WO2020012212A1 - 走行支援方法及び走行支援装置 - Google Patents
走行支援方法及び走行支援装置 Download PDFInfo
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- WO2020012212A1 WO2020012212A1 PCT/IB2018/000964 IB2018000964W WO2020012212A1 WO 2020012212 A1 WO2020012212 A1 WO 2020012212A1 IB 2018000964 W IB2018000964 W IB 2018000964W WO 2020012212 A1 WO2020012212 A1 WO 2020012212A1
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- Prior art keywords
- vehicle
- roundabout
- exit
- road
- driving support
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 86
- 238000013459 approach Methods 0.000 description 17
- 238000004891 communication Methods 0.000 description 15
- 238000012545 processing Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 238000013500 data storage Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/33—Driving situation
- B60Q2300/331—Driving situation characterised by the driving side, e.g. on the left or right hand side
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
Definitions
- the present disclosure relates to a driving support method and a driving support device.
- an arrow display indicating the direction of the route to the escape road is displayed at each junction connected to the roundabout, and the arrow is erased after passing through the junction.
- an arrow is displayed on the left or right side of the road.
- the conventional device is a route guidance technology at a roundabout, it does not mention the direction indicated by the turn indicator light because it is a method of presenting the timing at which the vehicle exits the roundabout. For this reason, in the conventional device, when the own vehicle enters the roundabout, there is a possibility that the action plan of the own vehicle may not be transmitted to other vehicles around the own vehicle by the direction instruction.
- the present disclosure has been made in view of the above problem, and when a vehicle enters a roundabout, a driving support method and a driving support method for transmitting an action plan of the vehicle to other vehicles in the vicinity of the vehicle by a direction instruction. It is intended to provide a device.
- the present disclosure includes a controller that calculates a traveling route on which the own vehicle travels, and executes traveling support control based on the traveling route.
- this driving support method it is determined whether or not the own vehicle has reached the roundabout.
- the positional relationship between the own vehicle entrance and the own vehicle exit in the roundabout is determined based on the traveling route.
- the direction indicator lamp is controlled according to the determination of the positional relationship.
- the action plan of the own vehicle can be transmitted to other vehicles around the own vehicle by a direction instruction.
- FIG. 1 is an overall system diagram illustrating an automatic driving control system to which a driving support method and a driving support device according to a first embodiment are applied. It is a control block diagram which shows the driving assistance device provided in a recognition determination processor. It is explanatory drawing explaining a roundabout. It is a flowchart 1 which shows the whole flow of the driving support control processing performed by the driving support device provided in the recognition determination processor. It is a flowchart 2 which shows the whole flow of the driving support control processing performed by the driving support device provided in the recognition determination processor. It is explanatory drawing explaining the driving
- the driving support method and the driving support device use the driving route information generated by the recognition determination processor, and the driving / braking / steering angle / direction indicator is automatically controlled by selecting the automatic driving mode.
- This is applied to a vehicle (an example of a driving support vehicle, own vehicle).
- a vehicle an example of a driving support vehicle, own vehicle.
- the configuration of the first embodiment will be described by dividing it into “overall system configuration”, “control block configuration of the driving support device”, and “processing configuration of driving support control”.
- the automatic driving system AD includes an on-vehicle sensor 1, a map data storage unit 2, an automatic driving recognition / determination processor 3 (controller), an automatic driving control unit 4, an actuator 5, a blinker 6 (direction indicator light), and the like. , A display device 7.
- the vehicle-mounted sensor 1 includes a camera 11, a radar 12, a GPS 13, and a vehicle-mounted data communication device 14.
- the sensor information obtained by the in-vehicle sensor 1 is output to the recognition determination processor 3.
- the camera 11 is a surrounding recognition sensor that realizes, as a function required for automatic driving, a function of acquiring surrounding information of the own vehicle such as a lane, a preceding vehicle, or a pedestrian based on image data.
- the camera 11 is configured by combining, for example, a front recognition camera, a rear recognition camera, a right recognition camera, and a left recognition camera of the own vehicle.
- objects on the own vehicle traveling road lanes, objects outside the own vehicle traveling road (road structures, preceding vehicles, following vehicles, oncoming vehicles, surrounding vehicles, pedestrians, bicycles, two-wheeled vehicles), own vehicle traveling roads (road white lines) , Road boundaries, stop lines, pedestrian crossings) and road signs (speed limit) are detected.
- the radar 12 is a distance measuring sensor that realizes, as functions required for automatic driving, a function of detecting the presence of an object around the vehicle and a function of detecting the distance to an object around the vehicle.
- the “radar 12” is a general term including a radar using radio waves, a rider using light, and a sonar using ultrasonic waves.
- a laser radar, a millimeter-wave radar, an ultrasonic radar, a laser range finder, or the like can be used.
- the radar 12 is configured by combining, for example, a forward radar, a backward radar, a right radar, a left radar, and the like of the own vehicle.
- the radar 12 detects the positions of objects on the own vehicle traveling road and objects outside the own vehicle traveling road (road structures, preceding vehicles, following vehicles, oncoming vehicles, surrounding vehicles, pedestrians, bicycles, two-wheeled vehicles), and the like. The distance to the object is detected. If the viewing angle is insufficient, it may be added as appropriate.
- the GPS 13 is a vehicle position sensor that has a GNSS antenna 13a and detects the vehicle position (latitude / longitude) of a stopped or running vehicle by using satellite communication.
- GNSS is an abbreviation for “Global Navigation Satellite System: Global Navigation Satellite System”
- GPS is an abbreviation for “Global Positioning System: Global Positioning System”.
- the in-vehicle data communication device 14 is an external data sensor that performs wireless communication with the external data communication device 8 via the transmission / reception antennas 8a and 14a, thereby obtaining information that cannot be obtained from the own vehicle from outside. is there.
- the vehicle performs inter-vehicle communication between the own vehicle and the other vehicle.
- the vehicle performs inter-vehicle communication between the own vehicle and the other vehicle.
- information necessary for the own vehicle can be obtained by a request from the on-vehicle data communication device 14 among various information held by other vehicles.
- the external data communication device 8 is, for example, a data communication device provided in infrastructure equipment
- infrastructure communication is performed between the vehicle and the infrastructure equipment.
- information necessary for the own vehicle can be obtained by a request from the on-vehicle data communication device 14 among various information held by the infrastructure equipment.
- the missing information / change information can be supplemented.
- traffic information such as traffic congestion information and travel regulation information on a target route on which the vehicle is scheduled to travel can also be obtained.
- the map data storage unit 2 is constituted by an in-vehicle memory storing so-called electronic map data in which latitude and longitude are associated with map information.
- the map data stored in the map data storage unit 2 recognizes the vehicle position detected by the GPS 13 as the vehicle position information by the recognition determination processor 3, and the map data centered on the vehicle position is recognized and determined. It is sent to the processor 3.
- the map data has road information associated with each point, and the road information is defined by nodes and links connecting the nodes.
- the road information includes information for specifying a road according to the position / area of the road, a road type for each road, a road width for each road, and road shape information.
- the road information is stored in association with information on the position of the intersection, the approach direction of the intersection, the type of the intersection, and other intersections for each identification information of each road link.
- the road information includes, for each piece of identification information of each road link, a road type, a road width, a road shape, whether or not the vehicle can go straight, a priority relation for traveling, whether or not passing (whether or not to enter an adjacent lane), a speed limit, and a road speed. Signs and other road information are stored in association with each other.
- the recognition determination processor 3 integrates input information from the on-vehicle sensor 1 and the map data storage unit 2 to generate a target route (running route), a target vehicle speed profile (including an acceleration profile and a deceleration profile), and the like. Then, it outputs the generated target route information and target vehicle speed profile information to the automatic driving control unit 4 together with the own vehicle position information and the like. That is, a target route from the current position to the destination is generated based on the road information and the route search method from the map data storage unit 2, and a target vehicle speed profile along the target route is generated.
- a route when the target route is corrected is also referred to as a target route. That is, the target route includes the route in the case of being corrected.
- the recognition determination processor 3 controls the blinker 6. That is, the recognition determination processor 3 performs control to determine whether to turn on the blinker 6. In other words, the recognition determination processor 3 performs control to determine whether to turn on or turn off either of the blinkers 6 indicating the left-right direction. Then, the determined turn signal information is output to the automatic operation control unit 4.
- the automatic driving control unit 4 calculates a driving command value / braking command value / steering angle command value for driving / stopping the own vehicle by automatic driving along the target route based on the input information from the recognition determination processor 3. Then, the calculation result of the drive command value is output to the drive actuator 51, the calculation result of the brake command value is output to the brake actuator 52, and the calculation result of the steering angle command value is output to the steering angle actuator 53. Further, the automatic operation control unit 4 outputs the blinker information from the recognition determination processor 3 to the blinker actuator 54.
- the actuator 5 is a control actuator that causes the vehicle to run / stop by automatic driving along a target route, and includes a drive actuator 51, a brake actuator 52, and a steering angle actuator 53.
- the drive actuator 51 is an actuator that receives a drive command value from the automatic operation control unit 4 and controls a drive force output to drive wheels.
- an engine is used for an engine vehicle
- an engine and a motor / generator (powering) are used for a hybrid vehicle
- a motor / generator (powering) is used for an electric vehicle.
- the braking actuator 52 is an actuator that receives a braking command value from the automatic driving control unit 4 and controls a braking force that is output to driving wheels.
- a hydraulic booster for example, a hydraulic booster, an electric booster, a brake hydraulic actuator, a brake motor actuator, a motor / generator (regeneration), or the like is used.
- the steering angle actuator 53 is an actuator that inputs a steering angle command value from the automatic driving control unit 4 and controls the steered angle of the steered wheels.
- a steering motor or the like provided in a steering force transmission system of the steering system is used.
- the winker actuator 54 receives the winker information from the automatic operation control unit 4 and controls the winker 6. That is, the turn signal actuator 54 is an actuator that controls whether to turn on or turn off any of the turn signals 6 indicating the left-right direction. Note that a blinker solenoid or the like is used as the blinker actuator 54.
- the blinker 6 is a direction indicator light indicating a left-right direction. Lighting and extinguishing of the winker 6 are controlled by the winker actuator 54.
- the turn signals 6 to be turned on are a left turn signal and a right turn signal.
- the display device 7 is a device that displays on a screen where the vehicle is moving on a map while the vehicle is stopped / running by automatic driving, and provides visual information of the vehicle position to a driver or an occupant.
- the display device 7 inputs target route information, own vehicle position information, destination information, and the like generated by the recognition determination processor 3, and displays a map, a road, a target route (the travel route of the own vehicle), Display the vehicle position and destination etc. easily.
- the recognition determination processor 3 includes a generation unit 31, a roundabout arrival determination unit 32, and a lighting area setting unit 33. Further, the recognition determination processor 3 includes a first lighting area arrival determination section 34, a second lighting area arrival determination section 35 (lighting area arrival determination section), a positional relationship determination section 36, a roundabout exit determination section 37, A turn signal control unit 38 (direction indicator light control unit).
- the generation unit 31 receives the vehicle surrounding information, the vehicle position information, the map data information, and the destination information, and generates a target route, a target vehicle speed profile, and the like. Then, the generated target route information and the target vehicle speed profile information are output to the roundabout arrival determination unit 32, the roundabout exit determination unit 37, and the automatic driving control unit 4.
- the roundabout arrival determination unit 32 inputs the vehicle position information, the map data information, and the target route information, determines whether the vehicle has reached the roundabout, and determines the lighting area setting unit 33 along with the target route information and the like. The determination result is output to the positional relationship determination unit 36.
- the roundabout arrival determination section 32 determines whether or not the own vehicle has reached the roundabout when the own vehicle has entered the predetermined distance from the roundabout, and determines that the own vehicle V has reached the roundabout.
- roundabout RA is an area surrounded by a circular broken line L1 as shown in FIG.
- the “roundabout RA” is an annular intersection in which three or more roads R1 to R6 are connected to a circular space S (circular broken line L2).
- An island-shaped central island C through which vehicles cannot pass is provided in the center of the circular space S, and an annular road CR (circular road) is provided around the central island C.
- the vehicle is one-way.
- the rotation direction when passing through the annular road CR is either one of the right direction and the left direction.
- FIG. 3 in the case of left-hand traffic, the direction of rotation when passing through the annular road CR is clockwise, and the vehicle travels clockwise through the annular road CR (FIGS. 6 to 6). (See FIG. 10).
- a road sign Si is provided in the direction of rotation when passing through the ring road CR.
- the direction of rotation when passing through the annular road CR is counterclockwise, and the vehicle travels counterclockwise through the annular road CR.
- a vehicle traveling on the circular road CR is given priority over a vehicle entering the circular road CR. Must not be disturbed.
- the roundabout RA includes the central island C, the ring road CR, a connection portion between the ring road CR and each of the connection paths R1 to R6, and a part of each of the connection paths R1 to R6.
- the boundary between the circular broken line L1 and each of the connection paths R1 to R6 corresponds to each of the connection paths R1 to R6 and the entrance of the roundabout RA.
- an island-shaped separation island SP is provided between the first approach path R11 and the first exit path R12.
- the first approach road R11 is a road on which the vehicle enters the roundabout RA.
- the first exit road R12 is a road from which the vehicle exits the roundabout RA.
- the separation island SP is for separating a vehicle entering the roundabout RA from a vehicle exiting from the roundabout RA.
- the isolated island SP is provided in this manner, for example, if the own vehicle entrance EN of the own vehicle V in the roundabout RA is the first approach route R11, it is connected to the own vehicle exit EX of the own vehicle V in the roundabout RA.
- the connection path is any one of the second connection path R2 to the sixth connection path R6 and the first exit path R12.
- the separation island SP may be provided in the second connection path R2 to the sixth connection path R6 (see FIGS. 6 to 10).
- the lighting area setting unit 33 inputs the determination result of the roundabout arrival determination unit 32, target route information, and the like.
- the lighting area setting section 33 sets a lighting area for lighting the turn signal 6 based on the target route information.
- the lighting area setting section 33 includes a first lighting area setting section 33a and a second lighting area setting section 33b (setting section).
- the first lighting area setting section 33a displays a winker indicating when the own vehicle enters the roundabout based on the target route information.
- a first lighting area (lighting area at the time of approach) for lighting 6 is set.
- the first lighting area is an area before the vehicle enters the roundabout.
- the first lighting area setting unit 33a outputs the first lighting area to the first lighting area arrival determination unit 34 together with the target route information and the like.
- the second lighting area setting section 33b uses the turn signal 6 indicating that the own vehicle has exited from the roundabout based on the target route information. Is set to a second lighting area (lighting area at the time of leaving).
- the second lighting area may or may not be set based on the positional relationship between the own vehicle entrance and the own vehicle exit in the roundabout based on the target route information.
- the time when the second lighting area is set is when the own vehicle exit is an exit after the first exit that has entered the roundabout. At this time, the second lighting area is set from a passing position where the own vehicle has passed through the exit immediately before the own vehicle exit to a position immediately before the own vehicle exit.
- the direction indicated by the turn signal 6 illuminated when the own vehicle enters the roundabout is opposite to the rotation direction when the own vehicle passes through the roundabout, and the own vehicle exit Is the first exit to enter the roundabout.
- the second lighting area setting unit 33b outputs the second lighting area to the second lighting area arrival determination unit 35 together with the target route information and the like.
- the first lighting area arrival determination unit 34 inputs the first lighting area, the vehicle position information, and the target route information of the first lighting area setting unit 33a.
- the first lighting area arrival determination unit 34 determines whether or not the own vehicle has reached the first lighting area while the own vehicle is traveling on the connection road connected to the roundabout. Then, the first lighting area arrival determination unit 34 outputs the determination result to the blinker control unit 38 together with the own vehicle position information and the target route information.
- the first lighting area arrival determination unit 34 determines whether or not the vehicle has reached the first lighting area based on the ratio of the distance traveled.
- the second lighting area arrival determination unit 35 inputs the second lighting area, the own vehicle position information, and the target route information of the second lighting area setting unit 33b.
- the second lighting area arrival determination unit 35 determines whether or not the own vehicle has reached the second lighting area while the own vehicle is traveling on the roundabout. Then, the second lighting area arrival determination unit 35 outputs the determination result to the blinker control unit 38 together with the own vehicle position information and the target route information.
- the second lighting area arrival determination unit 35 determines whether or not the vehicle has reached the second lighting area based on the ratio of the distance traveled.
- the positional relationship judging unit 36 inputs the judgment result of the roundabout arrival judging unit 32 and the target route information.
- the positional relationship determining section 36 determines whether the own vehicle entrance and the own vehicle exit at the roundabout are based on the own vehicle position information and the target route information. Judge the positional relationship. Then, the positional relationship determination unit 36 outputs a determination result to the blinker control unit 38 together with the target route information and the like. The positional relationship is determined from the relative angle between the own vehicle entrance and the own vehicle exit.
- the roundabout exit determination unit 37 receives the vehicle position information, the map data information, and the target route information, determines whether the vehicle has exited the roundabout, and determines to the blinker control unit 38 together with the target route information and the like. Output the result.
- the winker control unit 38 controls the winker 6 by inputting the determination results of the determination units 34 to 37, target route information, and the like. That is, the turn signal control unit 38 performs control to determine whether to turn on or turn off either of the turn signals 6 indicating the left-right direction. In addition, the case where neither of the blinkers 6 indicating the left and right direction is turned on is a state in which both the left and right turn signals are turned off.
- the turn signal control section 38 determines the positional relationship of the positional relationship determination section 36. Is controlled in accordance with the determination of the above. Then, the winker control unit 38 outputs the determined direction of the winker 6 to the automatic operation control unit 4 as winker information. Note that the blinker control unit 38 also outputs to the automatic operation control unit 4 a decision to turn off any of the blinkers 6 indicating the left-right direction as blinker information.
- the blinker control unit 38 sequentially compares the current positional relationship between the current position of the vehicle and the current position of the vehicle until the vehicle exits the roundabout from the entrance of the vehicle, and switches the direction indicated by the blinker 6. It is determined whether the condition is satisfied. Further, when the switching condition is satisfied, the winker control unit 38 switches the direction indicated by the winker 6 based on the switching condition. Then, the winker control unit 38 outputs the direction indicated by the winker 6 to be switched to the automatic operation control unit 4 as winker information.
- the winker control unit 38 turns off the left winker after the own vehicle enters the roundabout when the following two conditions are satisfied.
- the direction indicated by the direction indicator light that is lit when the vehicle enters the roundabout is opposite to the rotation direction when the vehicle passes through the roundabout.
- the other is an exit after the first exit where the vehicle enters the roundabout.
- the winker control unit 38 determines that the own vehicle has reached the second illumination area when the second lighting area arrival determination unit 35 determines that the own vehicle has exited the roundabout. Is performed to determine whether to turn on the turn signal 6.
- the direction of the turn signal 6 indicating that the own vehicle has exited from the roundabout, that is, the direction indicated by the last turn signal light 6 is opposite to the rotation direction when the vehicle passes through the roundabout. Then, the winker control unit 38 outputs the determined direction of the winker 6 to the automatic operation control unit 4 as winker information.
- the winker control section 38 performs control to determine whether to turn off the winker 6. Then, the turn signal control unit 38 outputs the turn-off of the turn signal 6 to the automatic operation control unit 4 as turn signal information.
- step S1 necessary information such as own-vehicle surrounding information, own-vehicle position information, map data information, and destination information is obtained, a target route and the like are generated, and the process proceeds to step S2.
- Step S1 corresponds to the generation unit 31.
- step S2 following the generation of the target route and the like in step S1, during traveling, the vehicle surrounding information and the vehicle position information are acquired from the vehicle-mounted sensor 1, and the process proceeds to step S3.
- step S3 following the acquisition of the vehicle surrounding information and the vehicle position information in step S2, it is determined whether or not the vehicle has reached the roundabout RA. Then, in the case of YES (reaching the roundabout), the process proceeds to step S4, and in the case of NO (not reaching the roundabout), the process returns to step S1.
- Step S3 corresponds to the roundabout arrival determination unit 32.
- the predetermined distance D is a distance from the roundabout RA to the predetermined position 100 as shown in FIG. 3, for example, the predetermined distance is 50 m. Whether or not the own vehicle V has entered the predetermined distance D from the roundabout RA is determined based on own vehicle position information or the like.
- step S4 following the determination that the roundabout has been reached in step S3, a first lighting area and a second lighting area are set, and the process proceeds to step S5.
- Step S4 corresponds to the lighting area setting unit 33. That is, step S4 corresponds to the first lighting area setting unit 33a and the second lighting area setting unit 33b.
- the “first lighting area A1” is set from the roundabout RA to the first lighting position 101 as shown in FIG.
- the distance from the roundabout RA to the first lighting position 101 is set to, for example, 30 m.
- the “second lighting area” Since the second lighting area is changed depending on the map data information or the target route, the second lighting area is distinguished for convenience from left turning / first right turning / second right turning / straight driving.
- the first target route TR1 shown in FIG. 6 corresponds to a case where the second lighting area is not set because the own vehicle exit EX is the first exit. Therefore, the second lighting area is not set in the first target route TR1.
- the second target route TR2 shown in FIG. 7 to the fifth target route TR5 in FIG. 10 correspond to the time when the second lighting area is set because the own vehicle exit EX is an exit after the first exit. . Therefore, a second lighting area is set from the second target route TR2 to the fifth target route TR5.
- the second lighting area is set from a passage position where the vehicle has passed the exit (connection road) immediately before the own vehicle exit EX to a position immediately before the own vehicle exit EX (connection road).
- a straight line portion of a connection path connected to the immediately preceding exit (hereinafter, also referred to as “previous connection path”) is extended to the roundabout RA, and two extended lines are formed on the annular road CR. Set. Then, of the intersection positions between the two extended lines and the target route of the own vehicle V, the intersection position on the far side in the target route of the own vehicle V is set as the passing position.
- the “front position” will be described.
- a straight line portion of a connection road connected to the own vehicle exit (hereinafter also referred to as a “connection route of the own vehicle exit”) is extended to the roundabout RA, and two extension lines are set on the annular road CR. I do.
- an intersection position that intersects with the target route of the vehicle V is set as a near position.
- the intersection on the side closer to the target route of the own vehicle V is set as the near position.
- connection route at the immediately preceding exit is a third connection route R3
- the connection route at the vehicle exit is a fourth connection route R4
- the target route is a target route TR.
- the passing position will be described first.
- the straight portion of the third connection path R3 is extended to the roundabout RA, and two extension lines L11 and L12 are set on the ring road CR.
- the intersection position (extension line L12) on the far side in the target route TR of the own vehicle V is set as the passing position.
- the near position will be described.
- the straight portion of the fourth connection path R4 is extended to the roundabout RA, and two extension lines L21 and L22 are set on the ring road CR.
- an intersection position (extended line L21) that intersects the target route TR of the vehicle V is set as a near position. Note that, as shown in FIG. 3, the extension line L22 does not intersect with the target route TR.
- the second lighting regions from the second target route TR2 illustrated in FIG. 7 to the fifth target route TR5 illustrated in FIG. 10 will be described.
- a second lighting area A2 (area filled with dots) for turning left is set.
- the second lighting area A2 when turning left is based on the second target route TR2 shown in FIG. 7 from the second passage position 202 where the vehicle V has passed the second connection path R2 immediately before the vehicle exit EX. It is set up to the third near position 300 just before the third connection path R3 of the own vehicle exit EX.
- the second lighting area A3 (area filled with dots) at the time of the first right turn is set.
- the fourth connection route R4 immediately before the own vehicle exit EX is a one-way road in which the vehicle only enters the fourth connection route R4 from the roundabout RA. is there.
- the second lighting area A3 at the time of the first right turn is based on the third target route TR3 shown in FIG. 8, and is a fourth passage position where the vehicle V has passed the fourth connection path R4 immediately before the vehicle exit EX. It is set from 402 to a fifth near position 500 just before the fifth connection path R5 of the own vehicle exit EX.
- a second lighting area A4 (area filled with dots) at the time of the second right turn is set.
- the fourth connection route R4 immediately before the own vehicle exit EX has a fourth approach route R41 and a fourth exit route R42.
- the fourth approach road R41 is a road on which the vehicle enters the roundabout RA from the fourth connection road R4.
- the fourth exit road R42 is a road from which the vehicle exits the roundabout RA to the fourth connection road R4.
- the fourth approach road R41 is a road on which another vehicle may enter the roundabout RA from the fourth approach road R41.
- the second lighting area A4 at the time of the second right turn is based on the fourth target route TR4 shown in FIG. 9 and is located at the fourth separation position where the host vehicle V has passed the fourth exit road R42 immediately before the host vehicle exit EX. It is set from 401 (passing position) to a fifth near position 500 just before the fifth connection path R5 of the own vehicle exit EX.
- a second lighting area A5 (area filled with dots) at the time of going straight is set.
- the second lighting area A5 when traveling straight ahead is based on the fifth target route TR5 shown in FIG. 10 from the third passage position 302 where the host vehicle V has passed the third connection path R3 immediately before the host vehicle exit EX. It is set up to the fourth near position 400 just before the fourth connection path R4 of the own vehicle exit EX.
- the second lighting area is similarly set when the connection path connected to the own vehicle exit EX is the sixth connection path R6 or the first exit path R12.
- step S5 following the setting of the first lighting area A1 and the second lighting areas A2 to A5 in step S4, it is determined whether the vehicle V has reached the first lighting area A1. Then, in the case of YES (reaching the first lighting area A1), the flow proceeds to step S6, and in the case of NO (not reaching the first lighting area A1), the flow of step S5 is repeated.
- Step S5 corresponds to the first lighting area arrival determination unit 34.
- “whether or not the vehicle V has reached the first lighting area A1” is determined based on the ratio of the distance traveled. That is, “whether the vehicle V has reached the first lighting area A1” is determined by the ratio of the predetermined distance D (50 m) to the distance (variable) from the predetermined position 100 to the vehicle position. (See FIG. 3). For example, when the ratio of the travel distance is 0.4 or more and 1.0 or less, it is determined that the vehicle V has reached the first lighting area A1.
- step S6 following the determination that the vehicle has reached the first lighting area A1 in step S5, the positional relationship between the own vehicle entrance EN and the own vehicle exit EX in the roundabout RA is determined based on the target route information. Then, in step S6, it is determined whether or not the positional relationship between the entrance and exit is a condition for turning on the left turn signal. If YES (the left turn signal lighting condition is satisfied), the process proceeds to step S11, and if NO (the left turn signal lighting condition is not satisfied), the process proceeds to step S7.
- the left blinker lighting condition will be described later. Step S6 corresponds to the positional relationship determination unit 36.
- step S7 following the determination that the left turn signal lighting condition is not satisfied in step S6, the positional relationship between the own vehicle entrance EN and the own vehicle exit EX in the roundabout RA is determined based on the target route information. Then, in step S7, it is determined whether or not the positional relationship between the entrance and exit is a condition for turning on the right turn signal. If YES (right blinker lighting condition is satisfied), the process proceeds to step S31. If NO (right winker lighting condition is not satisfied), the process proceeds to step S41. Step S7 corresponds to the positional relationship determination unit 36.
- the positional relationship is determined from the relative angle ⁇ between the own vehicle entrance EN and the own vehicle exit EX.
- the relative angle ⁇ will be described with a roundabout RA in which six roads R1 to R6 are connected to an annular road CR as shown in FIG.
- the relative angle ⁇ is calculated from the positions of the own vehicle entrance EN and the own vehicle exit EX viewed from the center CE of the roundabout RA. Note that when the entirety of the vehicle exit (the boundary between the circular broken line L1 and the connection road) falls within the relative angle ⁇ , the following conditions are satisfied. Therefore, the entrance of the own vehicle is set to zero degree. In FIG. 11, a description will be given on the assumption that the first approach road R11 which is the own vehicle entrance EN is zero degrees.
- the positional relationship between the entrance and exit corresponds to the condition for turning on the left turn signal.
- the connection path connected to the own vehicle exit EX is the second connection path R2 or the third connection path R3, this corresponds to the condition for turning on the left turn signal.
- step S6 When the relative angle ⁇ is greater than the first angle ⁇ 1 and equal to or less than the second angle ⁇ 2 (for example, 216 degrees), this corresponds to the condition that neither the turn signals 6 indicating the left-right direction of the doorway are turned on.
- the connection path connected to the own vehicle exit EX is the fourth connection path R4, this corresponds to a condition that neither of the blinkers 6 indicating the left-right direction is turned on.
- step S6 it is determined in step S6 that the condition is not the left turn signal lighting condition, and that it is determined in step S7 that the right turn signal is not light condition.
- the third connection path R3 Corresponds to a condition that neither of the blinkers 6 indicating the left and right direction is turned on.
- the positional relationship between the entrance and exit corresponds to the condition for turning on the right turn signal.
- the connection path connected to the own vehicle exit EX is the fifth connection path R5, the sixth connection path R6, or the first exit path R12, this corresponds to a condition for turning on the right turn signal.
- the condition is not the left blinker lighting condition in step S6, and that the right blinker lighting condition is determined in step S7. Note that “when the host vehicle exit EX is on the first exit road R12” corresponds to when the host vehicle V turns.
- the fourth connection path R4 Corresponds to the condition for turning on the right turn signal.
- step S11 following the determination that the left blinker lighting condition is satisfied in step S6, control is performed to determine the left blinker lighting, and the process proceeds to step S12. Thereby, the left turn signal is turned on from the turn signal off state.
- the “turn signal off state” refers to a state in which none of the turn signals 6 indicating the left-right direction is turned on. Steps S11, S16, S20, S21, S24, S31, S33, and S41 correspond to the blinker control unit 38.
- step S12 following the determination of turning on the left turn signal in step S11, the positional relationship between the own vehicle entrance EN and the own vehicle exit EX in the roundabout is determined based on the target route information. Judge. If YES (the relationship is adjacent), the process proceeds to step S15, and if NO (the relationship is not adjacent), the process proceeds to step S20. Step S12 corresponds to the positional relationship determination unit 36.
- the positional relationship between the entrances and the exits is adjacent means, for example, that the vehicle entrance EN is the first connection path R1 and the connection path connected to the vehicle exit EX is the second connection path R2 in FIG. It is time. That is, as shown in FIG. 6, when the vehicle V travels, the positional relationship of the entrance and exit is determined to be the adjacent relationship. It should be noted that when the determination in step S6 is denied, in FIG. 11, the own vehicle entrance EN is the first approach road R11 and the connection road connected to the own vehicle exit EX is the sixth connection road R6 or the first exit road. When it is R12, the positional relationship between the entrances is not determined to be the adjacent relationship.
- step S15 following the determination of the adjacent relationship in step S12, it is determined whether or not the vehicle V has exited the roundabout RA. Then, in the case of YES (exiting own vehicle), the process proceeds to step S16, and in the case of NO (existing of own vehicle), step S15 is repeated. Step S15 corresponds to the roundabout exit determination unit 37.
- step S15 whether the vehicle V has exited the roundabout RA or not is determined based on the vehicle position information and the like.
- step S16 following the determination that the vehicle has left in steps S15 and S25, control is performed to determine whether to turn off the left turn signal, and the process proceeds to the end. As a result, the left turn signal is turned off, and the turn signal is turned off.
- step S20 following the determination in step S12 that there is no adjacent relationship, it is determined whether or not the vehicle V has entered the annular road CR. Then, in the case of YES (entering the annular road), the process proceeds to step S21, and in the case of NO (not entering the annular road), step S20 is repeated.
- whether or not the own vehicle V has entered the annular road CR means that when the own vehicle V passes through the own vehicle entrance EN and enters the annular road CR, the own vehicle V enters the annular road CR. Judge that you have done. Whether or not the own vehicle V has entered the annular road CR is determined based on the own vehicle position information or the like.
- step S21 following the determination in step S20 that the vehicle V has entered the annular road CR, control is performed to determine whether to turn off the left turn signal, and the flow proceeds to step S22. As a result, the left turn signal is turned off, and the turn signal is turned off.
- step S22 following the determination of turning off the left blinker in step S21, it is determined whether or not the vehicle V has reached the second lighting area A2 when the vehicle V is turning left while the vehicle V is traveling in the roundabout RA ( (See FIG. 7). Then, in the case of YES (reaching the second lighting area A2), the process proceeds to step S24, and in the case of NO (not reaching the second lighting area A2), step S22 is repeated. Step S22 corresponds to the second lighting area arrival determination unit 35.
- “whether or not the vehicle V has reached the second lighting area A2 when turning left” is determined by the ratio of the distance traveled. That is, “whether or not the vehicle V has reached the second lighting area A2 when turning left” is determined by the distance from the first lighting position 101 to the vehicle exit EX and the distance from the first lighting position 101 to the vehicle position. Is determined by the ratio of the distance (variable) to the distance (see FIG. 7). For example, when the ratio of the travel distance is 0.8 or more and 1.0 or less, it is determined that the vehicle V has reached the second lighting area A2 when turning left.
- step S24 following the determination of reaching the second lighting area A2 in step S22 or the second lighting area A5 in step S42, or the determination of turning off the right blinker in step S33, the lighting of the left blinker is determined.
- the control is performed, and the process proceeds to step S25.
- the left turn signal is turned on from the turn signal off state.
- step S25 following the determination of turning on the left turn signal in step S24, it is determined whether or not the vehicle V has exited the roundabout RA. Then, in the case of YES (exiting own vehicle), the process proceeds to step S16, and in the case of NO (existing of own vehicle), step S25 is repeated. Step S25 corresponds to the roundabout exit determination unit 37 as in step S15.
- step S25 whether the vehicle V has exited. Is done. Whether the vehicle V has exited the roundabout RA or not is determined based on the vehicle position information and the like.
- step S31 following the determination that the right turn signal lighting condition is satisfied in step S7, control is performed to determine whether the right turn signal is turned on, and the process proceeds to step S32. Thereby, the right turn signal is turned on from the turn signal off state.
- step S32 following the determination of right blinker lighting in step S31, while the own vehicle V is traveling in the roundabout RA, the own vehicle V is in the second lighting area A3 for the first right turn or the second lighting area A3 for the second right turn. It is determined whether the lighting area A4 has been reached (see FIG. 8 or 9). Then, in the case of YES (reaching the second lighting area A3 / A4), the process proceeds to step S33, and in the case of NO (not reaching the second lighting area A3 / A4), step S32 is repeated. Step S32 corresponds to the second lighting area arrival determination unit 35.
- step S33 following the determination of reaching the second lighting area A3 / A4 in step S32, control is performed to determine whether to turn off the right turn signal, and the flow proceeds to step S24. As a result, the right turn signal is turned off, and the turn signal is turned off.
- step S41 following the determination that the right turn signal lighting condition is not satisfied in step S7, control is performed to determine that neither of the turn signals 6 indicating the left and right directions is turned on, and the process proceeds to step S42. As a result, none of the blinkers 6 indicating the left-right direction is turned on.
- step S42 following the determination in step S41 that the blinker 6 should not be turned on, it is determined whether or not the vehicle V has reached the second lighting area A5 when the vehicle V is traveling straight while the vehicle V is traveling in the roundabout RA. Make a decision (see FIG. 10). Then, in the case of YES (reaching the second lighting area A5), the process proceeds to step S24, and in the case of NO (not reaching the second lighting area A5), the step S42 is repeated. Step S42 corresponds to the second lighting area arrival determination unit 35.
- the driving support control operation is referred to as “driving support control operation of first target route TR1”, “driving support control operation of second target route TR2”, “driving support control operation of third target route TR3”, “fourth driving control operation”.
- the driving support control operation of the target route TR4 and the driving support control operation of the fifth target route TR5 will be described separately.
- the control process of FIG. 4 is started, a target route and the like are generated in S1, the surrounding information of the own vehicle is obtained in S2, and the process proceeds from S2 to S3.
- the process proceeds from S3 to S4.
- the first lighting area A1 is set in S4, and the process proceeds from S4 to S5.
- the first target route TR1 the second lighting area is not set in S4.
- S5 the first lighting area reaching determination is denied for a while.
- the process proceeds from S5 to S6.
- S6 it is determined that the condition for turning on the left turn signal is satisfied.
- the left turn signal is turned on in S11, and the process proceeds from S11 to S12.
- S12 the adjacency determination is affirmed, and the process proceeds from S12 to S15.
- S15 the judgment of leaving the vehicle is denied for a while.
- S16 the left turn signal is turned off, and the process proceeds from S16 to the end.
- time t11 the vehicle V has not reached the roundabout RA.
- the period until time t11 corresponds to a flow that is repeated in the order of “NO” in S1, S2, and S3 in FIG.
- Time t11 corresponds to the flow of “YES” in S3 in FIG. 4, and the flow to S4 and S5, and the period from time t11 to time t12 corresponds to the flow in which “NO” of S5 in FIG. 4 is repeated.
- Time t12 corresponds to the flow of “YES” in S5 in FIG. 4, “YES” in S6 in FIG. 5, “YES” in S11 and S12, and the flow to S15.
- the vehicle V has reached the vehicle entrance EN and is about to enter the ring road CR. From time t13 to time t16, the vehicle V travels on the annular road CR. A period from time t12 to time t16 corresponds to a flow in which “NO” in S15 of FIG. 5 is repeated.
- Time t16 corresponds to “YES” in S15 of FIG. 5, S16, and the flow to the end.
- the action plan of the own vehicle can be transmitted to the other vehicles V1 and V2 around the own vehicle by turning on the left turn signal. Further, the lighting of the left turn signal is continued until the own vehicle V exits the roundabout RA from the own vehicle entrance EN, so that the own vehicle V is connected to the second connecting road R2 with respect to the other vehicles V2 around the own vehicle. You can tell the action plan to turn. In other words, by continuing to light the left turn signal, the other vehicle V2 can prepare for traveling from the roundabout RA of the own vehicle V to the second connection path R2 (leaving of the own vehicle V from the roundabout RA). .
- the other vehicle V1 indicates a following vehicle in which the own vehicle V is traveling on the first approach road R11.
- the other vehicle V2 indicates a vehicle traveling on the annular road CR when the own vehicle V enters the annular road CR, and indicates a succeeding vehicle on which the own vehicle V is traveling on the annular road CR.
- the driving support control operation of the second target route TR2 will be described. Note that the flow from the start of the control processing in FIG. 4 to S12 in FIG. 5 and the flow from S16 to the end are the same as the driving support control operation of the first target route TR1, and therefore the description is omitted. However, the second target route TR2 is different from S4 of the first target route TR1 in that the second lighting area A2 for turning left is set in step S4.
- S12 the adjacency determination is denied, and the process proceeds from S12 to S20.
- S20 the determination to enter the annular road is denied for a while.
- the process proceeds from S20 to S21.
- S21 the left turn signal is turned off, and the process proceeds from S21 to S22.
- S22 the determination of reaching the second lighting area when turning left is denied for a while.
- S24 the left blinker is turned on, and the process proceeds from S24 to S25.
- S25 the judgment of leaving the vehicle is denied for a while.
- the own vehicle exit determination in S25 is affirmed, the process proceeds from S25 to S16.
- the process until time t22 in FIG. 7 is the same as the process until time t12 in FIG.
- the second target route TR2 is different from the first target route TR1 at time t11 in that the second lighting area A2 for turning left is set at time t21 at time t21.
- Time t22 corresponds to the flow of “YES” in S5 of FIG. 4, “YES” of S6 of FIG. 5, “NO” of S11 and S12, and the flow to S20.
- the vehicle V has reached the vehicle entrance EN and is about to enter the ring road CR.
- a period from time t22 to time t24 corresponds to a flow in which “NO” in S20 of FIG. 5 is repeated.
- the own vehicle V runs on the ring road CR.
- Time t24 corresponds to “YES” in S20 of FIG. 5 and the flow to S21 and S22.
- a period from time t24 to time t25 corresponds to a flow in which “NO” in S22 of FIG. 5 is repeated.
- Time t25 corresponds to “YES” in S22 in FIG. 5, and the flow to S24 and S25.
- a period from time t25 to time t26 corresponds to a flow in which “NO” in S25 of FIG. 5 is repeated.
- Time t26 corresponds to “YES” in S25 in FIG. 5, S16, and the flow to the end.
- the action plan of the own vehicle can be transmitted to the other vehicles V1 and V2 around the own vehicle by turning on the left turn signal. Further, from the time when the own vehicle V enters the annular road CR to the time when the own vehicle V reaches the second lighting area A2 at the time of turning left (the own vehicle V is traveling on the annular road CR), the left turn signal is turned off. continue. Thereby, the action plan in which the own vehicle V does not bend to the second connection path R2 can be transmitted to the other vehicle V2 around the own vehicle.
- V can convey an action plan to turn to the third connection path R3.
- the other vehicle V2 can prepare for traveling from the roundabout RA of the own vehicle V to the third connection path R3 (leaving of the own vehicle V from the roundabout RA).
- the other vehicles V1 and V2 are the same as the other vehicles V1 and V2 in the driving support control operation of the first target route TR1, and therefore description thereof is omitted.
- the driving support control operation of the third target route TR3 will be described. Note that the flow from the start of the control processing in FIG. 4 to S6 in FIG. 5 and the flow from S24 to the end are the same as the driving support control operation of the second target route TR2, and therefore the description is omitted. However, the third target route TR3 is different from S4 of the second target route TR2 in that the second lighting area A3 for the first right turn is set in step S4.
- S6 the determination that the condition for lighting the left turn signal is satisfied is denied, and the process proceeds from S6 to S7.
- S7 it is determined that the condition for turning on the right turn signal is satisfied, and the process proceeds from S7 to S31.
- the right turn signal is turned on in S31, and the process proceeds from S31 to S32.
- S32 the judgment of reaching the second lighting area at the time of the first right turn is denied for a while. If the determination in S32 that the vehicle has reached the second lighting area at the time of the first right turn is affirmed, the process proceeds from S32 to S33. In S33, the right turn signal is turned off, and the process proceeds from S33 to S24.
- the process until time t32 in FIG. 8 is the same as the process until time t22 in FIG.
- the third target route TR3 is different from the time t21 of the second target route TR2 in that the second lighting area A3 for the first right turn is set at the time t31 at the time t31.
- Time t32 corresponds to the flow of “YES” in S5 of FIG. 4, “NO” of S6 in FIG. 5, “YES” of S7, and the flow to S31 and S32.
- the vehicle V has reached the vehicle entrance EN and is about to enter the ring road CR. From the time t32 to the time t35, the lighting of the right turn signal is continued, and the own vehicle V has not reached the second lighting area A3 at the time of the first right turn. In addition, from the time t33 to the time t36, the own vehicle V runs on the annular road CR. A period from time t32 to time t35 corresponds to a flow in which “NO” in S32 of FIG. 5 is repeated.
- Time t35 corresponds to “YES” in S32 of FIG. 5, and the flow to S33, S24, and S25.
- a period from time t35 to time t36 corresponds to a flow in which “NO” in S25 of FIG. 5 is repeated.
- Time t36 corresponds to “YES” in S25 in FIG. 5, S16, and the flow to the end.
- the action plan of the own vehicle can be transmitted to the other vehicles V1 and V2 around the own vehicle by lighting the right turn signal. Further, while the own vehicle V is traveling on the roundabout RA (annular road CR), the right turn signal is continuously turned on until the own vehicle V reaches the second lighting area A3 at the time of the first right turn. Thereby, the action plan in which the own vehicle V does not bend to the second connection path R2 to the fourth connection path R4 can be transmitted to the other vehicle V2 around the own vehicle.
- the action plan in which the own vehicle V turns to the fifth connection road R5 can be transmitted to the other vehicle V2 around the own vehicle.
- the other vehicle V2 prepares for traveling from the roundabout RA of the own vehicle V to the fifth connection path R5 (exiting the own vehicle V from the roundabout RA). be able to.
- the other vehicles V1 and V2 are the same as the other vehicles V1 and V2 in the driving support control operation of the first target route TR1, and therefore description thereof is omitted.
- the driving support control operation of the fourth target route TR4 will be described. Note that the flow from the start of the control processing of FIG. 4 to the end of FIG. 5 is the same as the operation of the driving support control of the third target route TR3, and thus the description is omitted. However, in the fourth target route TR4, the point that the second lighting area A4 for the second right turn is set in step S4, and whether or not the own vehicle has reached the second lighting area A4 for the second right turn in step S32. This point is different from S4 and S32 of the third target route TR3 in that the determination is made.
- the operation up to time t33 in FIG. 9 is the same as the operation up to time t33 in FIG.
- the fourth target route TR4 is different from the third target route TR3 at the time t31 in that the second lighting area A4 at the time of the second right turn is set at the time t31.
- the fourth target route TR4 is different from the third target route TR3, and the other vehicle V6 enters the roundabout RA from the fourth approach route R41.
- the second lighting area A4 at the time of the second right turn is located at a position closer to the third connection path R3 than the second lighting area A3 at the time of the first right turn and before the fifth connection path R5 of the own vehicle exit EX. It is set up by. Accordingly, on the fourth target route TR4, at time t34, which is earlier than time t35 of the third target route TR3, the vehicle V reaches the second lighting area A4 at the time of the second right turn.
- Time t34 corresponds to “YES” in S32 of FIG. 5, and the flow to S33, S24, and S25.
- the period from time t34 to time t36 corresponds to the flow in which “NO” in S25 of FIG. 5 is repeated. Note that the time t36 is the same as the time t36 of the third target route TR3, and a description thereof will be omitted.
- the action plan of the own vehicle can be transmitted to the other vehicles V1 and V2 around the own vehicle by lighting the right turn signal. Further, while the own vehicle V is traveling on the roundabout RA (annular road CR), the lighting of the right turn signal is continued until the own vehicle V reaches the second lighting area A4 at the time of the second right turn. Thereby, the action plan in which the own vehicle V does not bend to the second connection road R2, the third connection road R3, and the fourth exit road R42 can be transmitted to the other vehicles V2 and V3 around the own vehicle. In other words, by continuing to light the right turn signal, the other vehicle V3 does not enter the annular road CR and gives priority to the own vehicle V.
- the own vehicle V exits the roundabout RA
- the own vehicle V reaches the second lighting area A4 at the time of the second right turn
- it switches from turning on the right turn signal to turning on the left turn signal.
- the action plan in which the own vehicle V turns to the fifth connection road R5 can be transmitted to the other vehicle V2 around the own vehicle.
- the other vehicle V2 prepares for traveling from the roundabout RA of the own vehicle V to the fifth connection path R5 (exiting the own vehicle V from the roundabout RA). be able to.
- the other vehicles V1 and V2 are the same as the other vehicles V1 and V2 in the driving support control operation of the first target route TR1, and therefore description thereof is omitted.
- the other vehicle V3 indicates a vehicle that is about to enter the annular road CR from the fourth approach road R41 while the host vehicle V is traveling on the annular road CR.
- the driving support control operation of the fifth target route TR5 will be described. Note that the flow from the start of the control processing in FIG. 4 to S7 in FIG. 5 and the flow from S24 to the end are the same as the driving support control operation of the third target route TR3, and therefore description thereof will be omitted. However, the fifth target route TR5 is different from S4 of the third target route TR3 in that the second lighting area A5 for straight traveling is set in step S4.
- S7 the determination of whether the condition for turning on the right turn signal is satisfied is denied, and the process proceeds from S7 to S41.
- S41 neither of the blinkers 6 indicating the left-right direction is turned on, and the process proceeds from S41 to S42.
- S42 the determination of reaching the second lighting area when the vehicle is traveling straight is negative for a while. Then, when the determination of the arrival at the second lighting area at the time of straight traveling in S42 is affirmed, the process proceeds from S42 to S24.
- the operation of the vehicle V traveling on the fifth target route TR5 will be described with reference to FIG. Note that the process until time t42 in FIG. 10 is the same as the process until time t22 in FIG. However, the fifth target route TR5 is different from the time t21 of the second target route TR2 in that the second lighting area A5 for straight traveling is set at time t41 at time t41. Further, the fifth target route TR5 is different from the second target route TR2 in that control is performed to determine whether to turn on the turn signal lights 6 in accordance with the determination of the positional relationship between the entrance and exit.
- Time t42 corresponds to “YES” in S5 in FIG. 4, “NO” in S6 in FIG. 5, “NO” in S7, and the flow to S41 and S42.
- the vehicle V has reached the vehicle entrance EN and is about to enter the ring road CR. From the time t42 to the time t45, the blinker extinguished state is continued, and the own vehicle V has not reached the second lighting area A5 when traveling straight. In addition, from the time t43 to the time t46, the own vehicle V runs on the annular road CR. A period from time t42 to time t45 corresponds to a flow in which “NO” in S42 of FIG. 5 is repeated.
- Time t45 corresponds to “YES” in S42 of FIG. 5, and the flow to S24 and S25.
- the period from time t45 to time t46 corresponds to the flow in which “NO” in S25 of FIG. 5 is repeated.
- Time t46 corresponds to “YES” in S25 in FIG. 5, S16, and the flow to the end.
- the action plan of the own vehicle can be transmitted to the other vehicles V1 and V2 around the own vehicle in an unlit state in which neither the blinker 6 indicating the left-right direction is lit. it can. Further, while the own vehicle V is traveling on the annular road CR and the own vehicle V reaches the second lighting area A5 when the vehicle is traveling straight, the turn-off state in which neither the left or right turn signal indicator 6 is turned on continues. I do. Thereby, the action plan in which the own vehicle V does not bend to the second connection path R2 and the third connection path R3 can be transmitted to the other vehicle V2 around the own vehicle.
- the left turn signal is turned on to cause the own vehicle V to move around the own vehicle with respect to the other vehicle V2.
- V can convey an action plan to turn to the fourth connection path R4.
- the other vehicle V2 can prepare for traveling from the roundabout RA of the own vehicle V to the fourth connection path R4 (leaving of the own vehicle V from the roundabout RA).
- the other vehicles V1 and V2 are the same as the other vehicles V1 and V2 in the driving support control operation of the first target route TR1, and therefore description thereof is omitted.
- the own vehicle V enters the roundabout RA
- either of the turn signals 6 is turned on or neither is turned on, and thus the self-vehicle V is turned on.
- the action plan of the own vehicle can be transmitted to other vehicles around the vehicle.
- the left turn signal is lit to inform the other vehicles around the own vehicle of an action plan for the own vehicle V to turn to each of the connection paths R2 to R5.
- each connection route connected to each vehicle exit EX is separated into an approach route and an exit route, and the route is changed from the approach route to the ring road CR.
- the left turn signal is turned on to convey an action plan for the own vehicle V to turn to the exit road of the connection road to other vehicles around the own vehicle. Can be. In other words, by turning on the left turn signal, other vehicles can start entering the annular road CR.
- the second connection route R2 connected to the first exit is separated into an entrance route and an exit route, and the route from the entrance route of the second connection route R2 to the annular route CR is set.
- a case in which there is another vehicle trying to enter will be described.
- the own vehicle V can exit the second connection road R2 with respect to other vehicles around the own vehicle. It can convey an action plan that does not bend. In other words, when the left turn signal is turned off, the other vehicle does not enter the ring road CR and gives priority to the own vehicle V.
- a controller that calculates a travel route (target route) for running the vehicle V and executes travel support control based on the travel route (target route) (FIGS. 1 and 2). .
- this traveling support method it is determined whether the vehicle V has reached the roundabout RA (S3 in FIG. 4).
- the positional relationship between the own vehicle entrance EN of the own vehicle V and the own vehicle exit EX of the own vehicle V in the roundabout RA is determined based on the traveling route (target route).
- a judgment is made (S6 and S7 in FIG. 5).
- control of the direction indicator (turn signal 6) is performed according to the determination of the positional relationship (S11, S21, S31, and S41 in FIG. 5).
- the direction indicated by the winkers 6 is controlled by controlling the winkers 6 in accordance with the target route of the vehicle V to be traveled.
- the roundabout RA annular road CR
- Control is performed to determine which one of the direction indicator lamps (winkers 6) indicating the left-right direction should be turned on in accordance with the determination of the positional relationship (S11 and S31 in FIG. 5).
- the direction indicated by the blinker 6 is controlled based on this determination.
- the action plan of the own vehicle V can be transmitted to other vehicles in the vicinity of the own vehicle by instructing one of the left and right directions.
- the direction indicated by the winker 6 is controlled based on this determination.
- the action plan of the own vehicle V can be transmitted to other vehicles around the own vehicle by a direction instruction.
- the control that the own vehicle V determines the winker 6 in accordance with the target route to be traveled is performed before the vehicle V actually enters the roundabout RA (annular road CR).
- the direction indicated by 6 is controlled.
- the action plan of the own vehicle V can be transmitted to other vehicles in the vicinity of the own vehicle by a direction instruction.
- the positional relationship is determined from the relative angle ⁇ between the own vehicle entrance EN and the own vehicle exit EX (S6 and S7 in FIG. 5).
- control for accurately determining the direction indicated by the winker 6 can be performed, and the direction indicated by the winker 6 is controlled based on this determination.
- the action plan of the own vehicle V can be accurately transmitted to other vehicles around the own vehicle by a direction instruction.
- the current position of the vehicle V and the current position relationship between the vehicle exit EX are sequentially compared to indicate the direction. It is determined whether or not a switching condition for switching the direction indicated by the light (the blinker 6) is satisfied. When the switching condition is satisfied, the direction indicated by the direction indicator lamp (the blinker 6) is switched based on the switching condition (the flow from S11 to S21 in FIG. 5, the flow from S21 to S24 in FIG. 5, the flow from S31 to S33 in FIG. 5). , The flow from S33 to S24 in FIG. 5, and the flow from S41 to S24 in FIG. 5).
- the vehicle V is switched with respect to the other vehicles around the vehicle. Can communicate the action plan at the roundabout RA.
- the action plan of the own vehicle V in the roundabout RA can be transmitted to other vehicles around the own vehicle. it can.
- switching conditions One is switching from turning on the left blinker to turning off the blinker in the flow from S11 to S21 in FIG. Further, in the flow from S21 to S24 in FIG. 5, the flow from S33 to S24 in FIG. 5, and the flow from S41 to S24 in FIG. 5, the switching from the blinker off state to the lighting of the left blinker is performed. The other is switching from turning on the right blinker to turning off the blinker in the flow from S31 to S33 in FIG.
- the turn signal (turn signal 6) is turned off after the own vehicle V enters the roundabout RA (annular road CR) (flow from S20 to S21 in FIG. 5).
- the direction indicated by the direction indicator (turn signal 6) which is turned on when the own vehicle V enters the roundabout RA (annular road CR) indicates the rotation direction (clockwise) when the vehicle V passes through the roundabout RA. It is the opposite direction (left winker) (S11 in FIG. 5).
- the other is an exit (third connection route) after the first exit (second connection route R2) in which the own vehicle exit EX enters the roundabout RA (flow from S12 to S20 in FIG. 5).
- the left turn signal is turned on, so that the vehicle V enters the annular road CR from a connection road (entrance road) connected to a following vehicle around the own vehicle or the own vehicle exit EX.
- the exit of the own vehicle V from the roundabout RA can be notified to the other vehicle that is about to go.
- the own vehicle V is traveling on the roundabout RA (annular road CR)
- the own vehicle V in the roundabout RA of the own vehicle V with respect to other vehicles around the own vehicle. Can communicate an action plan.
- a controller (recognition determination processor 3) that calculates a traveling route (target route) for driving the own vehicle and executes traveling support control based on the traveling route (target route) is provided (FIGS. 1 and 2).
- the controller (recognition determination processor 3) includes a roundabout arrival determination unit 32, a positional relationship determination unit 36, and a direction indicator control unit (a blinker control unit 38).
- the roundabout arrival determination unit 32 determines whether or not the vehicle V has reached the roundabout RA (S3 in FIG. 4).
- the positional relationship determination unit 36 determines whether the own vehicle V has entered the roundabout RA based on the traveling route (target route).
- the positional relationship between EN and the vehicle exit EX of the vehicle V is determined (S6 and S7 in FIG. 5).
- the direction indicator light control unit determines the direction indicator light (the blinker 6) according to the determination of the positional relationship by the positional relationship determination unit 36. (S11, S21, S31, and S41 in FIG. 5).
- the direction indicator lamp indicates the left-right direction.
- the direction indicated by the winkers 6 is controlled by controlling the winkers 6 in accordance with the target route of the vehicle V to be traveled.
- the roundabout RA annular road CR
- the own vehicle V has reached the roundabout RA ("YES" in S3 of FIG. 4), and it is determined that the own vehicle V has reached the first lighting area A1 ("YES” of S5 in FIG. 4). )), And an example in which the positional relationship between the own vehicle entrance EN and the own vehicle exit EX is determined (S6 and S7 in FIG. 5).
- the setting of the first lighting area in S4 of FIG. 4 and the determination in S5 of FIG. 4 need not be performed. That is, after the vehicle has reached the roundabout, the positional relationship between the vehicle entrance and the vehicle exit may be determined. Then, when it is determined that the own vehicle has reached the roundabout, or when the own vehicle enters the roundabout (annular road), the direction indicator lamp may be controlled in accordance with the determination of the positional relationship.
- the roundabout arrival determination unit 32 determines whether the own vehicle V has reached the roundabout RA when the own vehicle V enters the predetermined distance D from the roundabout RA. In this example, it is determined that has reached the roundabout RA. However, it is not limited to this.
- the roundabout arrival determination unit determines whether or not the own vehicle has reached the roundabout by determining that the own vehicle has reached the roundabout when recognizing a road sign installed in front of the roundabout. May be.
- the "road sign" is a sign indicating that there is a roundabout in the traveling direction of the own vehicle. It is assumed that the roundabout arrival determination unit inputs the vehicle surrounding information. Alternatively, the determination that the vehicle has reached the roundabout may be made when the vehicle actually reaches the roundabout.
- the predetermined distance is not limited to this.
- an example of the predetermined distance will be described.
- the predetermined distance may be changed based on the speed limit of the connection road on which the vehicle is traveling. Further, the roundabout arrival determination unit has a predetermined distance table for each speed limit. Then, a predetermined distance table may be read according to the speed limit of the connection road to determine whether or not the own vehicle has reached the roundabout.
- the predetermined distance table has, for example, a value in which the predetermined distance is set to be longer as the speed limit is higher, and a value in which the predetermined distance is set to be shorter as the speed limit is lower.
- the predetermined distance may be changed to a distance obtained by multiplying the speed limit by a predetermined number of seconds, instead of the distance table.
- the predetermined number of seconds may be fixed to several seconds regardless of the speed limit, or may be changed according to the speed limit.
- the predetermined distance may be changed in consideration of the presence or absence of the fork.
- the predetermined distance may be changed based on the surrounding traffic volume from the own vehicle surrounding information. For example, the predetermined distance is set shorter as the traffic volume increases, and the predetermined distance is set longer as the traffic volume decreases. It is assumed that the roundabout arrival determination unit 32 inputs the own vehicle surrounding information.
- the predetermined distance may be determined based on a parting line for the approaching route to the roundabout.
- the "parting line” is a line indicating a position where the vehicle stops when giving priority to a vehicle traveling on the roundabout when the vehicle enters the roundabout.
- a displacement line is a line indicating a position where the vehicle stops when giving priority to a vehicle traveling on the roundabout when the vehicle enters the roundabout.
- the positional relationship is determined from the relative angle ⁇ shown in FIG.
- the value of the first angle may be made larger and the value of the second angle may be made smaller than in the first embodiment.
- the value of the first angle may be smaller and the value of the second angle may be larger than in the first embodiment.
- the relative angle may be determined by the number of roads connected to the ring road.
- the positional relationship may be determined from the relative angle between the own vehicle entrance and the own vehicle exit.
- an example in which the entirety of the exit of the own vehicle (the boundary between the circular broken line L1 and the connection road) falls within the relative angle ⁇ corresponds to each condition, but is not limited thereto. .
- the first embodiment shows an example in which the positional relationship determination unit 36 determines the positional relationship between the host vehicle entrance EN and the host vehicle exit EX in the roundabout RA based on the relative angle ⁇ between the host vehicle entrance EN and the host vehicle exit EX.
- the relative angle ⁇ is calculated from the positions of the own vehicle entrance EN and the own vehicle exit EX viewed from the center CE of the roundabout RA.
- the relative angle may be calculated from the angle of the connecting road as an entrance road of the own vehicle entrance and the angle of the connecting road as the exit road of the own vehicle exit.
- the first embodiment shows an example in which the positional relationship determination unit 36 determines the positional relationship between the host vehicle entrance EN and the host vehicle exit EX in the roundabout RA based on the relative angle ⁇ between the host vehicle entrance EN and the host vehicle exit EX.
- the positional relationship determination unit 36 determines the positional relationship between the host vehicle entrance EN and the host vehicle exit EX in the roundabout RA based on the relative angle ⁇ between the host vehicle entrance EN and the host vehicle exit EX.
- the positional relationship may be determined from the relative distance between the own vehicle entrance and the own vehicle exit. Specifically, the distance from the vehicle entrance to the vehicle exit is calculated from the lane center line on the map data, and the ratio to the total length of the roundabout is calculated. The positional relationship may be determined from this ratio. For example, when the ratio is larger than 0.0 and equal to or smaller than 0.4, the positional relationship between the entrance and the exit may be set as a condition for turning on the left blinker as in the first embodiment. Further, when the ratio is larger than 0.4 and equal to or smaller than 0.6, the condition may be such that neither of the blinkers 6 indicating the positional relationship of the entrance and the exit is left and right as in the first embodiment. Furthermore, when the ratio is larger than 0.6 and equal to or smaller than 1.0, the positional relationship between the entrance and the exit may be set as a condition for turning on the right turn signal as in the first embodiment.
- the positional relationship may be determined from the calculation result by calculating the number of the vehicle exit from the entrance of the vehicle. For example, a case where there are six connection paths will be described. In this case, the vehicle entrance is counted as zero. When the own vehicle exit is located at the third position in the middle of the first to fifth positions, it is assumed that the positional relationship of the entrance / exit corresponds to the condition that neither of the blinkers 6 indicating the left / right direction is turned on. Then, when the vehicle exit is the first or second, the positional relationship between the entrance and exit may be a condition for turning on the left turn signal as in the first embodiment.
- the positional relationship between the entrance and exit may be such that the right turn signal is turned on as in the first embodiment.
- the first, third to fifth positional relationships may be determined assuming that the positional relationship of the entrance / exit corresponds to the condition that neither the blinker 6 indicating the left-right direction is turned on. .
- the positional relationship may be determined based on the direction in which the vehicle exit exists relative to the vehicle entrance (left direction / straight direction / right direction).
- the positional relationship may be determined based on left turn / straight / right turn information in the map data information.
- the positional relationship may be determined by combining a plurality of these positional relationship determinations.
- the left blinker is turned off after the vehicle V enters the annular road CR when the following two conditions are satisfied (flow from S20 to S21 in FIG. 5).
- the left turn signal is turned on (S11 in FIG. 5).
- the other is an exit after the first exit in which the own vehicle exit EX has entered the roundabout RA (flow from S12 to S20 in FIG. 5).
- it is not limited to this. In short, it suffices to turn off the left side (left turn signal) of the direction indicator after the vehicle has entered the ring road.
- the roundabout RA includes the central island C, the circular road CR, the connection portion between the circular road CR and each of the connection roads R1 to R6 (the own vehicle entrance EN and the own vehicle exit EX), and The example in which a part of each of the connection paths R1 to R6 is included is shown.
- the roundabout may be the central island C, the annular road CR, and the connecting portion (the own vehicle entrance EN and the own vehicle exit EX) between the annular road CR and each of the connecting roads R1 to R6 in the first embodiment. May be used as the central island C and the ring road CR. Even with such a configuration, the effects described in (1) to (7) of the first embodiment can be obtained.
- the driving support method and the driving support device according to the present disclosure are applied to the roundabout RA in which the six roads R1 to R6 are connected to the ring road CR, respectively.
- the present invention may be applied to a roundabout in which four or eight roads are connected to an annular road.
- the present invention can be applied to any roundabout in which three or more roads are connected to the ring road.
- the example in which the driving support method and the driving support device according to the present disclosure are applied to the case of left-hand traffic has been described.
- the invention is not limited thereto, and the driving support method and the driving support device according to the present disclosure may be applied to the case of right-hand traffic.
- the rotation direction and the lighting direction indicated by the direction indicator lamp when traveling on the annular road are opposite to the left and right in the first embodiment and the above example.
- the driving support method and the driving support device according to the present disclosure are applied to an automatic driving vehicle in which the steering / driving / braking / direction indicator is automatically controlled by selecting the automatic driving mode.
- the driving support method and the driving support device of the present disclosure may be a driving support vehicle that supports a part of the driving / braking / steering angle / direction indicator light by the driver.
- the present invention can be applied to any vehicle that assists the driving of the driver by controlling the direction indicator according to the determination of the positional relationship when the own vehicle enters the roundabout.
- the display device notifies the driver of the determination of the direction indicator light. Then, the driver may operate the direction indicator according to the determination of the direction indicator.
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Abstract
Description
Claims (9)
- 自車を走行させる走行ルートを算出し、前記走行ルートに基づいて走行支援制御を実行するコントローラを備える走行支援方法において、
自車がラウンドアバウトに到達したか否かを判断し、
自車が前記ラウンドアバウトに到達したと判断されると、前記走行ルートに基づいて前記ラウンドアバウトにおける自車の自車入口と自車の自車出口の位置関係を判断し、
自車が前記ラウンドアバウトへ進入するとき、前記位置関係の判断に応じて方向指示灯の制御を行う
ことを特徴とする走行支援方法。 - 請求項1に記載された走行支援方法において、
前記位置関係の判断に応じて、左右方向を示す前記方向指示灯のうちどちらかを点灯させるかを決定する制御を行う
ことを特徴とする走行支援方法。 - 請求項1又は2に記載された走行支援方法において、
前記位置関係の判断に応じて、前記方向指示灯を点灯させるか否かを決定する制御を行う
ことを特徴とする走行支援方法。 - 請求項1から3までの何れか一項に記載された走行支援方法において、
自車が前記ラウンドアバウトに到達したか否かの判断は、自車が前記ラウンドアバウトから所定距離内に入ったとき、自車が前記ラウンドアバウトへ到達したと判断する
ことを特徴とする走行支援方法。 - 請求項1から4までの何れか一項に記載された走行支援方法において、
前記位置関係は、前記自車入口と前記自車出口の相対角度から判断する
ことを特徴とする走行支援方法。 - 請求項1から5までの何れか一項に記載された走行支援方法において、
自車が前記自車入口から自車が前記ラウンドアバウトを退出するまでの間、自車の現在位置と前記自車出口との現在位置関係を逐次比較して、前記方向指示灯の示す方向を切り替える切替条件が成立したか否かを判断し、
前記切替条件が成立したとき、前記切替条件に基づき前記方向指示灯の示す方向を切り替える
ことを特徴とする走行支援方法。 - 請求項1から6までの何れか一項に記載された走行支援方法において、
自車が前記ラウンドアバウトへ進入するときに点灯する前記方向指示灯の示す方向が前記ラウンドアバウトを通行するときの回転方向と反対方向であって、前記自車出口が前記ラウンドアバウトに入った最初の出口より後の出口であるとき、自車が前記ラウンドアバウトへ進入した後に前記方向指示灯を消灯する
ことを特徴とする走行支援方法。 - 請求項6又は7に記載された走行支援方法において、
自車が前記ラウンドアバウトから退出するとき、最後に点灯する前記方向指示灯の示す方向は、前記ラウンドアバウトを通行するときの回転方向と反対方向である
ことを特徴とする走行支援方法。 - 自車を走行させる走行ルートを算出し、前記走行ルートに基づいて走行支援制御を実行するコントローラを備える走行支援装置において、
前記コントローラは、
自車がラウンドアバウトに到達したか否かを判断するラウンドアバウト到達判断部と、
前記ラウンドアバウト到達判断部により自車が前記ラウンドアバウトに到達したと判断されると、前記走行ルートに基づいて前記ラウンドアバウトにおける自車の自車入口と自車の自車出口の位置関係を判断する位置関係判断部と、
自車が前記ラウンドアバウトへ進入するとき、前記位置関係判断部の前記位置関係の判断に応じて方向指示灯の制御を行う方向指示灯制御部と、
を有することを特徴とする走行支援装置。
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JP2020529832A JP7101777B2 (ja) | 2018-07-12 | 2018-07-12 | 走行支援方法及び走行支援装置 |
RU2021103266A RU2768091C1 (ru) | 2018-07-12 | 2018-07-12 | Способ помощи при вождении и устройство помощи при вождении |
PCT/IB2018/000964 WO2020012212A1 (ja) | 2018-07-12 | 2018-07-12 | 走行支援方法及び走行支援装置 |
KR1020217004289A KR20210030443A (ko) | 2018-07-12 | 2018-07-12 | 주행 지원 방법 및 주행 지원 장치 |
CN201880095589.4A CN112399932A (zh) | 2018-07-12 | 2018-07-12 | 行驶辅助方法和行驶辅助装置 |
US17/259,210 US11772646B2 (en) | 2018-07-12 | 2018-07-12 | Driving assist method and driving assist device |
EP18925907.0A EP3822122A4 (en) | 2018-07-12 | 2018-07-12 | DRIVING ASSISTANCE PROCEDURES AND DRIVING ASSISTANCE DEVICE |
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- 2018-07-12 JP JP2020529832A patent/JP7101777B2/ja active Active
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US20210269024A1 (en) | 2021-09-02 |
KR20210030443A (ko) | 2021-03-17 |
EP3822122A1 (en) | 2021-05-19 |
EP3822122A4 (en) | 2021-07-07 |
CN112399932A (zh) | 2021-02-23 |
JP7101777B2 (ja) | 2022-07-15 |
JPWO2020012212A1 (ja) | 2021-08-02 |
RU2768091C1 (ru) | 2022-03-23 |
US11772646B2 (en) | 2023-10-03 |
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