WO2020179112A1

WO2020179112A1 - Risk acquisition system, risk display system, and risk acquisition program

Info

Publication number: WO2020179112A1
Application number: PCT/JP2019/037026
Authority: WO
Inventors: 智明 ▲廣▼田
Original assignee: アイシン・エィ・ダブリュ株式会社
Priority date: 2019-03-04
Filing date: 2019-09-20
Publication date: 2020-09-10
Also published as: JP2020144417A

Abstract

[Problem] To provide a technology for acquiring a risk which should be taken into account. [Solution] Provided is a risk acquisition system which acquires a risk that a vehicle may contact a mobile body. The risk acquisition system comprises: a mobile body detection unit which detects the mobile body present in the vicinity of the vehicle; a reference trajectory acquisition unit which acquires a reference trajectory that is a trajectory in a circumstance of the vehicle being caused to move along a road; and a risk acquisition unit which acquires a risk that the vehicle may contact the mobile body. If the vehicle and the mobile body not present in the reference trajectory approach within a predetermined distance by carrying out an estimated action within a predetermined period after the present time, the risk acquisition unit acquires the mobile body not present in the reference trajectory as the risk.

Description

Risk acquisition system, risk display system and risk acquisition program

The present invention relates to a risk acquisition system, a risk display system, and a risk acquisition program for acquiring risks that may occur during a traveling process.

Conventionally, a technique for acquiring the risk of a vehicle coming into contact with a moving body is known. For example, Patent Document 1 discloses a technique of observing a surrounding situation of a vehicle and acquiring a risk degree based on knowledge such as a danger that appears in the surrounding situation.

JP, 2016-91039, A

With conventional techniques, it has been difficult to keep an eye on potential risks. That is, in the conventional technique, a ball or the like existing in front of the eyes is acquired and displayed as a risk. However, if the risks that are obvious to beginners, such as being in front of the vehicle, are displayed, the displayed contents become very complicated. This makes it difficult to keep an eye on potential risks that are not apparent in front of you.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique for acquiring a risk to be noted.

In order to achieve the above objectives, the risk acquisition system uses a moving object detector that detects moving objects around the vehicle and a track that moves the vehicle along the road without being affected by the moving objects. The risk acquisition unit includes a reference track acquisition unit that acquires a certain reference track and a risk acquisition unit that acquires the risk that the vehicle comes into contact with a moving object, and the risk acquisition unit does not acquire a moving object existing on the reference track as a risk.

Furthermore, in order to achieve the above objectives, the risk acquisition program causes the computer to move the vehicle along the road without being affected by the moving object detector that detects the moving objects existing around the vehicle and the moving objects. It functions as a reference track acquisition unit that acquires the reference track, which is the track of the case, and a risk acquisition unit that acquires the risk that the vehicle comes into contact with the moving object. The risk acquisition unit uses the moving object existing on the reference track as a risk. Make the computer work not to get.

That is, the reference trajectory is the trajectory when the vehicle is moved along the road without being affected by the moving body, and is the trajectory when the vehicle is moved without considering the moving body. Therefore, the moving body existing on the reference trajectory is a risk that many drivers including beginners can easily recognize. Therefore, it is unlikely that the risk is presented as a display target or an avoidance target. Therefore, when the risk of the vehicle coming into contact with the moving object is acquired, if the moving object existing on the reference track is not acquired as the risk, the risk that is not necessary to be noted is excluded and the risk to be noted is excluded. Can be obtained.

Furthermore, in order to achieve the above-mentioned object, the risk display system is a risk display system that displays a warning about the risk of a vehicle contacting a moving body on a display unit, and displays along the road without being affected by the moving body. The warning about the moving body existing on the reference track, which is the track when moving the vehicle, is not displayed, and the reference is performed when the vehicle performs an action to prevent contact with the moving body existing on the reference track. A warning is displayed regarding the risk that the vehicle will come into contact with the moving body when the moving body that is not on the track moves. With this configuration, it is possible to exclude risks that need not be kept in mind from the display target, and acquire and display risks that should be kept in mind.

It is a block diagram of a navigation system. It is a figure which shows the example of the scenery in front of a vehicle. It is a figure which shows the road and the moving body around a vehicle. It is a flowchart of a risk acquisition process.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of navigation system:
(2) Risk acquisition process:
(3) Other embodiments:

(1) Configuration of navigation system:
FIG. 1 is a block diagram showing a configuration of a navigation system 10 including a risk acquisition system according to an embodiment of the present invention. The navigation system 10 is provided in the vehicle, and includes a control unit 20 including a CPU, RAM, ROM, and the like, and a recording medium 30. In the navigation system 10, the control unit 20 can execute a program stored in the recording medium 30 or the ROM. Map information 30a is recorded in advance on the recording medium 30.

The map information 30a is information used for specifying the position of an intersection, route guidance, etc., and specifies node data indicating the position of a node set on the road on which the vehicle travels, and the shape of the road between the nodes. It includes shape interpolation point data indicating the position of the shape interpolation point for performing the operation, link data indicating the connection between the nodes, feature data indicating the position of the feature existing on the road and its surroundings, and the like. In this embodiment, the node indicates an intersection. Further, the link data is associated with information indicating the number of lanes and the width of the lane existing in the road section indicated by the link data. In the present embodiment, the position indicated by the node or the shape interpolation point indicates the position of the center line on the road section, and the position of the lane and the range in which the lane exists can be specified by the position, the number of lanes, and the width of the lane. is there.

The vehicle in this embodiment includes a camera 40, a GNSS receiving unit 41, a vehicle speed sensor 42, a gyro sensor 43, and a user I / F unit 44. The GNSS receiving unit 41 is a device that receives a signal of Global Navigation Satellite System, receives a radio wave from a navigation satellite, and outputs a signal for calculating the current position of the vehicle via an interface (not shown). The control unit 20 acquires this signal and acquires the current position of the vehicle. The vehicle speed sensor 42 outputs a signal corresponding to the rotation speed of the wheels included in the vehicle. The control unit 20 acquires this signal via an interface (not shown) and acquires the vehicle speed. The gyro sensor 43 detects an angular acceleration of the vehicle turning in a horizontal plane, and outputs a signal corresponding to the direction of the vehicle. The control unit 20 acquires this signal and acquires the traveling direction of the vehicle. The vehicle speed sensor 42, the gyro sensor 43, and the like are used to specify the traveling locus of the vehicle, and in the present embodiment, the current location is specified based on the departure place and the traveling locus of the vehicle, and the departure place and the traveling locus. The current position of the vehicle identified based on the is corrected based on the output signal of the GNSS receiving unit 41.

The camera 40 is a device that acquires an image in the field of view that is directed forward of the vehicle. The control unit 20 can detect other vehicles existing in the vicinity of the vehicle by acquiring the image output by the camera 40 and analyzing the image by extracting the feature amount or the like.

The user I / F unit 44 is an interface unit for inputting user's instructions and providing various information to the user, and includes an output sound output unit of a touch panel type display, a speaker, or the like (not shown). ing.

The control unit 20 receives the input of the destination by the user via the input unit of the user I / F unit 44 (not shown) by the function of the navigation program (not shown), and from the current location of the vehicle to the destination based on the map information 30a. Search for a planned route. In addition, the control unit 20 controls the user I/F unit 44 by the function of the navigation program, and executes guidance for traveling along the planned traveling route. In the present embodiment, as an additional function of the navigation program, from the risk that the vehicle comes into contact with the moving body, it is possible to acquire and display a potential risk rather than a risk that is clearly visible, The display is realized by the risk acquisition program 21.

The risk acquisition program 21 includes a moving object detection unit 21a, a reference trajectory acquisition unit 21b, a risk acquisition unit 21c, a display control unit 21d, and a target trajectory acquisition unit 21e in order to realize the display. The moving body detection unit 21a is a program module that causes the control unit 20 to perform a function of detecting a moving body existing around the vehicle. That is, the control unit 20 acquires images continuously captured by the camera 40, and determines whether or not the characteristics of a moving body (for example, a pedestrian, a four-wheeled vehicle, a two-wheeled vehicle, etc.) are included. , Detect the image of the moving body.

The detection of the moving body based on the features in the image may be carried out by various methods. For example, the road is detected by extracting a straight line from the image, and the portion having the features of the tire in contact with the road is detected. Various configurations may be adopted, such as a configuration in which the vehicle is detected by doing so and a configuration in which the vehicle is detected based on the characteristics of the headlight or the like. Similarly, a pedestrian can adopt a configuration in which the pedestrian is detected based on the shape, color, motion, and other characteristics of the object on the road surface. Of course, detection using various template matching, detection using artificial intelligence such as YOLO (You Only Look Once), and the like may be performed.

Fig. 2 shows the scenery in front of the driver's seat of the vehicle. In the example shown in FIG. 2, a road gently turning to the left extends in front of the vehicle. Another road is connected to the road at an intersection, and it is possible to turn right by the road. A pedestrian Pe as a moving body exists near the intersection in front of the vehicle, and a two-wheeled vehicle Bi (a person riding a two-wheeled vehicle) as a moving body exists on the left side in front of the vehicle. In this case, the control unit 20 acquires the position of the pedestrian Pe and the position of the two-wheeled vehicle Bi.

The reference track acquisition unit 21b is a program module that causes the control unit 20 to execute a function of acquiring a reference track, which is a track when a vehicle is moved along a road without being affected by a moving body. That is, the control unit 20 acquires the trajectory when traveling on the road without considering the moving body (assuming that it does not exist). Specifically, the control unit 20 acquires the current position of the vehicle based on the output signals of the GNSS receiving unit 41, the vehicle speed sensor 42, and the gyro sensor 43. Further, the control unit 20 refers to the map information 30a and identifies the road and the lane on which the vehicle is traveling based on the current location of the vehicle. Then, the control unit 20 identifies the track for traveling in the lane by, for example, a track passing through the center of the lane and regards it as a reference track. In the present embodiment, the orbit that goes straight through the intersection is the reference orbit, and in the example shown in FIG. 2, the orbit that goes straight through the intersection and gently turns to the left is the reference orbit.

The method for acquiring the reference track may be various methods. For example, when an obstacle exists around the lane in which the vehicle travels, the track that avoids the obstacle may be the reference track. In addition, other technologies, for example, the reference trajectory may be acquired by using artificial intelligence such as machine learning, or if the planned traveling route exists, the trajectory traveling along the planned traveling route becomes the reference trajectory. It can be. Of course, the trajectories in all directions that can be adopted at the intersection may be acquired and regarded as the reference trajectory.

3 is a diagram schematically showing the road shown in FIG. 2 as viewed from above. In FIG. 3, the lane R in which the vehicle C is traveling is gently turning to the left in front of the vehicle C, and it is also possible to make a right turn at an intersection I. In FIG. 3, the pedestrian Pe in front of the vehicle is shown by a white circle, and the two-wheeled vehicle Bi on the front left side of the vehicle is shown by a white rectangle. In the case of this example, the control unit 20 specifies the position of the lane in which the vehicle C is traveling and the range in which the lane exists based on the map information 30a, and acquires the track traveling in the center as the reference track. In FIG. 3, the reference trajectory Ob is indicated by a dashed arrow.

The risk acquisition unit 21c is a program module that causes the control unit 20 to perform a function of acquiring the risk of a vehicle coming into contact with a moving body. In the present embodiment, a configuration that warns of the acquired risk is adopted. There are various risks around the vehicle, but if all of them are set as warning targets, the number of warning targets becomes excessive, and the warned risks may be overlooked. Therefore, in the present embodiment, the control unit 20 considers that the moving body existing on the reference trajectory is obvious to everyone including beginners, and does not acquire it as a warning target risk.

In other words, if it is assumed that the moving object existing in front of the vehicle does not move, the moving object existing on the reference trajectory will be a subject that should be noted according to the user's will, without warning. Therefore, the control unit 20 does not acquire the moving body as a risk and does not set the warning target. Then, in the present embodiment, the control unit 20 acquires the risk that occurs when the moving body moves as the target of the warning.

Specifically, the control unit 20 estimates the vehicle operation, which is an operation performed by the vehicle in order to prevent contact with a moving body existing on the reference track, by the function of the risk acquisition unit 21c, and puts it on the reference track. A moving body motion that is a motion of a moving body that does not exist is estimated, and the risk of the vehicle coming into contact with a moving body that does not exist on the reference trajectory is acquired based on the vehicle motion and the moving body motion.

When a moving object exists on the reference trajectory, deceleration is usually performed to avoid collision with the moving object. Therefore, the control unit 20 acquires the deceleration (negative acceleration) required for the vehicle to travel while decelerating on the reference trajectory and to stop before reaching the moving body. The deceleration is, for example, to obtain the current speed of the vehicle and the distance between the vehicle and the moving body on the reference track, and stop the vehicle at a distance shorter than the distance when decelerating at a constant deceleration. The deceleration that can be obtained is acquired by the control unit 20 calculating the deceleration. Of course, this configuration is an example, and an operation of changing the traveling direction of the vehicle to avoid the moving body may be acquired as the estimation operation.

For example, in the examples shown in FIGS. 2 and 3, the pedestrian Pe which is a moving body is detected by the function of the moving body detecting unit 21a, and the reference indicated by the broken line in FIG. 3 by the function of the reference trajectory acquisition unit 21b. The trajectory Ob has been acquired. In this case, since the pedestrian Pe exists on the reference trajectory Ob, the control unit 20 detects the distance to the pedestrian Pe.

In the present embodiment, for each position in the image captured by the camera 40, the distance between the image existing at that position and the vehicle equipped with the camera 40 is specified in advance. Therefore, the control unit 20 can acquire the distance from the vehicle to the moving body based on the position of the moving body in the image output by the camera 40. 2 and 3, the control unit 20 acquires the distance from the vehicle C to the pedestrian Pe.

If the reference trajectory Ob is not a straight line, the distance may be acquired based on its curvature. When the distance to the pedestrian Pe is acquired, the control unit 20 stops the vehicle at a position a certain distance before the pedestrian Pe when the vehicle is decelerated at a constant deceleration in the running after the current location. Calculate the deceleration that is possible. In FIG. 3, the orbit in this case is shown by a chain line. The vehicle operation is a transition of the position of the vehicle on the track, and the control unit 20 specifies the position for each time on the track indicated by the alternate long and short dash line when the vehicle C is decelerated by the above-mentioned deceleration. .. Then, the position at each time point on the track indicated by the one-dot chain line is regarded as the vehicle operation.

Of course, vehicle behavior may be estimated taking into account more possibilities. For example, as indicated by a chain double-dashed line, it may be presumed that an operation of advancing in a right turn direction which is a non-straight ahead direction is performed at the intersection I. In this case, the speed of the vehicle may be estimated or only the trajectory may be estimated. The former can adopt, for example, a configuration in which the speed when traveling in the right turn direction is estimated after decelerating before the intersection I or after stopping.

In any case, if the motion in the non-straight ahead direction is estimated as the vehicle motion, it is possible to evaluate the risk of contact with the oncoming vehicle traveling in the opposite lane in the opposite direction to the vehicle. For example, when the oncoming vehicle Cr shown by the broken line in FIG. 3 is traveling in the oncoming lane Rr on the track Occ indicated by the broken line arrow, the vehicle C is the oncoming vehicle at the position where the track indicated by the alternate long and short dash line and the track Occ intersect. It can be considered that there is a risk of contacting Cr.

Mobile movement is the movement of a mobile that does not exist on the reference trajectory. In the present embodiment, the control unit 20 acquires the absolute value of the velocity of the moving body based on the change of the image of the moving body in the plurality of images continuously captured by the camera 40. Further, when the moving body is associated with a human, the control unit 20 estimates the moving direction based on the characteristics of the moving body. In the present embodiment, the control unit 20 estimates the moving direction based on the orientation of the human face.

That is, the control unit 20 detects whether or not the moving body detected in the image of the camera 40 includes the features of the human face, and if the moving body includes the features of the face, specifies the orientation thereof. As for the orientation of the face, for example, the characteristics of the positions of the hair, ears, eyes, nose, and mouth are associated with the orientation of the face in advance, and it is determined which facial orientation the features included in the image are. It can be specified by doing. Of course, the orientation of the face may be specified here by artificial intelligence such as machine learning.

When the face direction is specified, the control unit 20 determines that the moving body moves in the face direction. For example, in the example shown in FIG. 2, since the pedestrian Pe crosses the intersection while facing the front of the pedestrian Pe, the control unit 20 estimates that the pedestrian Pe is walking in the width direction of the road. In this case, the control unit 20 acquires the absolute value of the speed of the pedestrian Pe and the moving direction. Then, the control unit 20 estimates the operation when the moving body moves in the predetermined period after the present with the estimated absolute value and magnitude of the speed. In FIG. 3, a solid-line arrow Ve indicates the movement trajectory of the pedestrian Pe within the predetermined period.

On the other hand, in the example shown in FIG. 2, since the two-wheeled vehicle Bi faces its own right side (direction of turning right at the intersection), the control unit 20 determines that the two-wheeled vehicle Bi crosses the road and turns right at the intersection I. presume. In this case, the control unit 20 acquires the absolute value of the speed and the moving direction of the two-wheeled vehicle Bi. Then, the control unit 20 estimates the operation in the case where the moving body moves toward the moving direction in the predetermined period after the present while maintaining the estimated absolute value of the speed. In FIG. 3, the solid line arrow Vi indicates the movement trajectory of the two-wheeled vehicle Bi within the predetermined period. Of course, the configuration for acquiring the moving direction may be various configurations, for example, the moving direction of the moving body is acquired based on the change of the moving body in a plurality of images continuously captured by the camera 40. May be done. When it is difficult to identify the orientation of a human face in a vehicle or the like, the direction of movement can be identified by using the change of the moving object in a plurality of images.

When the moving body motion is estimated, the control unit 20 acquires the risk of the vehicle coming into contact with the moving body that is not on the reference trajectory, based on the vehicle motion and the moving body motion. In the present embodiment, the control unit 20 considers that there is a risk of contact with the moving body if the vehicle and the moving body perform an estimated operation within a predetermined period after that and approach within a predetermined distance. .. For example, in the example shown in FIG. 3, the vehicle C estimated to travel on the alternate long and short dash line and the two-wheeled vehicle Bi estimated to travel on the solid line approach within the predetermined distance at the position Pr _{1 at the} times after the present. In this case, the control unit 20 acquires the two-wheeled vehicle Bi as a risk. On the other hand, since the vehicle C traveling on the alternate long and short dash line is estimated to stop before the current position of the pedestrian Pe, the control unit 20 does not acquire the pedestrian Pe as a risk.

The display control unit 21d is a program module that causes the control unit 20 to execute a function of displaying a warning regarding the acquired risk on the display unit. That is, the control unit 20 displays the risk acquired by the risk acquisition unit 21c on the display of the user I / F unit 44. The risk display mode may be various modes. In the present embodiment, a warning indicating the position where the risk exists is displayed on the map around the vehicle displayed on the display of the user I/F unit 44. Will be done. For example, in the example shown in FIG. 3, a warning indicating the position Pr ₁ on the lane R is displayed on the map. Of course, the warning mode may be various modes, and the two-wheeled vehicle Bi may be displayed as the warning target or the estimated trajectory of the two-wheeled vehicle Bi may be displayed. The display target may be various display devices such as a HUD, and a warning for risk may be given by voice or the like.

Note that, in the present embodiment, the control unit 20 does not display a warning regarding risk at a position closest to the vehicle, but does not display a warning regarding risk at a position other than the position closest to the vehicle. The control unit 20 regards a position where the vehicle and the moving body approach within a predetermined distance as a risk position. Therefore, when a plurality of risks are acquired by the function of the risk acquisition unit 21c, the control unit 20 acquires the position of each risk. Then, the control unit 20 acquires the distance between the vehicle and the position of each risk based on the map information 30a, and displays the risk at the position closest to the vehicle on the display of the user I/F unit 44.

For example, in the example shown in FIG. 3, when the risk of contact with the oncoming vehicle Cr is acquired, the control unit 20 also acquires the position Pr _{2 of the} risk. However, the risk position Pr ₂ is farther from the vehicle than the position Pr ₁ (position where the vehicle and the two-wheeled vehicle Bi approach within a predetermined distance) when the two-wheeled vehicle Bi is regarded as a risk, and other risk is present. Has not been obtained. Therefore, in this case, the control unit 20 does not set the risk position Pr ₂ as the warning target, but sets the risk position Pr ₁ as the warning target. With the above configuration, the most imminent potential risk can be extracted and warned. Of course, the number of risks to be warned is not limited to one, and a configuration may be adopted in which the position and the like are warned with the predetermined number of risks in the order of proximity from the vehicle as the upper limit.

The target trajectory acquisition unit 21e is a program module that causes the control unit 20 to execute a function of acquiring a target trajectory that is a vehicle trajectory that avoids the acquired risk. That is, when a risk is acquired by the function of the risk acquisition unit 21c, the control unit 20 identifies the position of the risk by the function of the target track acquisition unit 21e, and contacts the risk on the track after the current position of the vehicle. Not get the orbit.

-The target trajectory that does not come into contact with the risk may be defined including the movement of the vehicle on the target trajectory. That is, a target trajectory that does not come into contact with a risk may be defined, including an operation of decelerating or accelerating the vehicle on the target trajectory. As such a target track, for example, a track including an operation of stopping the vehicle before the risk position or a risk position existing on the lane in which the vehicle travels is avoided by changing the course or the like to avoid the risk position. A track that passes and returns to the lane concerned may be used, and various tracks can be assumed.

In the present embodiment, the control unit 20 acquires a trajectory that includes an operation of stopping the vehicle before the risk position as a target trajectory. Therefore, the control unit 20 identifies the position of the risk closest to the vehicle based on the map information 30a, and sets a target trajectory in which the vehicle stops at a position a predetermined distance before the position of the risk while traveling on the lane. get. That is, the control unit 20 acquires the current speed of the vehicle, decelerates the vehicle from the current position of the vehicle at a constant deceleration on the lane in which the vehicle is traveling, and stops at a position a predetermined distance before the risk position. Specify the deceleration of.

Then, the control unit 20 sets the deceleration and the transition of the position from the risk position to the position before the predetermined distance as the target trajectory. The target trajectory may be used for controlling the vehicle or may be used for displaying. In the present embodiment, the display of the user I/F unit 44 is controlled to display the target trajectory.

The display mode of the target track may be various modes, and in the present embodiment, the target speed required for operating the vehicle along the target track is displayed on the display. That is, the control unit 20 acquires the target speed required for traveling along the target trajectory based on the deceleration, and displays the target speed. Of course, the display mode of the target trajectory is not limited to this example, and a warning or the like prompting deceleration may be displayed together with the position where the vehicle is stopped, a curve indicating the target trajectory is displayed on the map, or the display is superimposed on the landscape. A configuration may be adopted. In any case, according to the above configuration, the driver of the vehicle can be prepared for a potential risk and can know how to avoid it when the risk becomes actual.

Note that when the vehicle is controlled to travel along the target track, the operation of the vehicle is configured to be controllable by the navigation system 10 or the ECU included in the vehicle. For example, the steering of the vehicle, the throttle opening, the brake strength, the shift speed, and the like can be controlled. Then, the operation (direction of the vehicle, speed, etc.) necessary for driving the vehicle along the target trajectory is determined at each time, and the vehicle control is performed so that the operation is performed at each time. According to this configuration, it is possible to avoid contact with the risk even if the risk is actualized.

(2) Risk acquisition process:
Next, the risk acquisition process executed by the control unit 20 will be described based on the flowchart shown in FIG. When the navigation system 10 is activated, the control unit 20 executes a risk acquisition process at regular intervals (for example, every 100 ms). When the risk acquisition process is executed, the control unit 20 detects a moving body around the vehicle by the function of the moving body detection unit 21a (step S100). That is, the control unit 20 identifies a moving body existing around the vehicle (in front of the vehicle in the present embodiment) based on the image output by the camera 40. For example, in the example shown in FIG. 2, the pedestrian Pe and the two-wheeled vehicle Bi are detected as moving objects around the vehicle.

Next, the control unit 20 acquires the reference trajectory by the function of the reference trajectory acquisition unit 21b (step S105). That is, the control unit 20 acquires the current position of the vehicle based on the output signals of the GNSS receiving unit 41, the vehicle speed sensor 42, and the gyro sensor 43. Further, the control unit 20 refers to the map information 30a, identifies the road and lane in which the vehicle is traveling based on the current location of the vehicle, and acquires the track for traveling in the lane as a reference track. For example, in the example shown in FIG. 3, the control unit 20 acquires the reference trajectory Ob.

Next, the control unit 20 detects the moving body on the reference trajectory by the function of the risk acquisition unit 21c (step S110). That is, the control unit 20 acquires the position of each moving body acquired in step S100 and compares the position of each moving body with the reference trajectory acquired in step S105. Then, when the distance from the position of the moving body to the reference trajectory is within the predetermined distance, the control unit 20 determines that the moving body exists on the reference trajectory. For example, in the example shown in FIG. 3 (assuming that the oncoming vehicle Cr does not exist), the pedestrian Pe is considered to be on the reference track Ob, and the two-wheeled vehicle Bi is not considered to be on the reference track Ob.

Next, the control unit 20 estimates the moving body motion that is the motion of the moving body that does not exist on the reference trajectory by the function of the risk acquisition unit 21c (step S115). That is, the control unit 20 estimates the moving body motion for the moving body that is detected in step S100 but is not detected in the reference trajectory in step S110. In the case of the example shown in FIG. 3, the control unit 20 estimates the movement of the moving body for the two-wheeled vehicle Bi.

In the present embodiment, the moving body motion is defined by the absolute value of the moving body speed and the moving direction. The control unit 20 acquires the absolute value of the velocity of the moving body based on the change in the position of the moving body in the plurality of images continuously captured by the camera 40. Further, in a pedestrian, a two-wheeled vehicle, or the like, the control unit 20 acquires the direction of the human face based on the image of the camera 40, and considers that the direction of the line of sight is the moving direction within the predetermined period. In the case of a moving body (vehicle or the like) whose human face is difficult to identify, the control unit 20 moves the moving body based on a change in the position of the moving body in a plurality of images continuously captured by the camera 40. Get direction. In the example shown in FIG. 3, since the face of the person driving the two-wheeled vehicle Bi is facing to the right with respect to the traveling direction, the control unit 20 is a trajectory that turns right at the intersection I from the current location of the two-wheeled vehicle Bi. The trajectory of the two-wheeled vehicle Bi moving at the current speed along the arrow Vi indicating is estimated as the moving body motion.

Next, the control unit 20 estimates the vehicle operation, which is the operation performed by the vehicle in order to prevent contact with the moving body existing on the reference track, by the function of the risk acquisition unit 21c (step S120). That is, the control unit 20 acquires a deceleration (negative acceleration) required for stopping the vehicle before it reaches the moving body while decelerating on the reference trajectory as the vehicle operation.

Next, the control unit 20 acquires the risk of the vehicle coming into contact with a moving body that is not on the reference trajectory by the function of the risk acquisition unit 21c (step S125). That is, the control unit 20 acquires the position of the moving body for each time when the moving body moves in the moving body movement acquired in step S115. Further, the control unit 20 acquires the position of the moving body at each time when the vehicle moves by the vehicle operation acquired in step S120.

For example, in the example shown in FIG. 3, the control unit 20 estimates the position of the two-wheeled vehicle Bi for each time by assuming that the two-wheeled vehicle Bi travels on the track indicated by the solid arrow at the current speed. Further, the control unit 20 acquires the current speed of the vehicle C based on the output of the vehicle speed sensor 42, and estimates the position of the vehicle C for each time when the vehicle is decelerated by the deceleration specified in step S120. Then, the control unit 20 considers that there is a risk that the vehicle C comes into contact with the two-wheeled vehicle Bi when there is a state in which the distance between the two-wheeled vehicle Bi and the vehicle C at the same time is within the predetermined distance, and 2 Get the wheel Bi as a risk. The control unit 20 does not acquire the pedestrian Pe, which is a moving body that does not exist on the reference trajectory, as a risk.

Next, the control unit 20 acquires the target trajectory (step S130). That is, in the process of the vehicle traveling on the reference track, the control unit 20 acquires the deceleration for stopping before a predetermined distance without contacting the moving body that performs the operation acquired in step S115.

Next, the control unit 20 displays the risk and the target trajectory by the functions of the display control unit 21d and the target trajectory acquisition unit 21e (step S135). That is, the control unit 20 controls the display of the user I/F unit 44 by the function of the display control unit 21d to display the position where the risk exists on the map displayed on the display. As a result, in the example shown in FIG. 3, a warning indicating the position Pr ₁ on the lane R is displayed on the map. Further, the control unit 20 acquires the target speed required when traveling along the target track based on the deceleration, and controls the display of the user I/F unit 44 by the function of the target track acquisition unit 21e. Display the target speed.

(3) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various other embodiments can be adopted. For example, the risk acquisition system may be a device mounted on a vehicle or the like, a device realized by a portable terminal, or a plurality of devices (for example, a client and a server or a navigation device). It may be a system realized by a control unit inside and a control unit inside the user I / F unit).

At least a part of the mobile body detection unit 21a, the reference trajectory acquisition unit 21b, the risk acquisition unit 21c, the display control unit 21d, and the target trajectory acquisition unit 21e constituting the risk acquisition system may be divided into a plurality of devices. Of course, a part of the configuration of the above-described embodiment may be omitted, or the order of processing may be changed or omitted. For example, the display control unit 21d and the target trajectory acquisition unit 21e may be omitted, and the risk acquired by the risk acquisition unit 21c may be provided to the ECU or the like that performs automatic driving control. Further, in the risk acquisition process shown in FIG. 4, there may be a change such as the order of step S115 and step S120 being exchanged.

∙ The moving object detection unit only needs to be able to detect moving objects existing around the vehicle. That is, the moving body detection unit only needs to be able to detect a moving body that may pose a risk to the vehicle. Therefore, various objects that can move around the vehicle may pose a risk, and various moving objects such as dogs and cats can be used in addition to pedestrians and various vehicles (four-wheeled vehicles, two-wheeled vehicles, etc.). Animals, balls, etc. may be detected as moving objects.

The reference trajectory acquisition unit is only required to be able to acquire the reference trajectory, which is the trajectory for moving the vehicle along the road without being affected by the moving body. That is, the reference trajectory acquisition unit only needs to be able to acquire the trajectory for moving the vehicle along the road as the reference trajectory when there is no moving body existing around the vehicle.

The reference track may be a track that moves the vehicle along the road, and may be acquired according to a predetermined standard such as a track that passes through the center of the lane. Of course, when an object that does not move exists in the vicinity of the vehicle, the trajectory that runs on the road avoiding the object may be the reference trajectory. Further, the reference trajectory may be defined in various forms, and is not limited to the form represented by a line as described above. For example, a strip-shaped reference trajectory having the width of the vehicle may be defined. Whether or not the moving object exists on the reference trajectory may be specified based on whether or not the distance from the reference trajectory is within a predetermined distance.

Further, when a branch exists on the road, as in the above-described embodiment, a track traveling toward each of the branches may be acquired as a reference track, or a track traveling toward at least one of the branches may be obtained as a reference track. May be acquired as. An example of the latter is a configuration in which a planned trajectory for moving along the planned travel route is acquired.

The risk acquisition unit should be able to acquire the risk of the vehicle coming into contact with the moving body without taking the moving body existing on the reference trajectory as a risk. That is, if the vehicle may come into contact with the moving body when the vehicle travels forward, it is acquired as a risk. However, the moving body existing on the reference trajectory is a risk that is obvious to beginners and is not acquired as a risk. According to this configuration, it is possible to acquire the risk in a state in which the risk that needs less attention is excluded.

　The risk of contact with a moving body is not an obvious risk, so it is sufficient if the movements of the moving body and vehicle after the present are estimated, and if there is a possibility of contact, it can be acquired as a risk. The risk may be defined in various ways, and it may be shown that there is a potentially risky mobile at the current mobile's position, or there is a risk of a position that can be contacted after estimation. It may be acquired as a position. Of course, the possibility of contact may be estimated in various ways, the presence or absence of the possibility may be obtained, and the magnitude of the possibility is defined stepwise or continuously, and the magnitude of the risk is large. May be defined.

The movement of the moving body may be any movement of the moving body that does not exist on the reference orbit, and is not limited to the movement when the current traveling direction and speed of the moving body are maintained as in the above-described embodiment. For example, the configuration in which the moving direction of a moving body including a person (a vehicle driven by a pedestrian or a driver) is estimated to be the direction of the person's face, the presence or absence of acceleration based on the posture of the person, etc. are estimated. The configuration may be adopted. Of course, such estimation may be performed based on the characteristics of the image, or detection using artificial intelligence or the like may be performed.

Furthermore, the method of acquiring a potential risk without acquiring a clear risk as a risk as in the present invention can be applied as a program or a method. Further, the risk acquisition system, program, and method as described above may be realized as a single device, or may be realized by using parts shared with each unit provided in the vehicle, and various modes may be realized. Is included. Furthermore, it is possible to provide a navigation device, a method, and a program including at least a part of the risk acquisition system as described above. Further, it is possible to appropriately change such that a part is software and a part is hardware. Further, the invention can be realized as a recording medium of a program for controlling the risk acquisition system. Of course, the recording medium of the software may be a magnetic recording medium or a semiconductor memory, and any recording medium developed in the future can be considered in exactly the same manner.

10... Navigation system, 20... Control part, 21... Risk acquisition program, 21a... Moving body detection part, 21b... Reference trajectory acquisition part, 21c... Risk acquisition part, 21d... Display control part, 21e... Target trajectory acquisition part, 30 ... Recording medium, 30a ... Map information, 40 ... Camera, 41 ... GNSS receiver, 42 ... Vehicle speed sensor, 43 ... Gyro sensor, 44 ... User I / F section

Claims

A risk acquisition system that acquires the risk of a vehicle coming into contact with a moving object.
A moving body detection unit that detects the moving body existing around the vehicle, and
A reference track acquisition unit that acquires a reference track, which is a track when the vehicle is moved along the road,
A risk acquisition unit for acquiring the risk of the vehicle coming into contact with the moving body is provided.
The risk acquisition unit, if the vehicle and the moving body that does not exist on the reference trajectory perform an operation that is estimated within a predetermined period after the present, if approach within a predetermined distance, the reference Acquire the moving object that does not exist in orbit as a risk,
Risk acquisition system.
The risk acquisition department
Estimating a vehicle operation that is an operation performed by the vehicle to prevent contact with the moving body existing on the reference trajectory, and estimating a moving body operation that is an operation of the moving body that does not exist on the reference trajectory Then, based on the vehicle movement and the moving body movement, the risk that the vehicle comes into contact with the moving body that does not exist on the reference track is acquired.
The risk acquisition system according to claim 1.
A display control unit for displaying the acquired warning regarding the risk on the display unit is further provided.
The risk acquisition system according to claim 1 or 2.
The display control unit
Display the warning regarding the risk at the position closest to the vehicle.
Do not display the warning regarding the risk at a position other than the position closest to the vehicle.
The risk acquisition system according to claim 3.
Further provided with a target track acquisition unit that acquires a target track, which is the track of the vehicle that avoids the acquired risk.
The risk acquisition system according to any one of claims 1 to 4.
A risk display system that displays a warning on the display regarding the risk of a vehicle coming into contact with a moving object.
The warning regarding the moving body existing on the reference track, which is the track when the vehicle is moved along the road, is not displayed.
When the vehicle performs an operation for preventing contact with the moving body existing on the reference trajectory, the moving body not existing on the reference trajectory causes the vehicle to move to the moving body. Display the warning regarding the risk of contact,
Risk display system.
A risk acquisition program that causes a computer to perform a function to acquire the risk of a vehicle coming into contact with a moving object.
Computer,
A moving body detection unit that detects the moving body existing around the vehicle,
A reference track acquisition unit that acquires a reference track, which is a track when the vehicle is moved along the road.
It functions as a risk acquisition unit that acquires the risk that the vehicle comes into contact with the moving body.
The risk acquisition unit, if the vehicle and the moving body that does not exist on the reference trajectory perform an operation that is estimated within a predetermined period after the present, if approach within a predetermined distance, the reference Make the computer function to take the moving object that is not in orbit as a risk.
Risk acquisition program.