Route evaluation device

Disclosed is a route evaluation device that enables traveling along a route in consideration of an operation of the driver of another vehicle, and can realize a safer traffic environment. A route evaluation device includes a route candidate generation section that generates route candidates of a host-vehicle, a route prediction section that predicts routes of another vehicle, a classification section that classifies the interference states of the route candidates of the host-vehicle and the predicted routes of another vehicle into a plurality of interference forms, and a route evaluation section that evaluates the routes of the host-vehicle on the basis of the interference forms classified by the classification section.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is the U.S. National Phase of PCT/JP2010/059995 filed Jun. 8, 2010, which claims priority of Japanese Patent Application P2009-141369 filed Jun. 12, 2009.

TECHNICAL FIELD

The present invention relates to a route evaluation device that generates a route of a host-vehicle for use at the time of traveling control of the host-vehicle.

BACKGROUND ART

In the related art, a risk acquisition device is known which detects a movable object in the vicinity of the host-vehicle, determines the possibility of collision of the movable object and the host-vehicle, and outputs the possibility of collision as the degree of risk. As a technique using the risk acquisition device, for example, a collision prevention device is known.

For example, Patent Document 1 (JP2009-20745A) describes a collision prevention device which calculates a plurality of possible routes of the host-vehicle and another vehicle in the vicinity of the host-vehicle on the basis of the traveling states of the host-vehicle and another vehicle, and calculates the best host-vehicle route collision probability (host-vehicle risk) on the basis of the routes. Further, in this collision prevention device, the best host-vehicle route collision probability (offset risk) is calculated on the basis of the possible route of the host-vehicle and the possible route of another vehicle which are calculated on the basis of the offset traveling state of the host-vehicle, which is offset from the traveling state of the host-vehicle.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

In addition to taking into consideration of the degree of risk as in the risk acquisition device of the related art, for example, it is preferable to generate a route in consideration of the driver of another vehicle such that the driver of another vehicle is not forced to take a sudden avoidance operation or braking operation due to traveling of the host-vehicle.

An object of the invention is to provide a route evaluation device that enables traveling along a route in consideration of an operation of the driver of another vehicle, and can realize a safer traffic environment.

Solution to Problem

An aspect of the invention provides a route evaluation device. The route evaluation device includes a route candidate generation unit that generates route candidates of a host-vehicle, a route prediction unit that predicts routes of another mobile object, a classification unit that classifies interference forms of the route candidates of the host-vehicle and the predicted routes of another mobile object into a plurality of interference forms, and a route evaluation unit that evaluates the route candidates of the host-vehicle on the basis of the interference forms classified by the classification unit.

The term “route” used herein refers to a concept including temporal elements, such as time and speed, and is different from the term “path” which does not include the concept of such temporal elements. The term “interference” refers to the host-vehicle and another vehicle crossing each other planarly in consideration of the vehicle width and the vehicle length.

With the route evaluation device according to the aspect of the invention, the interference forms of the route candidates of the host-vehicle and the predicted routes of another mobile object are classified into a plurality of interference forms on the basis of the patterns of a plurality of interference forms stored in advance. Therefore, an interference form occurring when the host-vehicle interferes with the route of another mobile object can be classified as one interference form, and the relevant route candidate can be highly evaluated as a route candidate to be avoided. As a result, it becomes possible to travel along a route in consideration of an operation of the drive of another vehicle, and a safer traffic environment can be realized.

In the route evaluation device according to the aspect of the invention, the classification unit may classify the interference forms on the basis of the behaviors of the host-vehicle and another mobile object until interference occurs. With this configuration, the classification unit can classify the interference forms taking into consideration whether the host-vehicle interferes with the route of another mobile object or another mobile object interferes with the route of the host-vehicle.

In the route evaluation device according to the aspect of the invention, the classification unit may classify the interference forms into at least an interference form in which the host-vehicle interferes with the route of another mobile object and an interference form in which another mobile object interferes with the route of the host-vehicle, and the route evaluation unit may highly evaluate the state, in which the host-vehicle interferes with the route of another mobile object, as a route to be avoided compared to the form in which another mobile object interferes with the route of the host-vehicle. With this configuration, interference occurring when the host-vehicle should avoid another mobile object can be avoided. As a result, it becomes possible to travel along a route in consideration of an operation of the driver of another vehicle, and a safer traffic environment can be realized.

Another aspect of the invention provides a route evaluation device. The route evaluation device includes a route candidate generation unit that generates route candidates of a host-vehicle, a route prediction unit that predicts routes of another mobile object, an objectivization unit that expresses interference forms of the route candidates of the host-vehicle and the predicted routes of another mobile object by objective numerical values, and a route evaluation unit that evaluates the route candidates of the host-vehicle on the basis of the numerical values expressed by the objectivization unit.

The term “route” used herein also refers to a concept including temporal elements, such as time and speed, and is different from the term “path” which does not include the concept of such temporal elements. In addition, similarly to the term “interference” described above, the term “interference” used herein refers to the host-vehicle and another vehicle crossing each other planarly in consideration of the vehicle width and the vehicle length. The objective numerical value of the interference state is calculated on the basis of the state of the host-vehicle or another vehicle (for example, position, speed, and direction).

With the route evaluation device according to another aspect of the invention, the interference state is numericalized in accordance with the prescribed rule of objective numericalization. Therefore, the interference form in which the host-Vehicle interferes with the route of another mobile object can be numericalized, and the relevant route candidate can be highly evaluated as a route candidate to be avoided. As a result, it becomes possible to travel along a route in consideration of an operation of the driver of another vehicle, and a safer traffic environment can be realized.

In the route evaluation device according to another aspect of the invention, the objectivization unit may express the interference forms by objective numerical values on the basis of the behaviors of the host-vehicle and another mobile object until interference occurs. Therefore, the classification unit can numericalize the interference forms taking into consideration whether the host-vehicle interferes with the route of another mobile object or another mobile object interferes with the route of the host-vehicle.

In the route evaluation device according to another aspect of the invention, the objectivization unit may calculate an interference ratio representing a probability that the host-vehicle interferes with the route of the mobile object, and the higher the interference ratio, the more highly the route evaluation unit may evaluate the relevant route as a route to be avoided. Therefore, interference occurring when the host-vehicle should avoid another vehicle can be avoided. As a result, it becomes possible to travel along a route in consideration of an operation of the driver of another vehicle, and a safer traffic environment can be realized.

According to the aspects of the invention, it becomes possible to travel along a route in consideration of an operation of the driver of another vehicle, and a safer traffic environment can be realized.

DESCRIPTION OF EMBODIMENTS

Hereinafter, a traveling assist device1including a route evaluation device60according to a first embodiment of the invention will be described with reference toFIGS. 1 to 7. In the description of the drawings, the same parts are represented by the same reference numerals, and overlapping description thereof will be omitted.FIG. 1is a block diagram showing the functional configuration of the traveling assist device1including the route evaluation device60according to this embodiment.

The traveling assist device1includes a vehicle state detection section2, an environmental situation acquisition section3, a vehicle control ECU (Electronic Control Unit)6, and a traveling output section9.

The vehicle state detection section2functions as vehicle state detection means for detecting position information and vehicle speed information of a vehicle, and uses, for example, a GPS (Global Positioning System), a wheel speed sensor, and the like. The GPS acquires position information of a vehicle. The wheel speed sensor is, for example, attached to each wheel of the vehicle, and acquires the wheel speed of the vehicle. The vehicle state detection section2is connected to the vehicle control ECU6and outputs acquired vehicle state information, such as position information and wheel speed information, to the vehicle control ECU6.

The environmental situation acquisition section3functions as environmental situation acquisition means for acquiring environmental situation information regarding the vicinity of a host-vehicle81, and uses, for example, a vehicle-to-vehicle communication device, a road-to-vehicle communication device, a radar sensor using millimeter waves or laser, and the like. Position information and vehicle speed information of another vehicle (another mobile object)82can be acquired by using a vehicle-to-vehicle communication device and a road-to-vehicle communication device. Position information and relative speed information of another vehicle82and an obstacle on a road can be acquired by using a millimeter-wave radar sensor or the like. The environmental situation acquisition section3is connected to the vehicle control ECU6and outputs acquired environmental situation information regarding the vicinity of the host-vehicle81to the vehicle control ECU6.

The vehicle control ECU6performs overall control of the traveling assist device1and primarily includes, for example, a computer including a central processing unit CPU, a ROM, and a RAM, which are not shown. The vehicle control ECU6is connected to the vehicle state detection section2, the environmental situation acquisition section3, and the traveling output section9. The vehicle control ECU6receives various kinds of information from the vehicle state detection section2and the environmental situation acquisition section3, and outputs various kinds of information to the traveling output section9. The vehicle control ECU6has a route evaluation device60including a route candidate generation section (route candidate generation unit)61, a route prediction section (route prediction unit)62, a classification section (classification unit)63, and a route evaluation section (route evaluation unit)64.

As shown inFIG. 2, the route candidate generation section61generates route candidates a1, a2of the host-vehicle81. The route candidate generation section61predicts the state of future position, speed, direction, and the like of the host-vehicle81from information regarding the position, speed, direction, and the like of the host-vehicle81input from the vehicle state detection section2. The route candidate generation section61generates information regarding the predicted future state of the host-vehicle81as the route candidates a1and a2, and outputs the generated route candidates a1and a2to the classification section63.

As shown inFIG. 2, the route prediction section62predicts routes b1, b2, . . . , and bnof another mobile object, such as another vehicle82, on the basis of the traveling environment. The route prediction section62predicts the state of future position, speed, direction, and the like of another mobile object from information regarding the position, speed, direction, and the like of another mobile object input from the environmental situation acquisition section3. The route prediction section62predicts information regarding the predicted future state of another mobile object as the routes b1, b2, . . . , and bn, and outputs the predicted routes b1, b2, . . . , and bnto the classification section63. In general, the routes b1, b2, . . . , and bnof another vehicle82are predicted exhaustively as compared with the ratite candidates of the host-vehicle81.

The classification section63classifies the interference states of the route candidates a1and a2of the host-vehicle81generated by the route candidate generation section61and the predicted routes b1, b2, . . . , and bnof another mobile object predicted by the route prediction section62into a plurality of interference forms. Specifically, the classification section63classifies the interference forms into an interference form in which the host-vehicle81interferes with the route of another vehicle82and an interference form in which another vehicle82interferes with the route of the host-vehicle81. In this case, the interference form in which the host-vehicle81interferes with the route of another vehicle82means an interference form occurring when the host-vehicle81should avoid another vehicle82.

The route evaluation section64evaluates the route candidates a1and a2of the host-vehicle81on the basis of the interference forms classified by the classification section63. Specifically, the route evaluation section64highly evaluates a route candidate classified by the classification section63as an interference form, in which the host-vehicle81interferes with the route of another vehicle82, as a route that the host-vehicle81should avoid. For example, as shown inFIG. 2, with regard to the intersections between route candidates a1and a2of the host-vehicle and the predicted routes b1, b2, . . . , and b9of another vehicle, the route evaluation section64determines whether the host-vehicle81interferes with the route of another vehicle82or another vehicle82interferes with the route of the host-vehicle81. Next, with regard to the route candidates a1and a2generated by the route candidate generation section61, when the interference states at the respective intersections have any intersection at which the host-vehicle81interferes with the route of the another vehicle82, the route evaluation section64highly evaluates the relevant route candidate as a route that the host-vehicle81should avoid. InFIG. 2, O represents an intersection at which the host-vehicle81interferes with the route of another vehicle82, and □ represents an intersection at which another vehicle82interferes with the route of the host-vehicle81.

The route candidate generation section61, the route prediction section62, the classification section63, and the route evaluation section64primarily constituting the route evaluation device60may be configured by loading a program on the computer or may be configured by separate hardware.

As shown inFIG. 1, the traveling output section9is connected to the vehicle control ECU6. The traveling output section9receives a control signal of the vehicle control ECU6and carries out driving of the host-vehicle81, for example, traveling drive, a braking operation, and a steering operation. For the traveling output section9, for example, a traveling drive ECU that controls an actuator for adjusting the opening degree of a throttle valve of an engine, a braking ECU that controls a brake actuator for adjusting hydraulic brake pressure, a steering ECU that controls a steering actuator for providing steering torque, and the like are used. The traveling output section9carries out driving of the host-vehicle81, for example, traveling drive, a braking operation, and a steering operation, in accordance with a route which is highly evaluated as a route, along which the host-vehicle81may travel, by the route evaluation section64.

Next, the operation of the route evaluation device60will be described with reference toFIG. 3.FIG. 3is a flowchart showing a flow of characteristic processing which is executed by the route evaluation device60.

First, the vehicle state detection section2acquires the state (position, speed, and the like) of the host-vehicle81(S01). Then, the vehicle state detection section2outputs the acquired information to the vehicle control ECU6.

Next, the environmental situation acquisition section3acquires the position and state of another object in the vicinity of the host-vehicle81(S02), and outputs the acquired information to the vehicle control ECU6. Hereinafter, it is assumed that the position of another object is the value regarding the center of another object, and the state of another object is specified by the position, speed, and the like.

From a technical viewpoint, when an arithmetic operation is carried out to generate a trace in a subsequent step, it is important that a prediction arithmetic operation is terminated in a predetermined period, regardless of whether or not the host-vehicle81reaches a prescribed location (destination or an intermediate location similar to the destination). In general, there is no location on a road where safety is ensured in advance. For example, as shown inFIG. 4, when it is predicted that a host-vehicle O1which is traveling on a three-lane road Rdsequentially reaches locations Q1, Q2, and Q3set in advance, taking into consideration a case where the host-vehicle O1substantially travels in a straight line along the same lane toward the set locations, if another vehicle O3takes a route B3, another vehicle O2, may take a route B2to avoid risk and may enter a lane on which the host-vehicle O1is traveling. Thus, in the case of the route prediction arithmetic operation of the related art, it is not guaranteed in advance that the host-vehicle O1is traveling safely toward the locations set in advance.

In this embodiment, since an optimum route is determined every time, instead of determining a location, such as a destination, to be reached by the host-vehicle O1in advance, for example, a route B1shown inFIG. 5can be selected as the route of host-vehicle O1under the same situation as inFIG. 4, and risk can be accurately avoided at the time of traveling of the host-vehicle O1, thereby ensuring safety.

Returning toFIG. 3, the route prediction section62predicts the future position and state of another object from information regarding the position and state of another object acquired by the environmental situation acquisition section3, and predicts the routes b1, b2, . . . , and b9of another object shown inFIG. 2(S03). In the following description, description will be provided for a case where another object is another vehicle82, but another object may be a person, an obstacle, or the like other than a vehicle.

Next, the route candidate generation section61predicts the future position and state of the host-vehicle81from information regarding the state of an object in the vicinity of the host-vehicle81acquired by the vehicle state detection section2, and generates the route candidates a1and a2shown inFIG. 2(S04). Specifically, the route candidate generation section61generates a temporal-spatial route constituted by time and space for each object. In generating the route, it is assumed that the total number of objects (including the host-vehicle81) acquired by the environmental situation acquisition section3is K, and an arithmetic operation is carried out Nktimes to generate a route for one object Ok(where 1≦k≦K, k is a natural number) (in this way, k and Nkare all natural numbers). It is also assumed that the time (trace generation time) for generating a route is T (>0). The route may be calculated by a known method, for example, a method described in Japanese Unexamined Patent Application Publication No. 2007-230454.

Next, the classification section63determines the interference states of the route candidates a1and a2of the host-vehicle81generated by the route candidate generation section61and the predicted routes b1, b2, . . . , and b9of another mobile object predicted by the route prediction section62(S05). Specifically, as shown inFIG. 2, with regard to the intersections between the route candidates a1and a2of the host-vehicle81and the predicted routes b1, b2, . . . , and b9of the another vehicle82, it is determined whether the host-vehicle81interferes with the route of another vehicle82or another vehicle82interferes with the route of the host-vehicle81. When the classification section63classifies the interference states, any classification method in consideration of another vehicle may be used. For example, classification based on the mechanical conditions of smoothness (curvature, acceleration/deceleration, and the like) of a route immediately before interference, classification based on the social norms, such as the observance level of the traffic rules or manners, the fault proportion of automobile insurance, and the judicial precedents, classification (paying closer attention to a bicycle and a small vehicle) in consideration of vehicle performance, and the like may be used.

Next, the classification section63classifies the route candidates by interference forms on the basis of the interference states determined in S05(S06). Here, the route candidates are classified into “an interference form in which the host-vehicle81interferes with the route of another vehicle” and “an interference form in which another vehicle82interferes with the route of the host-vehicle”. As shown inFIG. 2, when one of the route candidates a1and a2has any intersection (indicated by O inFIG. 2) where the host-vehicle81interferes with another vehicle, the classification section63classifies the relevant route candidate as “the interference form in which the host-vehicle81interferes with the route of another vehicle”. Referring toFIG. 2, the route candidate a1has an intersection (indicated by O inFIG. 2) where the host-vehicle81interferes with the route of another vehicle, such that the route candidate a1is classified into “the interference form in which the host-vehicle81interferes with the route of another vehicle”. Meanwhile, the route candidate a2has only an intersection (indicated by □ inFIG. 2) where another vehicle82interferes with the route of the host-vehicle but has no intersection (indicated by O inFIG. 2) where the host-vehicle81interferes with the route of another vehicle, such that the route candidate a2is classified into “the interference form in which another vehicle82interferes with the route of the host-vehicle”. In this case, no route candidate has “the interference form in which another vehicle82interferes with the route of the host-vehicle” (S06: NO), the process returns to Step S04, and route candidates are generated again (S04).

Next, in Step S06, when the route candidates a1or a2have “the interference form in which another vehicle82interferes with the route of host-vehicle” (S06: YES), the route evaluation section64highly evaluates the relevant route candidate as a route that the host-vehicle81should travel (S07). Then, the traveling output section9carries out driving of the host-vehicle81, for example, traveling drive, a braking operation, and a steering operation, in accordance with a route which is highly evaluated as a route, along which the host-vehicle81may travel, by the route evaluation section64(S08).

As described above, according to the traveling assist device1of this embodiment, the classification section63classifies the interference forms on the basis of a plurality of interference forms stored in advance, and the route evaluation section64evaluates the route candidates on the basis of the classification result. Therefore, an interference form in which the host-vehicle81interferes with the route of another vehicle82can be classified as one interference form, and the relevant route candidate can be highly evaluated as a route candidate to be avoided. As a result, it becomes possible to travel along a route in consideration of an operation of the driver of another vehicle82, and a safer traffic environment can be realized.

With regard to traveling control when a vehicle enters a main road90continuously with another vehicle82aat a T-junction, the effects of the traveling assist device1of this embodiment will be described with reference toFIGS. 6 and 7.

According to the traveling assist device of the related art, traveling control of the host-vehicle81is carried out in accordance with a route which is determined to be low risk, regardless of the interference forms of the route candidates of the host-vehicle and the predicted routes of another vehicle. For this reason, when the degree of risk is low, for example, as shown inFIG. 6, even when a route along which the host-vehicle81enters the main road90interferes with the route of another vehicle82a, traveling control is carried out to allow the host-vehicle81to enter the main road90. In this case, the movement of the host-vehicle81causes interference with the route of another vehicle82a, that is, interference occurring when the host-vehicle81should avoid another vehicle82a. For this reason, the driver of another vehicle82amay be forced to take a sudden avoidance operation or braking operation.

Meanwhile, according to the traveling assist device1of this embodiment, with regard to a plurality of route candidates, even when it is determined that the route along which the vehicle enters the main road90is lowest risk, if the classification section63classifies the relevant route into “interference form in which the host-vehicle81interferes with the route of another vehicle”, the route evaluation section64highly evaluates the relevant route as a route that the host-vehicle81should avoid. Then, the route evaluation section64highly evaluates a route, which is classified as “the interference form in which another vehicle82binterferes with the route of the host-vehicle” by the classification section63, that is, as shown inFIG. 7, a route along which the vehicle does not enter the main road90as a route that the host-vehicle81should travel. Therefore, interference occurring when the host-vehicle81should avoid another vehicle82acan be avoided. As a result, it becomes possible to travel along a route in consideration of an operation of the driver of another vehicle82a, and a safer traffic environment can be realized. Meanwhile, another vehicle82bencounters interference occurring when another vehicle82bshould avoid the host-vehicle81, such that another vehicle82bcan avoid interference in cooperation with the host-vehicle81.

Although the embodiment of the invention has been described, the invention is not limited to the above-described embodiment, and various modifications or changes may be made without departing from the scope of the invention.

Although in the foregoing embodiment, as shown inFIG. 1, the example where the route evaluation device60includes the route candidate generation section61, the route prediction section62, the classification section63, and the route evaluation section64has been described, the invention is not limited thereto. For example, as shown inFIG. 8, a route evaluation device65may include a route candidate generation section61, a route prediction section62, an objectivization section (objectivization unit)66, and a route evaluation section (route evaluation unit)67. The route candidate generation section61and the route prediction section62are the same as those in the route evaluation device60of the foregoing embodiment, and thus description thereof will not be repeated.

As shown inFIG. 9, the objectivization section66expresses the interference states of route candidates a11, a12, and a13of the host-vehicle81generated by the route candidate generation section61and predicted routes b11, b12, . . . , and b20of another vehicle82predicted by the route prediction section62by objective numerical values. Specifically, the objectivization section66calculates an another-vehicle interference ratio. The term “another-vehicle interference ratio” refers to the ratio of intersections (indicated by O inFIG. 9) where the host-vehicle81interferes with the route of another vehicle from among all the intersections of the route candidates a11, a12, and a13and the predicted routes b11, b12, . . . , and b20. Referring toFIG. 9, the route candidate a11has 10 intersections in total and has eight intersections (indicated by O inFIG. 9) where the host-vehicle81interferes with the route of another vehicle, such that the another-vehicle interference ratio becomes 80%. Similarly, the another-vehicle interference ratio of the route candidate a12becomes 50%, and the another-vehicle interference ratio of the route candidate a13becomes 0%.

The route evaluation section67evaluates the route of the host-vehicle81on the basis of the numerical values expressed by the objectivization section66. Specifically, the route evaluation section64highly evaluates a route candidate having a low another-vehicle interference ratio expressed by the objectivization section66as a route that the host-vehicle81should travel. For example, the route evaluation section67highly evaluates a route candidate having an another-vehicle interference ratio equal to or smaller than 20% as a route that the host-vehicle81should travel. The critical value of the another-vehicle interference ratio may be appropriately set.

According to the route evaluation device65of this embodiment, the interference forms are numericalized in accordance with the prescribed rule of objective numericalization. Therefore, an interference form in which the host-vehicle81interferes with the route of another vehicle can be specified, and the relevant route candidate can be highly evaluated as a route candidate to be avoided. As a result, traveling along a route in consideration of an operation of the driver of another vehicle82, and a safer traffic environment can be realized.

As shown inFIG. 8, the traveling assist device1may further include a display section8. The display section8is means for displaying the contents of the route candidates evaluated by the route evaluation section67, and for example, displays the contents on a monitor or projects the contents onto a windscreen. Specifically, the display section8displays a route specified as “the interference form in which another vehicle interferes with the route of the host-vehicle” and a route specified as “the interference form in which the host-vehicle interferes with the route of another vehicle” based on the evaluation of the route candidates by the route evaluation section67with different colors. Therefore, it is possible to display for the driver a route that the host-vehicle should travel or a route that the host-vehicle should avoid.

The traveling assist device1may have the display section8but may not have the traveling output section9. In this case, it is possible for the driver to recognize a route specified as “the interference form in which another vehicle interferes with the route of the host-vehicle”. In this case, the driver can control the host-vehicle in accordance with a route displayed on the display section8. As a result, it becomes possible to travel of the host-vehicle81along a route in consideration of an operation of the driver of another vehicle82, and a safer traffic environment can be realized.

In the traveling assist device1of the foregoing embodiment, when the classification section63classifies the interference states, any classification method in consideration of another vehicle may be used, and for example, classification based on the mechanical conditions of smoothness (curvature, acceleration/deceleration, and the like) of a route immediately before interference, classification based on the social norms, such as the observance level of the traffic rules or manners, the fault proportion of automobile insurance, and the judicial precedents, classification (paying closer attention to a bicycle and a small vehicle) in consideration of vehicle performance, and the like may be used. Hereinafter, the method of classifying the interference states by the classification section63will be described in detail.

For example, as shown inFIG. 10, it may be determined whether the host-vehicle81is likely to interfere with the route of another vehicle82or not on the basis of an angle α between the direction of the host-vehicle81and the traveling direction of a region A1where the host-vehicle81is located. For example, when the angle α between the direction of the host-vehicle81and the traveling direction of the region A1where the host-vehicle81is present is equal to or greater than a predetermined angle (for example, 45°), it may be determined that the host-vehicle81interferes with the route of another vehicle82.

For example, as shown inFIG. 11, it may be determined whether the host-vehicle81is likely to interfere with the route of another vehicle82or not on the basis of the priorities of a region A3where the host-vehicle81is located and a region A2where another vehicle82is located. For example, when the region A3where the host-vehicle81is located has a priority lower than the region A2where another vehicle82is located, it may be determined that the host-vehicle81interferes with the route of another vehicle82. In comparison of the priorities of the region A3where the host-vehicle81is located and the region A2where another vehicle82is located, at an intersection shown inFIG. 12, it may be determined that the host-vehicle81is likely to interfere with the route of another vehicle82. The priority based on signal information as well as the priority based on the region where the host-vehicle81is located may be used. For example, a vehicle which runs into a green light has high priority, and a vehicle which runs into a red light has low priority.

For example, as shown inFIG. 13, it may be determined whether the host-vehicle81is likely to interfere with the route of another vehicle82or not on the basis of road markings91and92. When the road marking91is a white line and the road marking92is a yellow line, if the host-vehicle81which is traveling in a region A1changes lane to a region A2, the host-vehicle81is violating the traffic rules. With regard to traveling which violates the traffic rules, it may be determined that the host-vehicle81interferes with the route of another vehicle82. For the determination regarding violation of the traffic rules, road signs as well as road markings may be used.

For example, as shown inFIG. 14, it may be determined whether the host-vehicle81is likely to interfere with the route of another vehicle82or not by using the parts where the host-vehicle81and another vehicle82interfere with each other. InFIG. 14, “A” indicates that the host-vehicle81interferes with the route of another vehicle82, and “B” indicates that another vehicle82interferes with the route of the host-vehicle81. For example, as shown inFIG. 15, when the front surface of the host-vehicle81in the traveling direction and the side surface of another vehicle82in the traveling direction interfere with each other, as shown inFIG. 14, it may be determined that the host-vehicle81interferes with the route of another vehicle82.

INDUSTRIAL APPLICABILITY

According to the invention, it is possible to travel along a route in consideration of an operation of the driver of another vehicle, and can realize a safer traffic environment.