WO2024013837A1 - 運転支援装置および運転支援方法 - Google Patents

運転支援装置および運転支援方法 Download PDF

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Publication number
WO2024013837A1
WO2024013837A1 PCT/JP2022/027355 JP2022027355W WO2024013837A1 WO 2024013837 A1 WO2024013837 A1 WO 2024013837A1 JP 2022027355 W JP2022027355 W JP 2022027355W WO 2024013837 A1 WO2024013837 A1 WO 2024013837A1
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WIPO (PCT)
Prior art keywords
target vehicle
moving object
overtaking
information
small moving
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/JP2022/027355
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English (en)
French (fr)
Japanese (ja)
Inventor
光則 榎原
光生 下谷
豊 小谷
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2024533356A priority Critical patent/JP7710615B2/ja
Priority to PCT/JP2022/027355 priority patent/WO2024013837A1/ja
Publication of WO2024013837A1 publication Critical patent/WO2024013837A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to vehicle driving support.
  • Patent Document 1 discloses a driving support system that determines whether a vehicle can safely overtake a small moving object and notifies the driver of the determination result.
  • the driving support system disclosed in Patent Document 1 determines whether a vehicle is currently able to overtake a small moving object on a road with one lane on each side, based on the positions of the vehicle and the small moving object. When this driving support system determines that an overtaking vehicle can overtake a small moving object, it displays a notification to that effect and the remaining time for overtaking, and when it determines that overtaking is not possible, it displays a notification to that effect.
  • the present disclosure has been made in order to solve the above-mentioned problems, and aims to present information to a vehicle driver about a section ahead in which a vehicle can overtake a small moving object.
  • the driving support device of the present disclosure acquires small moving object information including the position and width of at least one small moving object that travels in front of the target vehicle and has a width that is less than half the lane width of the road on which the target vehicle is traveling.
  • a small moving object information acquisition unit that acquires target vehicle information including the position and width of the target vehicle; and a road information acquisition unit that acquires road information including the width of the road in front of the target vehicle.
  • an overtaking determination unit that determines, based on the small moving object information, target vehicle information, and road information, a section on the road where the target vehicle can overtake at least one small moving object as an overtaking possible section;
  • the present invention includes a support control unit that causes a display device mounted on the target vehicle to display driving support information including the location or the time required for the target vehicle to pass the target vehicle.
  • the driver of the target vehicle is notified by display of the information on the possible overtaking section in which the small moving object can be overtaken.
  • FIG. 7 is a flowchart showing processing of the driving support device according to the first embodiment.
  • FIG. 7 is a diagram illustrating a situation in which the target vehicle can overtake a small moving object in the previous overtaking possible section.
  • FIG. 3 is a diagram showing the margin distance between the target vehicle and the small moving object that is necessary for an overtaking section.
  • 4 is a diagram showing a notification displayed on a vehicle in the situation of FIG. 3.
  • FIG. It is a figure which shows the example of a display of the overtaking possible area on HUD. It is a figure which shows the example of a display of the overtaking possible area on a map screen.
  • FIG. 2 is a block diagram showing the configuration of a driving support device according to Embodiment 2.
  • FIG. 7 is a flowchart showing processing of the driving support device according to Embodiment 2.
  • FIG. 3 is a diagram illustrating a situation in which a target vehicle simultaneously overtakes a small moving object and passes an oncoming vehicle.
  • FIG. 3 is a diagram illustrating a situation in which a target vehicle cannot overtake a small moving object because it passes an oncoming vehicle. It is a figure which shows the situation where a target vehicle passes a small moving object after passing an oncoming vehicle. It is a diagram showing a situation where the target vehicle is traveling in the latest overtaking possible section candidate E1.
  • FIG. 3 is a diagram showing how caution information is transmitted from a target vehicle to an oncoming vehicle.
  • FIG. 3 is a diagram illustrating how a target vehicle communicates wirelessly with a plurality of oncoming vehicles and asks them to evacuate to an overtaking area E.
  • FIG. 3 is a diagram illustrating how one oncoming vehicle retreats to an overtaking area E.
  • FIG. 2 is a diagram showing a hardware configuration of a driving support device.
  • FIG. 2 is a diagram showing a hardware configuration of a driving support device.
  • FIG. 1 is a block diagram showing the configuration of a driving support device 101 and a vehicle system 1001 including the driving support device 101 according to the first embodiment.
  • the vehicle system 1001 is a system mounted on a vehicle.
  • the vehicle equipped with the vehicle system 1001 will be referred to as a target vehicle P.
  • the vehicle system 1001 includes a driving support device 101, a surroundings detection device 21, a GNSS (Global Navigation Satellite System) receiver 22, and a display device 23.
  • the driving support device 101 is connected to a surrounding detection device 21, a GNSS receiver 22, and a display device 23, and is configured to be able to use these.
  • the driving support device 101 is shown as being installed in a target vehicle. However, as will be described later, part of the configuration of the driving support device 101 may be provided outside the target vehicle, such as a server.
  • the surrounding detection device 21 detects information around the target vehicle (hereinafter referred to as "surrounding information").
  • This surrounding information includes, for example, information on the position and width of a small moving object traveling in front of the target vehicle.
  • the "surroundings" of the target vehicle detected by the surroundings detection device 21 include at least the area in front of the target vehicle.
  • the surrounding detection device 21 is configured by, for example, an inter-vehicle communication device, an image recognition device, a millimeter wave radar, or LIDAR (light detection and ranging).
  • the GNSS receiver 22 receives signals from GNSS satellites (hereinafter referred to as "GNSS signals").
  • the display device 23 acquires driving support information from the driving support device 101 and displays it.
  • the display device 23 is configured by, for example, a head-up display (HUD), an augmented reality head-up display (AR HUD), a driver information console, a transparent display, or a smart glass display.
  • HUD head-up display
  • AR HUD augmented reality head-up display
  • driver information console a transparent display
  • transparent display a smart glass display.
  • the driving support device 101 includes a small moving object information acquisition section 11, a target vehicle information acquisition section 12, a map data storage section 13, a road information acquisition section 14, an overtaking determination section 15, and an assistance control section 16.
  • the small moving object information acquisition unit 11 detects small moving objects traveling around the target vehicle, typically in front, based on the surrounding information of the target vehicle acquired from the surrounding detection device 21.
  • a small moving object is a moving object that has a width that is less than half the lane width of the road on which the target vehicle is traveling.
  • the small moving object information acquisition section 11 outputs small moving object information including information on the position and width of the small moving object to the overtaking determination section 15.
  • the target vehicle information acquisition unit 12 acquires target vehicle information including position information of the target vehicle, and outputs it to the overtaking determination unit 15.
  • the target vehicle information acquisition unit 12 acquires position information of the target vehicle from the GNSS 22.
  • the target vehicle information may include speed information or information on a planned travel route in addition to the position information of the target vehicle.
  • the target vehicle information acquisition unit 12 can acquire speed information of the target vehicle from an in-vehicle LAN (not shown). Further, the target vehicle information acquisition unit 12 can acquire information on the scheduled travel route of the target vehicle from a navigation device (not shown) mounted on the target vehicle.
  • Map data is stored in the map data storage unit 13. This map data includes road width information as road information.
  • the road information acquisition unit 14 acquires road information of the road on which the target vehicle is traveling from the map data storage unit 13 based on the position information of the target vehicle acquired by the target vehicle information acquisition unit 12.
  • the overtaking determination section 15 Based on the small moving object information acquired from the small moving object information acquisition section 11, the target vehicle information acquired from the target vehicle information acquisition section 12, and the road information acquired from the road information acquisition section 14, the overtaking determination section 15, It is determined whether the target vehicle is currently able to overtake the small moving object. If the overtaking determination unit 15 determines that the target vehicle is currently unable to overtake the small moving object, the overtaking determination unit 15 determines that the target vehicle is currently traveling in a section where it is possible to overtake the small moving object (hereinafter referred to as an "overtaking possible section"). ). If there is an overtaking possible section, the overtaking determining section 15 outputs information on the overtaking possible section to the support control section 16.
  • the support control unit 16 creates driving support information to be notified to the driver of the target vehicle based on the information on the overtaking possible section acquired from the overtaking determination unit 15, and displays it on the display device 23.
  • the driving support information includes, for example, information on the time required for the target vehicle to reach the overtaking possible section, or position information on the overtaking possible section.
  • FIG. 2 is a flowchart showing the processing of the driving support device 101.
  • FIG. 3 shows a situation in which a small moving object Q is traveling in front of the target vehicle P, and an overtaking possible section E exists at the end of the road. The processing of the driving support device 101 will be described below with reference to FIGS. 2 and 3.
  • the flow in FIG. 2 starts when the target vehicle P starts traveling.
  • the small moving object information acquisition unit 11 determines whether or not there is a small moving object Q in front of the target vehicle P, based on the surrounding information of the target vehicle P (step S101).
  • step S107 the driving support device 101 determines whether the target vehicle has finished traveling. If the target vehicle P is traveling in step S107, the process of the driving support device 101 returns to step S101. If the target vehicle P has finished traveling in step S107, the process of the driving support device 101 ends.
  • the small moving object information acquisition section 11 obtains small moving object information from the surrounding information of the target vehicle P, and outputs it to the overtaking determination section 15 (step S102).
  • the small moving object information includes information on the position and width of the small moving object Q.
  • the target vehicle information acquisition section 12 acquires target vehicle information and outputs it to the overtaking determination section 15 .
  • the overtaking determination unit 15 retrieves the road information in front of the target vehicle P from the map data storage unit 13 based on the position information of the target vehicle P included in the target vehicle information acquired in step S102. forward road information ("step S103).
  • the overtaking determination unit 15 determines whether or not the target vehicle P is currently able to overtake the small moving object Q based on the small moving object information, the target vehicle information, and the forward road information (step S104 ).
  • step S104 If the target vehicle P is able to overtake the small moving object Q in step S104, the process of the driving support device 101 moves to step S107. While the target vehicle P is able to overtake the small moving object Q but does not overtake it, the processes of steps S101, S102, S103, S104, S107, and S101 are looped. When the target vehicle P passes the small moving body Q, the small moving body Q disappears in front of the target vehicle P, so the processes of steps S101, S107, and S101 are looped. After that, when the next small moving object Q appears in front of the target vehicle P, the process moves from step S101 to step S102.
  • FIG. 3 shows a situation where the target vehicle P is currently unable to overtake the small moving object Q.
  • the width of the road on which the target vehicle P is currently traveling is not sufficient for the width of the target vehicle P and the small moving object Q. If the target vehicle P cannot overtake the small moving object Q in step S104, the overtaking determining unit 15 determines a section in which the target vehicle P can overtake the small moving object Q as an overtaking possible section E (step S105).
  • the overtaking possible section E is a section where the road width is sufficiently larger than the width of the target vehicle P and the small moving object Q.
  • the overtaking determination unit 15 determines a section where (road width) ⁇ (width of target vehicle P+width of small moving object Q+margin distance Th1) as an overtaking possible section.
  • the margin distance Th1 is, for example, 1.5 m.
  • the overtaking determination unit 15 may set the margin distance Th1 to be longer as the traveling speed of the target vehicle P is faster or the curvature of the road is greater.
  • the support control unit 16 creates information on the overtaking possible section and displays it on the display device 23 (step S106).
  • the information on the overtaking possible section displayed here includes, for example, the position information of the overtaking possible section or the information on the time required for the target vehicle P to reach the overtaking possible section.
  • FIG. 5 shows a display example of information on overtaking possible sections.
  • the message ⁇ Overtaking possible in 100 meters'' is displayed, allowing the driver to grasp the distance to the overtaking area.
  • the distance from the target vehicle P to the overtaking area is displayed here, the time required for the target vehicle P to reach the overtaking area is also displayed, such as "Overtaking possible in 2 seconds". Good too.
  • the driving support device 101 loops the processing of steps S101, S102, S103, S104, S105, S106, S107, and S101.
  • the support control unit 16 may display this on the display device 23.
  • step S106 the driving support device 101 determines whether or not the target vehicle P has finished traveling (step S107). If the target vehicle P is traveling in step S107, the process of the driving support device 101 returns to step S101. If the target vehicle P has finished traveling in step S107, the process of the driving support device 101 ends.
  • the driving support device 101 determines the position and width of at least one small moving object Q that is traveling in front of the target vehicle P and has a width that is less than half the lane width of the road on which the target vehicle P is traveling.
  • a small moving object information acquisition unit 11 that acquires small moving object information including the position and width of the target vehicle P
  • a target vehicle information acquisition unit 12 that acquires target vehicle information including the position and width of the target vehicle P
  • a width in front of the road on which the target vehicle P is traveling
  • a road information acquisition unit 14 that acquires road information including road information, and based on the small moving object information, target vehicle information, and road information, the target vehicle P overtakes a section on the road where at least one small moving object Q can be overtaken.
  • Support control that causes a display device 23 mounted on the target vehicle P to display driving support information including the position of the overtaking area or the time required for the target vehicle P to reach the overtaking area. 16.
  • the small moving object information may include the scheduled travel route of the small moving object Q
  • the target vehicle information may include the scheduled travel route of the target vehicle P. If the scheduled travel route of the target vehicle P differs from the scheduled travel route of the small moving body Q in front of the current position of the target vehicle P, the overtaking determination unit 15 determines whether the target vehicle P is on a different scheduled travel route from the small mobile body Q. It may be determined that it is possible to overtake the small moving object Q after entering the area. In this case, the support control unit 16 may cause the display device 23 to display that the target vehicle P will travel on a different route than the small moving body Q later.
  • FIG. 6 shows an example of display of information on overtaking possible sections on the HUD. As shown in FIG. 6, an arrow object 32 indicating the position of the overtaking area and a text object 33 representing the distance to the overtaking area are displayed on an area of the HUD that overlaps with the actual view of the overtaking area. These objects are created by the support control unit 16.
  • ⁇ A-6. Third modification> information on overtaking possible sections is displayed on the map screen. That is, in this modification, the display device 23 is a display device of a navigation device (not shown) that guides the driver about the planned travel route of the target vehicle P.
  • FIG. 7 shows an example of display of overtaking possible sections on the map screen of the navigation device. On the travel route 34 of the target vehicle P, an overtaking possible section E is displayed.
  • an overtaking caution area D is also displayed in FIG.
  • the overtaking caution zone D represents a zone that requires more driving skill to overtake than the overtaking possible zone E.
  • the overtaking caution zone D may be displayed in yellow or red, and the overtaking possible zone E may be displayed in green.
  • the overtaking determination unit 15 determines the margin distance between the target vehicle P and the small moving object Q, which is necessary for the target vehicle P to overtake the small moving object Q, as a first margin distance Th11. and a second margin distance Th12 which is larger than the first margin distance Th11.
  • the overtaking caution zone D can also be rephrased as a less safe overtaking zone that requires higher driving skills than the overtaking zone E.
  • the overtaking determining unit 15 sets overtaking possible sections in two levels with different degrees of safety.
  • the overtaking determination unit 15 may set overtaking possible sections with three or more levels of different safety levels. Thereby, the driver of the target vehicle P can grasp the overtaking possible section according to the driving skill.
  • the support control unit 16 may cause the display device 23 to display a graph representing the safety level of the overtaking allowed section E and the overtaking caution section D.
  • the overtaking determination unit 15 can use ((road width) ⁇ (total width of target vehicle P and small moving object Q)) as the safety level. The higher the safety level, the easier it is for drivers without advanced driving skills to overtake.
  • the horizontal bar reflects the section length, and informs the driver of the lengths of the overtaking prohibited section, overtaking possible section E, and overtaking caution section D.
  • This display may be performed on any display device 23 such as a CID, HUD, or meter cluster.
  • the display device 23 displays the safety level of the overtaking zone E, etc., so that even drivers who do not have advanced driving skills can easily overtake in zones that are suitable for their own driving skills. You can decide.
  • the driving support device 101 determines whether or not it is possible to overtake one small moving object Q, but a plurality of small moving objects Q may exist. For example, assume that two small moving bodies Q1 and Q2 are running side by side in front of the target vehicle P. In this case, the overtaking determination unit 15 determines whether (road width) ⁇ (width of target vehicle P + width of small moving object Q1 + width of small moving object Q2 + margin distance for two vehicles (Th1 ⁇ 2)). The section on the road is determined to be an overtaking section.
  • the support control unit 16 creates driving support information based on the information on the overtaking possible section set by the overtaking determination unit 15, and causes the display device 23 to display the driving support information.
  • This driving support information may be transmitted from the driving support device 101 to a wireless terminal mounted on the small mobile object Q via a communication device not shown in FIG. Thereby, information on the overtaking possible section can be transmitted not only to the driver of the target vehicle P but also to the driver of the small moving object Q.
  • the driver of the small mobile object Q can take care to overtake the target vehicle, such as driving on the edge of the road instead of the center in areas where overtaking is possible.
  • the small moving object information acquisition unit 11 acquired the small moving object information of the small moving object Q that runs immediately in front of the target vehicle P.
  • the small moving object information acquisition unit 11 may acquire the small moving object information of the small moving object Q that is far from the target vehicle P by vehicle-to-vehicle communication or communication via a server provided outside the target vehicle P. good.
  • the term "far away from the target vehicle P" means that it is so far away from the target vehicle P that it cannot be detected by the image recognition device, millimeter wave radar, or LIDAR mounted on the target vehicle P.
  • the support control unit 16 may calculate the position where the target vehicle P catches up with the distant small moving body Q or the distance until it catches up, and display it on the display device 23. Further, the support control unit 16 may display the current position of the small moving body Q or the position where the target vehicle P catches up with the small moving body Q on the map. Thereby, the driver of the target vehicle P can know in advance the small mobile object Q that is on the scheduled travel route of the target vehicle P. Further, the support control unit 16 may cause the display device 23 to display an overtaking possible section when the target vehicle P catches up with the small moving object Q.
  • the overtaking determination unit 15 determined an overtaking possible section based on the target vehicle P, the small moving object Q, and the width of the road.
  • the overtaking determining unit 15 may estimate the width of the small moving object Q based on the type of the small moving object Q included in the small moving object information, and may determine the overtaking possible section.
  • the small moving object information acquisition unit 11 obtains the type of the preceding vehicle by communicating with the preceding vehicle traveling in front of the target vehicle P, and determines whether the preceding vehicle is a small moving object based on the obtained type. can do.
  • the small moving object information acquisition unit 11 can communicate with the vehicle ahead but cannot acquire the type of the vehicle ahead, if it can acquire the sensor signal of the acceleration sensor or gyro sensor mounted on the vehicle ahead, the sensor The type of vehicle ahead can be determined based on the signal.
  • the acceleration of the vehicle ahead is obtained from the sensor signal of the acceleration sensor
  • the inclination of the vehicle ahead is obtained from the sensor signal of the gyro sensor.
  • the small moving object information acquisition unit 11 determines whether the vehicle ahead is a motorcycle based on the magnitude of lateral acceleration and inclination. It can be determined whether or not.
  • the small moving object information acquisition unit 11 can determine whether the preceding vehicle is a small moving object, and further determine the type of the small moving object.
  • the area in which the target vehicle P can overtake the small moving object Q in the distance is determined. It becomes possible to determine in advance.
  • a center configured by a server provided outside the target vehicle P may monitor the positions of the target vehicle P and the small moving object Q, and determine the type of the small moving object Q. Then, the small moving object information acquisition unit 11 may obtain small moving object information including the type of the small moving object Q from the center.
  • the center does not need to directly communicate with the communication device mounted on each vehicle, but only needs to have the function of communicating with the mobile communication terminal mounted on each vehicle. In that case, the center can obtain position information, acceleration information, and tilt information from the mobile communication terminal and estimate the type of vehicle in which the owner of the mobile communication terminal is riding.
  • FIG. 9 is a block diagram showing the configuration of a driving support device 102 and a vehicle system 1002 including the driving support device 102 according to the second embodiment.
  • the vehicle system 1002 is a system mounted on a vehicle.
  • a vehicle equipped with the vehicle system 1002 is referred to as a target vehicle P.
  • the vehicle system 1002 includes a driving support device 102, a surrounding detection device 21, a GNSS receiver 22, a display device 23, and a communication device 24.
  • the driving support device 102 is connected to a surrounding detection device 21, a GNSS receiver 22, a display device 23, and a communication device 24, and is configured to be able to utilize these devices.
  • the driving support device 102 is shown as being mounted on the target vehicle P. However, as will be described later, part of the configuration of the driving support device 102 may be provided outside the target vehicle P, such as a server.
  • the communication device 24 communicates with an oncoming vehicle and obtains position information, speed information, and vehicle width information from the oncoming vehicle.
  • the driving support device 102 includes an oncoming vehicle information acquisition unit 17 in addition to the configuration of the driving support device 101 according to the first embodiment.
  • the oncoming vehicle information acquisition section 17 acquires oncoming vehicle information including position information, speed information, and vehicle width information of the oncoming vehicle from the communication device 24 and outputs the oncoming vehicle information to the overtaking determination section 15 .
  • the oncoming vehicle information may include information on the scheduled travel route of the oncoming vehicle.
  • the oncoming vehicle information acquisition unit 17 cannot acquire the vehicle width information of the oncoming vehicle, it may use the typical vehicle width of a regular passenger car as a default value.
  • the oncoming vehicle information acquisition unit 17 is able to acquire the vehicle type information of the oncoming vehicle, it may obtain the vehicle width from the vehicle type.
  • the overtaking determination unit 15 performs overtaking determination in consideration of oncoming vehicles based on the small moving object information, target vehicle information, road information, and oncoming vehicle information.
  • FIG. 10 is a flowchart showing the processing of the driving support device 102.
  • FIG. 11 shows a situation in which the target vehicle P simultaneously overtakes a small moving object Q and passes an oncoming vehicle R in an overtaking zone.
  • FIG. 12 shows a situation where the road is narrow and the target vehicle P is unable to overtake the small moving object Q because it passes the oncoming vehicle R. In this case, the driving support device 102 notifies the driver of information about the next possible overtaking section.
  • FIG. 13 shows how the target vehicle P passes the oncoming vehicle R and then overtakes the small moving object Q.
  • the processing of the driving support device 102 corresponding to the situations shown in FIGS. 11 to 13 will be explained along the flowchart shown in FIG. 10.
  • Steps S201, S202, S203, and S213 are the same as steps S101, S102, S103, and S107 in FIG. 2, so their explanation will be omitted.
  • the overtaking determination unit 15 determines a plurality of overtaking possible section candidates E1, E2, ... En based on the target vehicle information, the small moving object information, and the road information ahead (Ste S204).
  • the overtaking possible section candidates E1, E2, ...En are sections on the road where the target vehicle P can overtake the small moving object Q when passing each other with the oncoming vehicle R is not considered. It is calculated in the same way as the overtaking possible section in 1. In order from the target vehicle P, they are E1, E2, . . . En.
  • the range in which passing possible section candidates are calculated may be limited to a predetermined distance, for example, 10 km from the target vehicle P, or a range that the target vehicle P will reach within 30 minutes. Further, the overtaking determination unit 15 may calculate at least n sections.
  • the overtaking determination unit 15 determines whether the target vehicle P is currently traveling in the overtaking possible section candidate E1 (step S205). As shown in FIG. 14, when the target vehicle P is traveling in the overtaking possible section candidate E1, the process of the driving support device 102 moves to step S206, and as shown in FIG. If the vehicle is not traveling, the process of the driving support device 102 moves to step S209.
  • the oncoming vehicle information acquisition unit 17 acquires oncoming vehicle information from the communication device 24.
  • the overtaking determination unit 15 calculates a section in which the target vehicle P passes the oncoming vehicle R based on the target vehicle information and the oncoming vehicle information. Then, the overtaking determination unit 15 determines whether the target vehicle P passes the oncoming vehicle R in the overtaking possible section candidate E1 (step S206).
  • the overtaking determination unit 15 determines whether the distance between the target vehicle P and the oncoming vehicle R is currently close (Ste S207). For example, as shown in FIG. 16, when the distance between the target vehicle P and the oncoming vehicle R is within the threshold value Th2, the overtaking determination unit 15 determines that the distance between the target vehicle P and the oncoming vehicle R is short.
  • the threshold value Th2 is, for example, 100 m. The threshold value Th2 may be longer as the speed of the target vehicle P and the oncoming vehicle R is higher or as the curvature of the road is larger.
  • step S206 If it is determined in step S206 that the target vehicle P will not pass the oncoming vehicle R in the overtaking possible section candidate E1, and if it is determined that the distance to the oncoming vehicle R is short in step S207, the process of the driving support device 102 The process moves to step S213. In this case, no special display is performed on the display device 23.
  • step S213 the driving support device 102 determines whether or not the target vehicle P is running, and if it is running, the process moves to step S201.
  • the overtaking determination unit 15 determines whether the target vehicle P is able to overtake the small moving object Q in the overtaking possible section candidate E1, taking into consideration the possibility of passing each other with the oncoming vehicle R. is determined (step S208). As shown in FIG. 17, the overtaking determination unit 15 determines when (road width) ⁇ (width of target vehicle P+width of small moving object Q+width of oncoming vehicle R+margin distance (Th1 ⁇ 2)). , it is determined that it is possible to overtake the small moving object Q, taking into consideration the possibility of passing by the oncoming vehicle R. As shown in FIG. 12, if the road width of the overtaking possible section candidate E1 is insufficient for the widths of the target vehicle P, the small moving object Q, and the oncoming vehicle R, overtaking of the small moving object Q is not possible.
  • the processes of S205, S206, S207, S208, S213, and S201 are looped.
  • steps S201, S213, and S201 occurs.
  • the process shifts from step 201 to step 202.
  • the overtaking determination unit 15 determines whether or not there are other overtaking possible section candidates E2, ...En in which the small moving object Q can be overtaken, taking into consideration passing each other with the oncoming vehicle R. (Step S211). In step S211, if there are other overtaking possible section candidates E2,...En in which the small moving object Q can be overtaken after taking into consideration passing each other with the oncoming vehicle R, the support control unit 16 overtakes the other overtaking possible section candidates. The overtaking section is determined to be a possible overtaking section, and information about the overtaking possible section is displayed on the display device 23 (step S212). In step S211, if there are no other overtaking possible section candidates E2, ...En in which the small moving object Q can be overtaken after taking into consideration passing each other with the oncoming vehicle R, the process of the driving support device 102 moves to step S213.
  • the oncoming vehicle information acquisition unit 17 acquires oncoming vehicle information from the communication device 24.
  • the overtaking determination unit 15 calculates a section in which the target vehicle P passes the oncoming vehicle R based on the target vehicle information and the oncoming vehicle information. Then, the overtaking determination unit 15 determines whether the target vehicle P passes the oncoming vehicle R in the overtaking possible section candidate E1 (step S209).
  • step S209 If it is determined in step S209 that the target vehicle P will not pass the oncoming vehicle R in the overtaking possible section candidate E1, the support control unit 16 determines the overtaking possible section candidate E1 as an overtaking possible section, and transmits information on the overtaking possible section. It is displayed on the display device 23 (step S212).
  • the overtaking determination unit 15 takes into consideration the possibility that the target vehicle P will pass the oncoming vehicle R, as in step S208. It is determined whether it is possible to overtake the small moving object Q in the overtaking possible section candidate E1 (step S210).
  • step S210 if overtaking is possible in the overtaking possible section candidate E1, the support control unit 16 determines the overtaking possible section candidate as the overtaking possible section, and causes the display device 23 to display information on the passing possible section (step S212).
  • step S210 if overtaking is not possible in the overtaking possible section candidate E1, the overtaking determination unit 15 selects other overtaking possible section candidates E2, ...En, in which the small moving object Q can be overtaken, taking into consideration passing each other with the oncoming vehicle R. It is determined whether or not there is (step S211). In step S211, if there are other overtaking possible section candidates E2,...En in which the small moving object Q can be overtaken after taking into consideration passing each other with the oncoming vehicle R, the support control unit 16 overtakes the other overtaking possible section candidates. The overtaking section is determined to be a possible overtaking section, and information about the overtaking possible section is displayed on the display device 23 (step S212). In step S211, if there are no other overtaking possible section candidates E2, ...En in which the small moving object Q can be overtaken after taking into consideration passing each other with the oncoming vehicle R, the process of the driving support device 102 moves to step S213.
  • the support control unit 16 may display on the display device 23 that overtaking is not possible.
  • the display device 23 may display a message such as "There are no overtaking sections within 10 km.”
  • a display may be made in which a section where the vehicle passes an oncoming vehicle is superimposed on the overtaking possible section as shown in FIG. 14 or 15.
  • the overtaking determination unit 15 additionally calculates overtaking possible section candidates that are farther from the target vehicle P than the overtaking possible section candidates E1, E2, ... En, and selects the oncoming vehicle R from among the additional overtaking possible sections.
  • An overtaking possible section may be determined in which the small moving object Q can be overtaken, taking into account the possibility of passing each other.
  • the driving support device 102 includes, in addition to the configuration of the driving support device 101, information on the position, speed, and width of an oncoming vehicle R that runs opposite to the target vehicle P on the road.
  • the overtaking determining section 15 includes an oncoming vehicle information acquisition section 17 that acquires information, and an overtaking determining section 15 determines an overtaking possible section E based on the small moving object information, target vehicle information, road information, and oncoming vehicle information.
  • FIG. 18 shows a situation in which a target vehicle P, a small moving object Q, and an oncoming vehicle R are traveling on a road with one lane on both sides.
  • the support control unit 16 uses the communication device 24 to prevent the target vehicle P from overtaking the small moving object Q.
  • Information calling for attention may be transmitted to the oncoming vehicle R. Thereby, the driver of the oncoming vehicle R can be made to be careful about overtaking the small moving object Q by the target vehicle P.
  • the overtaking determination unit 15 determines that it is possible for the target vehicle P to overtake the small moving object Q, and the target vehicle P overtakes the small moving object Q.
  • the support control unit 16 uses the communication device 24 to detect an overtaking possible area. It is also possible to arbitrate with the oncoming vehicle R to have E evacuate, and display the result of the mediation.
  • the "information that urges caution" in the first modified example may be information that urges the vehicle to retreat to the overtaking area E. Thereby, the driver does not have to rush to overtake the small moving object Q, and can safely overtake the small moving object Q.
  • the support control unit 16 may use the communication device 24 to request the oncoming vehicle R to adjust its speed. Then, when permission is obtained from the oncoming vehicle R to the request for speed adjustment, the support control unit 16 changes the overtaking possible section based on the new speed of the oncoming vehicle R, and transmits information on the changed overtaking possible section. It may be displayed on the display device 23.
  • FIGS. 19 and 20 show a situation where a plurality of oncoming vehicles RA, RB, RC, and RD exist.
  • the overtaking determination unit 15 identifies an oncoming vehicle RC that is scheduled to pass the target vehicle P in the overtaking possible zone E based on the target vehicle information and the oncoming vehicle information of the oncoming vehicles RA, RB, RC, and RD.
  • the support control unit 16 mediates so that the oncoming vehicle RC, which is scheduled to pass the target vehicle P in the overtaking possible zone E, retreats to the overtaking possible zone E.
  • FIG. 20 shows how the oncoming vehicle RC retreats to the overtaking area E in response to this mediation. Thereby, the target vehicle P can safely overtake the small moving object Q and pass the oncoming vehicle RC in the overtaking possible zone E.
  • the display device 23 is a display device of a navigation device (not shown) that guides the driver about the planned travel route of the target vehicle P.
  • FIG. 21 shows a display example of overtaking possible sections on the map screen of the navigation device.
  • On the travel route 34 of the target vehicle P an oncoming vehicle R, an overtaking possible section E, and an overtaking caution section D are displayed.
  • an oncoming vehicle R On the travel route 34 of the target vehicle P, an overtaking possible section E, and an overtaking caution section D are displayed.
  • an overtaking possible section E On the travel route 34 of the target vehicle P, an overtaking possible section E, and an overtaking caution section D are displayed.
  • the display of the overtaking possible zone E and the overtaking caution zone D is as explained in FIG. 7.
  • the support control unit 16 may also display the position where the vehicle passes the oncoming vehicle R.
  • FIG. 22 shows an example in which the overtaking area E of the small moving object Q and the passing positions 38 and 39 of the oncoming vehicle R are displayed on a map.
  • the overtaking possible section E is displayed in green, and the positions 38 and 39 where the vehicle passes the oncoming vehicle R are displayed in purple.
  • the overtaking possible zone E and the passing positions 38 and 39 with the oncoming vehicle R are displayed superimposed on the map, so that the driver can check the overtaking possible zone E and the passing positions 38 and 39.
  • the relationship can be easily grasped, and the overtaking position can be determined in consideration of passing each other with the oncoming vehicle R.
  • the overtaking determination unit 15 determines whether the small moving object Q takes into consideration the width of the oncoming vehicle R, regardless of whether the target vehicle P is traveling on a one-lane road on one side or a one-lane road on both sides. The decision was made as to whether or not it was possible to overtake the vehicle. However, in this modification, the overtaking determination unit 15 determines whether or not it is possible to overtake by considering the width of the oncoming vehicle R on a road with one lane on each side, and unconditionally determines whether or not it is possible to overtake the oncoming vehicle R on a road with one lane on both sides. It is determined that overtaking is not possible.
  • the overtaking determination unit 15 calculates overtaking possible section candidates that do not take into account passing the oncoming vehicle R, and then reduces the overtaking possible section candidates by taking into account the passing of the oncoming vehicle R.
  • the overtaking determining unit 15 may calculate an overtaking possible section by taking into consideration the sudden passing of the oncoming vehicle R, without calculating the overtaking possible section candidates.
  • the small moving object information acquisition section 11 is realized by the processing circuit 81 shown in FIG. That is, the processing circuit 81 includes a small moving object information acquisition section 11 , a target vehicle information acquisition section 12 , a map data storage section 13 , a road information acquisition section 14 , an overtaking determination section 15 , an assistance control section 16 , and an oncoming vehicle information acquisition section 17 (hereinafter referred to as "small mobile object information acquisition unit 11 etc.”).
  • Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in memory may be applied.
  • the processor is, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.
  • the processing circuit 81 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Circuit). Gate Array), or a combination of these.
  • the functions of each section, such as the small moving object information acquisition section 11, may be realized by a plurality of processing circuits 81, or the functions of each section may be realized by a single processing circuit.
  • the processing circuit 81 When the processing circuit 81 is a processor, the functions of the small mobile object information acquisition unit 11 and the like are realized by a combination of software, etc. (software, firmware, or software and firmware). Software etc. are written as programs and stored in memory. As shown in FIG. 24, a processor 82 applied to a processing circuit 81 realizes the functions of each part by reading and executing a program stored in a memory 83. That is, when the driving support devices 101 and 102 are executed by the processing circuit 81, the driving support devices 101 and 102 drive at least one small vehicle traveling in front of the target vehicle P and having a width less than half the lane width of the road on which the target vehicle P is traveling.
  • a memory 83 is provided for storing different programs.
  • this program can be said to cause the computer to execute the procedure or method of the small moving object information acquisition unit 11 and the like.
  • the memory 83 is a non-volatile or Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disk) and their drive devices, etc., or any storage media that will be used in the future. You can.
  • each function of the small moving object information acquisition unit 11 and the like is realized by either hardware or software.
  • the present invention is not limited to this, and a configuration may be adopted in which a part of the small moving object information acquisition section 11 and the like is realized by dedicated hardware, and another part is realized by software or the like.
  • the function of the overtaking determination unit 15 is realized by a processing circuit as dedicated hardware, and for other functions, the processing circuit 81 as the processor 82 reads and executes a program stored in the memory 83. It is possible to realize this.
  • the processing circuit can realize each of the above functions using hardware, software, etc., or a combination thereof.
  • the map data storage section 13 is composed of a memory 83.
  • the driving support devices 101 and 102 have been described above as in-vehicle devices, they also include PNDs (Portable Navigation Devices), communication terminals (for example, mobile terminals such as mobile phones, smartphones, and tablets), and applications installed on these devices. It can also be applied to a system constructed by appropriately combining functions, servers, etc. In this case, each function or each component of the driving support devices 101 and 102 described above may be distributed and arranged in each device constructing the system, or may be arranged centrally in one of the devices. Good too.
  • PNDs Portable Navigation Devices
  • communication terminals for example, mobile terminals such as mobile phones, smartphones, and tablets
  • applications installed on these devices for example, mobile terminals such as mobile phones, smartphones, and tablets
  • each function or each component of the driving support devices 101 and 102 described above may be distributed and arranged in each device constructing the system, or may be arranged centrally in one of the devices. Good too.
  • 11 Small moving object information acquisition unit 12 Target vehicle information acquisition unit, 13 Map data storage unit, 14 Road information acquisition unit, 15 Overtaking determination unit, 16 Support control unit, 17 Oncoming vehicle information acquisition unit, 23 Display device, 24 Communication Device, 81 Processing circuit, 82 Processor, 83 Memory, 101, 102 Driving support device, D Overtaking caution zone, E Overtaking possible zone, P Target vehicle, Q, Q1, Q2 Small moving object, R, RA, RB, RC, RD Oncoming vehicle.

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PCT/JP2022/027355 2022-07-12 2022-07-12 運転支援装置および運転支援方法 Ceased WO2024013837A1 (ja)

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Citations (7)

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Publication number Priority date Publication date Assignee Title
JP2001109519A (ja) * 1999-10-05 2001-04-20 Komatsu Ltd 車両の走行管制装置
JP2006293615A (ja) * 2005-04-08 2006-10-26 Denso Corp 車両の追い越し支援装置
JP2009166691A (ja) * 2008-01-16 2009-07-30 Mazda Motor Corp 車両の走行制御装置
US20170162053A1 (en) * 2014-08-15 2017-06-08 TDG Company LLC Road safety warning system
JP2019191982A (ja) * 2018-04-26 2019-10-31 株式会社Ｓｏｋｅｎ 車両遠隔操作支援システム
JP2020164116A (ja) * 2019-03-29 2020-10-08 パナソニックＩｐマネジメント株式会社 車両制御装置、車両制御方法及びプログラム
JP2021185486A (ja) * 2015-09-17 2021-12-09 ソニーグループ株式会社 車両に安全に追い付けるように運転を支援するシステムおよび方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001109519A (ja) * 1999-10-05 2001-04-20 Komatsu Ltd 車両の走行管制装置
JP2006293615A (ja) * 2005-04-08 2006-10-26 Denso Corp 車両の追い越し支援装置
JP2009166691A (ja) * 2008-01-16 2009-07-30 Mazda Motor Corp 車両の走行制御装置
US20170162053A1 (en) * 2014-08-15 2017-06-08 TDG Company LLC Road safety warning system
JP2021185486A (ja) * 2015-09-17 2021-12-09 ソニーグループ株式会社 車両に安全に追い付けるように運転を支援するシステムおよび方法
JP2019191982A (ja) * 2018-04-26 2019-10-31 株式会社Ｓｏｋｅｎ 車両遠隔操作支援システム
JP2020164116A (ja) * 2019-03-29 2020-10-08 パナソニックＩｐマネジメント株式会社 車両制御装置、車両制御方法及びプログラム

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