indicating that the speed of the host vehicle is controlled so as to prevent the state of being less than a safe overtaking distance from continuing.
For causing a computer that operates as a driving support device to execute.