VEHICLE AND CONTROL DEVICE

A vehicle include a first wheel and a second wheel, a steering circuit configured to steer at least one of the first wheel and the second wheel, and a wireless communication circuit configured to wirelessly communicate with the first vehicle and the second vehicle. When the wireless communication circuit receives a scheduled route of the first vehicle from the first vehicle while the vehicle is traveling on a first scheduled route, and determines that a possibility of a collision with the first vehicle is equal to or greater than a certain value based on the first scheduled route and the scheduled route of the first vehicle. The vehicle creates a second scheduled route different from the first scheduled route, starts traveling on the second scheduled route, and transmits the scheduled route of the first vehicle and the second scheduled route to the second vehicle.

TECHNICAL FIELD

The present disclosure relates to a vehicle and a control device.

BACKGROUND ART

For a driver of a vehicle, the other side of other vehicles, or other obstacles such as buildings along a road or walls is a blind spot that cannot be visually recognized. When other vehicles, pedestrians, or the like present in the blind spot suddenly appears, the driver cannot cope with a situation and may lead to an accident. Therefore, a technology for detecting the other vehicles, the pedestrians, or the like present on positions around the vehicle of the driver, including the blind spot, has been developed (Patent Literatures 1, 2, and 3).

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

However, if the driver is alerted every time the other vehicles or the pedestrians around the vehicle of the driver are detected, the driver becomes accustomed to the alert, and an effect of the alert is reduced.

An object of the present disclosure is to provide a vehicle and a control device capable of calling attention of a driver with appropriate intensity.

Solution to Problem

A vehicle according to an aspect of the present disclosure is a vehicle including a first wheel and a second wheel and movable in a predetermined direction using the first wheel and the second wheel. The vehicle includes: a position detection circuit configured to detect a first position of the vehicle; a wireless communication circuit configured to receive a second position of a moving object; an imaging circuit configured to acquire a captured image of an outside of the vehicle; and an output circuit configured to output information calling attention, a region that is a blind spot due to an obstacle is set as a blind spot region from a size of the obstacle detected from the captured image and a relative position between the obstacle and the vehicle with respect to the first position, when the second position is in the blind spot region, the output circuit outputs information calling first attention, when the second position is not in the blind spot region, the output circuit outputs information calling second attention, and first intensity for calling the attention to the information calling the first attention is stronger than second intensity for calling the attention to the information calling the second attention.

A control device according to an aspect of the present disclosure is a control device configured to be mounted on a vehicle including a first wheel and a second wheel, movable in a predetermined direction using the first wheel and the second wheel, and further including a position detection circuit configured to detect a first position of the vehicle, a wireless communication circuit configured to receive a second position of a moving object, an imaging circuit configured to acquire a captured image of an outside of the vehicle, and an output circuit configured to output information calling attention. A region that is a blind spot due to an obstacle is set as a blind spot region from a size of the obstacle detected from the captured image and a relative position between the obstacle and the vehicle with respect to the first position, when the second position is in the blind spot region, the output circuit outputs information calling first attention, when the second position is not in the blind spot region, the output circuit outputs information calling second attention, and first intensity for calling the attention to the information calling the first attention is stronger than second intensity for calling the attention to the information calling the second attention.

These comprehensive or specific aspects may be implemented by a system, a device, a method, an integrated circuit, a computer program, or a recording medium, or any combination of the system, the device, the method, the integrated circuit, the computer program, and the recording medium.

Advantageous Effects of Invention

According to the present disclosure, it is possible to call attention of a driver with appropriate intensity.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, the unnecessarily detailed description may be omitted. For example, the detailed description of already well-known matters and the repeated description of substantially the same configuration may be omitted. This is to avoid unnecessary redundancy of the following description and to facilitate understanding of those skilled in the art. The accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

First Embodiment

FIG.1is a schematic diagram showing an example of a configuration of a vehicle1A according to a first embodiment.FIG.2is a block diagram showing an example of a configuration of devices provided in the vehicle1A according to the first embodiment. A vehicle1B, a vehicle1C, and the like to be described later may have the same configuration as that of the vehicle1A illustrated inFIGS.1and2.

The vehicle1A includes a drive portion3such as an engine or a motor, and at least a first wheels2A and a second wheels2B. The vehicle1A can travel by the drive portion3rotationally driving at least one of the first wheels2A and the second wheels2B. When the vehicle1A includes four wheels, the first wheels2A may be front wheels, and the second wheels2B may be rear wheels. However, the vehicle1A is not limited to the case of including four wheels, and may include one to three wheels or five or more wheels.

The vehicle1A may include advanced driver-assistance systems (ADAS). Alternatively, the vehicle1A may have an autonomous driving function. An autonomous driving level of the autonomous driving function of the vehicle1A may be any one of level 0 to level 5. Alternatively, the vehicle1A may include both the ADAS and the autonomous driving function, or may not include both of the ADAS and the autonomous driving function.

The vehicle1A includes a position detection circuit11, camera devices12, a laser imaging detection and ranging (LiDAR)13, a millimeter wave radar14, a steering circuit15, an accelerator circuit16, a brake circuit17, a wireless communication circuit18, a control device100, and a human machine interface (HMI) device20. These devices11to18,20, and100may be configured as one or a plurality of electronic control units (ECU). Further, these devices11to18,20, and100may transmit and receive information to and from one another through a communication network provided in the vehicle1A. Examples of the communication network provided in the vehicle1A include a controller area network (CAN), LIN, and FlexRay.

The position detection circuit11can acquire position information of the vehicle1A. For example, the position detection circuit11measures a position of the vehicle1A using a global navigation satellite system (GNSS), and acquires the position information indicating the measured position of the vehicle1A. The position information may include a measured time point and longitude and latitude measured at the time point.

The camera device12captures an image of surroundings of the vehicle1A and generates a surrounding image. The surrounding image may be either a still image or a moving image. As illustrated inFIG.1, the vehicle1A may include a plurality of camera devices12, and may generate a surrounding image by deforming and synthesizing captured images of the camera devices12. Alternatively, the vehicle1A may include a camera device12capable of capturing an omnidirectional image, and may generate a surrounding image by deforming the captured image of the camera device12. The surrounding image generated by the camera device12may be used for detecting objects present around the vehicle1A. Examples of the objects (obstacles) present around the vehicle1A include other vehicles, pedestrians, bicycles, and installed objects.

The LiDAR13is a device that detects the objects present around the vehicle1A by irradiating the surroundings of the vehicle1A with laser light and measuring reflected light thereof.

The millimeter wave radar14is a device that detects the objects present around the vehicle1A by irradiating the surroundings of the vehicle1A with millimeter waves and measuring reflected waves thereof.

The vehicle1A may detect the objects present around the vehicle1A by using the camera device12, the LiDAR13, and the millimeter wave radar14in a complementary manner. Alternatively, the vehicle1A may include at least one of the camera device12, the LiDAR13, and the millimeter wave radar14, and may detect the objects present around the vehicle1A using information obtained from at least one of the camera device12, the LiDAR13, and the millimeter wave radar14. As described above, since the camera device12, the LiDAR13, and the millimeter wave radar14are examples of devices used for detecting the objects, these devices may be replaced with object detection devices.

The steering circuit15is a circuit capable of steering at least one of the first wheels2A and the second wheels2B provided in the vehicle1A. For example, the steering circuit15controls steering of the first wheels2A (front wheels) to control a direction in which the vehicle1A curves (for example, curves to the right or curves to the left).

The accelerator circuit16is a circuit that controls an accelerator to control acceleration and deceleration of the vehicle1A. When the vehicle1A is steered by the driver, the accelerator circuit16may control the acceleration and deceleration of the vehicle1A in accordance with an accelerator operation performed by the driver. When the vehicle1A is steered by the ADAS or the autonomous driving function, the accelerator circuit16may control the acceleration and deceleration of the vehicle1A in accordance with an instruction from the control device100.

The brake circuit17is a circuit that controls the deceleration and stopping of the vehicle1A by controlling a brake. When the vehicle1A is steered by the driver, the brake circuit17may control the deceleration and stopping of the vehicle in accordance with a brake operation performed by the driver. When the vehicle1A is steered by the ADAS or the autonomous driving function, the brake circuit17may control the deceleration and stopping of the vehicle1A in accordance with the instruction from the control device100.

The wireless communication circuit18is a circuit capable of performing wireless communication with other vehicle1B and the vehicle1C (seeFIGS.5,7, and9) through an antenna19. The vehicle1B may be replaced with a first vehicle, and the vehicle1C may be replaced with a second vehicle. The wireless communication circuit18may be a circuit capable of V2X communication. The wireless communication circuit18may broadcast, to the surroundings of the vehicle1A, information for transmission via the antenna19as the V2X communication. Further, the V2X communication may be any of a vehicle to vehicle (V2V) communication, a vehicle to pedestrian (V2P) communication, a vehicle to infrastructure (V2I) communication, and a vehicle to network (V2N) communication. Examples of a V2X communication scheme include dedicated short range communications (DSRC) and cellular-V2x (C-V2X). The V2X communication scheme may correspond to 4G or 5G.

The control device100is a device that controls a behavior of the vehicle1A. The number of the control devices100mounted on the vehicle1A is not limited to one, and may be two or more. The control device100may include a control circuit101. The control circuit101may be replaced with other terms such as a central processing unit (CPU), a processor, a controller, and an arithmetic circuit. A storage circuit102may be connected to the control circuit101. The storage circuit102may be configured as a read-only memory (ROM), a random access memory (RAM), a flash memory, or a combination thereof. The control circuit101may implement functions of the vehicle1A and the control device100according to the first embodiment by reading and executing data and a computer program recorded in the storage circuit102. The functions of the vehicle1A and the control device100according to the first embodiment are not limited to being achieved by one control circuit101, and may be achieved by cooperation of the plurality of control circuits101.

The control circuit101may achieve driving assistance or autonomous driving of the vehicle1A based on the information received from at least one of the position detection circuit11, the camera device12, the LiDAR13, and the millimeter wave radar14.

The control circuit101controls a steering direction, a traveling speed, a start, a stop, and the like of the vehicle1A through the steering circuit15, the accelerator circuit16, and the brake circuit17, and causes the vehicle1A to travel in accordance with a set scheduled route. Therefore, information indicating the scheduled route is information indicating a route (trajectory) in which the vehicle1A will travel in the future, and may include, for example, at least one piece of position information indicating a current position and a future position of the vehicle1A and at least one piece of direction information indicating a current direction and a future direction of the vehicle1A. Similarly, information indicating a first scheduled route201and a second scheduled route202(seeFIGS.5,7, and9) to be described later may also include at least one piece of position information indicating the current position and the future position of the vehicle1A and at least one piece of direction information indicating the current direction and the future direction of the vehicle1A.

For example, when the first scheduled route201is set, the control circuit101of the vehicle1A causes the vehicle1A to travel along the first scheduled route201. When the wireless communication circuit18receives a scheduled route200(seeFIGS.5,7, and9) of the vehicle1B (first vehicle) from the vehicle1B while the vehicle1A is traveling on the first scheduled route201and determines that a possibility of collision with the vehicle1B is equal to or greater than a certain value based on the first scheduled route201and the scheduled route200of the vehicle1B, the vehicle1A creates the second scheduled route202different from the first scheduled route201, starts traveling on the second scheduled route202, and transmits the scheduled route200of the vehicle1B and the second scheduled route202to the other vehicle1C.

The vehicle1C that has received the scheduled route200of the vehicle1B and the second scheduled route202may perform control based on the scheduled route200of the vehicle1B and the second scheduled route202.

Here, when the possibility of the collision between the vehicle1A and the vehicle1B determined based on the first scheduled route201and the scheduled route200of the vehicle1B is set as a first possibility, a possibility of the collision between the vehicle1A and the vehicle1B based on the second scheduled route202and the scheduled route200of the vehicle1B is set as a second possibility, and the second possibility may be lower than the first possibility. That is, the vehicle1A may be less likely to collide with the vehicle1B when traveling along the second scheduled route202than along the first scheduled route201. In other words, the second scheduled route202may be a route that allows the vehicle1A to avoid the collision with the vehicle1B. Therefore, the second scheduled route202may be replaced with a scheduled route for avoidance.

The HMI device20is a device that provides information related to ADAS and/or autonomous driving to the driver or an occupant of the vehicle1A. The HMI device20may include a display device (for example, a head-up display device). In this case, the HMI device may display the information (image) indicating the first scheduled route201or the second scheduled route202described above on a display device.

FIG.3is a diagram showing an example of a data format of the V2X communication between vehicles according to the first embodiment. In the first embodiment, information transmitted in the V2X communication using the data format illustrated inFIG.3is referred to as V2X information. In a description ofFIG.3, a case in which the vehicle1B transmits the V2X information will be described, and the same applies to a case in which the vehicle1A or the vehicle1C transmits the V2X information.

As illustrated inFIG.2, the V2X information may include, as data items, an avoidance schedule flag, a scheduled route, a precise position, and a vehicle type and size.

The avoidance schedule flag stores a flag indicating which of the first scheduled route201and the second scheduled route202is stored in the data item “scheduled route” of the V2X information. For example, an avoidance schedule flag “0” indicates that the first scheduled route201is stored in the data item “scheduled route” of the V2X communication, and the avoidance schedule flag “1” indicates that the second scheduled route202is stored in the data item “scheduled route” of the V2X communication.

The information indicating the scheduled route of the vehicle1B that transmits the V2X information is stored in the scheduled route. For example, the first scheduled route201or the second scheduled route202is stored in the scheduled route. The scheduled route may include, for example, information indicating a future travel trajectory of a vehicle such as travel, a left turn, a right turn, and an avoidance curve of the vehicle1B.

Information indicating a precise position of the vehicle1B that transmits the V2X information is stored in the precise position. For example, information indicating a contour of the vehicle1B (hereinafter referred to as vehicle contour information) is stored in the precise position. As illustrated inFIGS.5to9, the vehicle contour information may be information indicating positions of four vertices of a rectangle including the vehicle1B as viewed from above.

Information indicating a type or a size of the vehicle1B that transmits the V2X communication is stored in the vehicle type and size. For example, when the vehicle1B is a passenger car, information indicating the “passenger car” is stored in the vehicle type and size. Information such as “truck” and “bus” may be stored in the vehicle type and size.

FIG.4is a flowchart illustrating an example of a process executed by the vehicles1A,1B, and1C according to the first embodiment. The vehicles1A,1B, and1C may repeatedly execute the process illustrated inFIG.4. In a description ofFIG.4, a process mainly performed by the vehicles1A,1B, and1C may be replaced with a process mainly performed by the control device100or the control circuit101provided in the vehicles1A,1B, and1C.

The vehicle1A, the vehicle1B, and the vehicle1C may have, for example, a positional relationship as illustrated inFIG.5,FIG.7, orFIG.9, which will be described later. That is, the vehicle1B may be located ahead of the vehicle1A in a traveling direction, and the vehicle1C may be located behind the vehicle1A.

First, a process executed by the vehicle1B will be described.

The vehicle1B, while traveling on the scheduled route200(S101), determines immediately (or within a predetermined time from now) whether the vehicle1B behaves in a way as to become an obstacle to the other vehicles1A and1C (S102). When the vehicle1B does not immediately (or within the predetermined time from now) behave in a way as to become the obstacle to the other vehicles1A and1C (S102: NO), the vehicle1B ends the present process. When the vehicle1B immediately (or within the predetermined time from now) behaves in a way as to become the obstacle to the other vehicles1A and1C (S102: YES), the vehicle1B performs a process of S103.

For example, when the vehicle1B advances from a side road to an arterial road, the vehicle1B may become the obstacle to the other vehicles1A and1C which are traveling on the arterial road, the determination in S102is YES. A specific example of behaviors of the vehicles1A,1B, and1C in this case will be described later in detail with reference toFIG.5.

For example, when the vehicle1B temporarily stops while turning left at an intersection, the vehicle1B may become the obstacle to the other vehicles1A and1C which are traveling and following the vehicle1B, and thus the determination in S102is YES. A specific example of the behaviors of the vehicles1A,1B, and1C in this case will be described later in detail with reference toFIG.7.

For example, when the vehicle1B temporarily stops while turning right at the intersection, the vehicle1B may become the obstacle to the other vehicles1A and1C which are traveling and following the vehicle1B, and thus the determination in S102is YES. A specific example of the behaviors of the vehicles1A,1B, and1C in this case will be described later in detail with reference toFIG.9.

In S103, the vehicle1B transmits the V2X information including the avoidance schedule flag “0”, the scheduled route200of the vehicle1B, the precise position (vehicle contour information) of the vehicle1B, and the vehicle type and size of the vehicle1B through the V2X communication (S103).

Next, a process executed by the vehicle1A will be described.

For example, the vehicle1A is traveling on the first scheduled route201(S201), and receives, through the V2X communication, the V2X information transmitted by the vehicle1B in S103(S202).

In this case, the vehicle1A analyzes the first scheduled route201of the vehicle1A and the scheduled route200of the vehicle1B included in the V2X information, and when the vehicle1A continues traveling along the first scheduled route201, the vehicle1A determines whether the possibility (probability) of the collision with the vehicle1B is equal to or greater than the certain value (for example, equal to or greater than a predetermined threshold value) (S203).

When the vehicle1A determines that the possibility of the collision with the vehicle1B is less than a certain value (S203: NO), the vehicle1A ends the present process. That is, the vehicle1A continues traveling along the first scheduled route201.

When the vehicle1A determines that the possibility of the collision with the vehicle1B is equal to or greater than the certain value (S203: YES), the vehicle1A determines whether the second scheduled route202on which the vehicle1B can be avoided can be generated (S204). For example, the vehicle1A determines whether the second scheduled route202on which the vehicle1B can be avoided can be generated based on the scheduled route200of the vehicle1B, a situation around the vehicle1A, and the like. A specific example of a determination method will be described later in detail with reference toFIGS.5,7, and9.

When the vehicle1A determines that the second scheduled route202on which the vehicle1B can be avoided cannot be generated (S204: NO), the vehicle1A temporarily stops behind the vehicle1B (S205). Further, after the obstacle which is the vehicle1B is eliminated, the vehicle1A continues traveling on the first scheduled route201.

When the vehicle1A determines that the second scheduled route202on which the vehicle1B can be avoided can be generated (S204: YES), the vehicle1A generates the second scheduled route202on which the vehicle1B can be avoided, and displays on the HMI device that the driving assistance or the autonomous driving is performed on the second scheduled route202(S206).

The vehicle1A transmits the V2X information of the vehicle1B and the V2X information including the avoidance schedule flag of “1” and the second scheduled route202of the vehicle1A through the V2X communication (S207). Accordingly, the scheduled route200of the vehicle1B and the second scheduled route202of the vehicle1A can be transmitted to the other vehicle1C following the vehicle1A.

The vehicle1A travels along the second scheduled route202to avoid the vehicle1B (S208). After the vehicle1A avoids and overtakes the vehicle1B, the vehicle1A displays on the HMI device20that avoidance of the vehicle1B is completed (S209). Further, the vehicle1A continues traveling on the first scheduled route201.

According to the above-described process, since the vehicle1A can receive the V2X information including the scheduled route200, the precise position (vehicle contour information), and the vehicle type and size in advance from the vehicle1B that may become the obstacle to the vehicle1A, the vehicle1A can generate the second scheduled route202on which the vehicle1B can be avoided with a margin. That is, the vehicle1A can smoothly avoid the collision with the vehicle1B, which is an example of an obstacle present ahead, by traveling along the second scheduled route202.

Next, a process executed by the vehicle1C will be described.

For example, the vehicle1C is traveling on a first scheduled route201(S301), and transmits, through the V2X communication, the V2X information of the vehicle1B and the V2X information including the second scheduled route202of the vehicle1A which are transmitted by the vehicle1A in S207(S302). The first scheduled route201of the vehicle1C may be the same as or different from the first scheduled route201of the vehicle1A.

In this case, the vehicle1C displays on the HMI device20that the autonomous driving is performed with reference to the second scheduled route202of the vehicle1A (S303).

The vehicle1C transmits, through the V2X communication, the V2X information of the vehicle1B and the V2X information including the second scheduled route202of the vehicle1A (S304). Accordingly, the scheduled route200of the vehicle1B and the second scheduled route202of the vehicle1A can be transmitted to another vehicle1D following the vehicle1C.

The vehicle1C travels along the second scheduled route202to avoid the vehicle1B (S305). After the vehicle1C avoids and overtakes the vehicle1B, the vehicle1C displays on the HMI device20that avoidance of the vehicle1B is completed (S306). Further, the vehicle1C continues traveling on the first scheduled route201.

As described above, the other vehicle1C or the like following the vehicle1A can smoothly avoid the collision with the vehicle1B present ahead, similarly to the vehicle1A, by using the scheduled route200of the vehicle1B transferred from the vehicle1A through the V2X communication and the second scheduled route202of the vehicle1A.

<Specific Example of Avoiding Vehicle that is Obstacle>

FIG.5is a diagram illustrating an example in which the vehicle1A avoids the vehicle1B advancing from the side road to the arterial road.

In a case in which the vehicle1B suddenly exits from the front side road to the arterial road and temporarily stops, the vehicle1B becomes the obstacle in a route of the vehicle1A, and there is a risk that the vehicle1A and the vehicle1B collide with each other. On the other hand, in a case in which the vehicle1A simply outputs an alarm of the collision and suddenly stops, a possibility of the collision with the following vehicle1C and a possibility of occurrence of congestion due to a stop of the following vehicle1C occur due to sudden braking. Therefore, there is a scene in which it is preferable for the vehicle1A to turn slightly to the right and overtake the vehicle1B while avoiding the vehicle1B. Further, there is a scene in which it is preferable for the following vehicle1C to turn to the right to avoid the vehicle1B, like the vehicle1A. Accordingly, both collision prevention and congestion prevention can be achieved.

In the first embodiment, the vehicle1B that is the obstacle broadcasts the V2X information including the scheduled route on which the vehicle1B will travel in the future, the precise position (vehicle contour information), and the vehicle type and size, to the surrounding vehicles1A and1C. For example, the vehicle1B transmits the V2X information at a timing at which a head thereof is put out from the side road to the arterial road. The vehicle1A present in the vicinity of the vehicle1B receives the scheduled route and the precise position of the vehicle1B that is the obstacle, determines a degree of risk of a collision with a straight traveling route of the vehicle1A, determines the presence or absence of the following vehicle of an own vehicle lane and an adjacent lane, and an inter-vehicle space, and determines whether to turn to avoid the vehicle1B. When it is determined that the vehicle1A turns to avoid the vehicle1B, the vehicle1A turns to avoid the vehicle1B based on the determination. When the vehicle1A turns to avoid the vehicle1B, the vehicle1A automatically blinks a turn signal, and displays, on the display of the HMI device20, a future travel trajectory (second scheduled route) indicating that the vehicle1A turns to avoid the obstacle. The vehicle1A may transmit, to the following vehicle1C, the V2X information including the scheduled route (second scheduled route) along which the vehicle1A turns to avoid the obstacle. The following vehicle1C turns in the same manner as the second scheduled route included in the received V2X information to avoid the vehicle1B that is the obstacle. Sharing of a travel route and the steering and avoidance operation that avoid the obstacle described above may be continuously performed until all the subsequent vehicles1C and the like overtake the obstacle or until a position of the vehicle1B which is the obstacle changes.

For example, the vehicle1B transmits the V2X information through the V2X communication at the timing at which the head of the vehicle1B is put out from the side road to the arterial road (S103).

The vehicle1A traveling on the arterial road receives the V2X information from the vehicle1B through the V2X communication (S202), and when there is the possibility of the collision with the vehicle1B on the first scheduled route201(S203: YES), the vehicle1A performs the following processes. That is, the vehicle1A determines whether the second scheduled route202on which the vehicle1B can be avoided can be generated based on the scheduled route200of the vehicle1B, the vehicle contour information, and the vehicle type and size, and the surrounding situation (S204).

For example, in the case of the situation illustrated inFIG.5, the second scheduled route202may be a route on which the vehicle1A turns to a right front side so as to avoid a vehicle contour (rectangle210) of the vehicle1B protruding to the arterial road, turns to a left front side after passing through a right side of the vehicle1B, and returns to an original lane. The second scheduled route202may be a route on which the vehicle1A turns (steers) a steering wheel so as to avoid the vehicle contour (rectangle210) of the vehicle1B protruding to the arterial road, turns to the right front side, turns back to the left front side after passing through the right side of the vehicle1B, travels along a curve of an avoidance route, and returns to the original lane.

For example, when the vehicle1A does not collide with the other vehicle1D different from the vehicle1B even if the vehicle1A travels along the second scheduled route202and does not interfere with the progress of the other vehicle1D, the vehicle1A may determine that the second scheduled route202can be generated. For example, in the case of the situation illustrated inFIG.5, when the other vehicle1D is not present on a right side of the vehicle1A and a distance between the vehicle1A and the other vehicle1D present behind the vehicle1A in the adjacent lane on the right side thereof is sufficient (for example, equal to or greater than a predetermined threshold value), the vehicle1A may determine that the second scheduled route202can be generated.

On the other hand, when the other vehicle1D is present on the right side of the vehicle1A and the distance between the vehicle1A and the other vehicle1D present behind the vehicle1A in the adjacent lane on the right side thereof is not sufficient (for example, less than the predetermined threshold value), the vehicle1A may determine that the second scheduled route202cannot be generated. In this case, the vehicle1A may temporarily stop behind the vehicle1B (S205). When the vehicle1A temporarily stops in this manner, the vehicle1A may transmit, to the vehicle1B, information indicating that the vehicle1A temporarily stops behind the vehicle1B through the V2X communication. When the vehicle1B receives, from the vehicle1B, the information indicating that the vehicle1A temporarily stops in this manner through the V2X communication, the vehicle1B may start traveling in accordance with the scheduled route200.

The vehicle1A traveling along the second scheduled route202may automatically blink a right turn signal when the vehicle1A turns to the right front side, and may automatically blink a left turn signal when the vehicle1A turns to the left front side after the vehicle1A overtakes the vehicle1B.

As illustrated inFIG.6, the vehicle1A traveling on the second scheduled route202may display the trajectory of the second scheduled route202on the display device of the HMI device20(S206).FIG.6is a diagram showing an example of a UI image displayed on the HMI device20of the vehicle1A in the case ofFIG.5. InFIG.6, dotted lines221indicate the trajectory of the first scheduled route201of the vehicle1A, and a thick arrow222of a solid line indicates the trajectory of the second scheduled route202(that is, the avoidance route) of the vehicle1A.

When the vehicles1A and1C are compatible with the V2X communication and the ADAS but are not compatible with the autonomous driving, the vehicles1A and1C may perform the driving assistance along the second scheduled route202. For example, the vehicles1A and1C may display the second scheduled route202on the HMI device20and assist a steering operation of the driver so that the vehicles1A and1C can easily travel along the second scheduled route202.

When the vehicles1A and1C are not compatible with the V2X communication, the driver may manually operate the steering wheel to avoid the vehicle1B. In this case, the vehicles1A and1C may display the second scheduled route202on the HMI device20.

FIG.7is a diagram illustrating an example in which the vehicle1A avoids the vehicle1B that temporarily stops during a left turn.

For example, as illustrated inFIG.7, in a case in which a pedestrian301crossing the crosswalk to which the vehicle1B is making a left turn is present, the vehicle1B temporarily stops the progress of the left turn. In this case, the vehicle1B may transmit the V2X information through the V2X communication at a timing when the progress of the left turn is temporarily stopped (S103).

The vehicle1A traveling behind the vehicle1B receives the V2X information from the vehicle1B through the V2X communication (S202), and when there is the possibility of the collision with the vehicle1B on the first scheduled route201(S203: YES), the vehicle1A performs the following processes. That is, the vehicle1A determines whether the second scheduled route202on which the vehicle1B can be avoided can be generated based on the scheduled route200of the vehicle1B, the vehicle contour information, and the vehicle type and size, and the surrounding situation (S204). For example, in the case of the situation illustrated inFIG.7, the second scheduled route202may be a route on which the vehicle1A turns to the right front side so as to avoid the vehicle contour (rectangle210) of the vehicle B temporarily stopping while turning left, turns to the left front side after passing through the right side of the vehicle1B, and returns to the original lane. The second scheduled route202may be a route on which the vehicle1A turns (steers) the steering wheel so as to avoid the vehicle contour (rectangle210) of the vehicle1B temporarily stopping while turning left, turns to the right front side, turns back to the left front side after passing through the right side of the vehicle1B, travels along the curve of the avoidance route, and returns to the original lane.

For example, when the vehicle1A does not collide with the other vehicle1D different from the vehicle1B even if the vehicle1A travels along the second scheduled route202and does not interfere with the progress of the other vehicle1D, the vehicle1A may determine that the second scheduled route202can be generated. For example, in the case of the situation illustrated inFIG.7, when a traffic light302in front is a traveling permission signal (for example, a blue signal), the other vehicle1D is not present on the right side of the vehicle1A, and the other vehicle1D is not present within a predetermined distance behind the vehicle1A in the adjacent lane on the right side thereof, the vehicle1A may determine that the second scheduled route202can be generated.

On the other hand, when the traffic light302in front is a traveling prohibition signal (for example, a red light), when the other vehicle1D is present on the right side of the vehicle1A, or when the other vehicle1D is present within the predetermined distance behind the vehicle1A in the adjacent lane on the right side thereof, the vehicle1A may determine that the second scheduled route202cannot be generated. In this case, the vehicle1A may temporarily stop behind the vehicle1B (S205).

The vehicle1A traveling along the second scheduled route202may automatically blink a right turn signal when the vehicle1A turns to the right front side, and may automatically blink a left turn signal when the vehicle1A turns to the left front side after the vehicle1A overtakes the vehicle1B.

As illustrated inFIG.8, the vehicle1A traveling on the second scheduled route202may display the trajectory of the second scheduled route202on the display device of the HMI device20(S206).FIG.8is a diagram showing an example of the UI image displayed on the HMI device20of the vehicle1A in the case ofFIG.7. InFIG.8, the dotted lines221indicate the trajectory of the first scheduled route201of the vehicle1A, and the thick arrow222of the solid line indicates the trajectory of the second scheduled route202(that is, the avoidance route) of the vehicle1A.

FIG.9is a diagram illustrating an example in which the vehicle1A avoids the vehicle1B that temporarily stops during a right turn.

For example, as illustrated inFIG.9, when there is a vehicle1E proceeding straight through an intersection from an oncoming lane, the vehicle1B temporarily stops a progress of a right turn. In this case, the vehicle1B may transmit the V2X information through the V2X communication at a timing when the progress of the right turn is temporarily stopped (S103).

The vehicle1A traveling behind the vehicle1B receives the V2X information from the vehicle1B through the V2X communication (S202), and when there is the possibility of the collision with the vehicle1B on the first scheduled route201(S203: YES), the vehicle1A performs the following processes. That is, the vehicle1A determines whether the second scheduled route202on which the vehicle1B can be avoided can be generated based on the scheduled route200of the vehicle1B, the vehicle contour information, and the vehicle type and size, and the surrounding situation (S204). For example, in the case of the situation illustrated inFIG.9, the second scheduled route202may be a route on which the vehicle1A turns to a left front side so as to avoid the vehicle contour (rectangle210) of the vehicle1B temporarily stopping while turning right, turns to a right front side after passing through a left side of the vehicle1B, and returns to the original lane. The second scheduled route202may be a route on which the vehicle1A turns (steers) the steering wheel so as to avoid the vehicle contour (rectangle210) of the vehicle1B temporarily stopping while turning right, turns to the left front side, turns back to the right front side after passing through the left side of the vehicle1B, travels along the curve of the avoidance route, and returns to the original lane.

For example, when the vehicle1A does not collide with the other vehicle1D different from the vehicle1B even if the vehicle1A travels along the second scheduled route202and does not interfere with the progress of the other vehicle1D, the vehicle1A may determine that the second scheduled route202can be generated. For example, in the case of the situation illustrated inFIG.9, when the traffic light302in front is the traveling permission signal (for example, a blue signal), the other vehicle1D is not present on a left side of the vehicle1A and a distance between the vehicle1A and the other vehicle1D present behind the vehicle1A in an adjacent lane on the left side thereof is sufficient (for example, equal to or greater than the predetermined threshold value), the vehicle1A may determine that the second scheduled route202can be generated.

On the other hand, when the traffic light302in front is the traveling prohibition signal (for example, a red light), the other vehicle1D is present on the left side of the vehicle1A and the distance between the vehicle1A and the other vehicle1D present behind the vehicle1A in the adjacent lane on the left side thereof is not sufficient (for example, less than the predetermined threshold value), the vehicle1A may determine that the second scheduled route202cannot be generated. In this case, the vehicle1A may temporarily stop behind the vehicle B (S205).

The vehicle1A traveling along the second scheduled route202may automatically blink the left turn signal when the vehicle1A turns to the left front side, and may automatically blink the right turn signal when the vehicle1A turns to the right front side after the vehicle1A overtakes the vehicle1B.

As illustrated inFIG.10, the vehicle1A traveling on the second scheduled route202may display the trajectory of the second scheduled route202on the display device of the HMI device20(S206).FIG.10is a diagram showing an example of the UI image displayed on the HMI device20of the vehicle1A in the case ofFIG.9. InFIG.10, the dotted lines221indicate the trajectory of the first scheduled route201of the vehicle1A, and the thick arrow222of the solid line indicates the trajectory of the second scheduled route202(that is, the avoidance route) of the vehicle1A.

Second Embodiment

A vehicle and a control device according to a second embodiment will be described. In the second embodiment, the same components as those of the first embodiment may be denoted by the same reference numerals, and a description thereof may be omitted. Further, a content described in the second embodiment may be implemented together with the content described in the first embodiment.

FIG.11is a side view illustrating an example of a configuration of the vehicle1A according to a second embodiment.FIG.12is a block diagram showing an example of a configuration of devices provided in the vehicle1A according to the second embodiment.FIG.13is a schematic diagram illustrating a blind spot region of the vehicle1A according to the second embodiment.FIG.14Ais an image diagram illustrating blind spot region information according to the second embodiment.FIG.14Bis a detailed diagram illustrating the blind spot region information according to the second embodiment. Specifically,FIG.14Bis a detailed diagram of blind spot angle information indicating the blind spot region hidden by an obstacle which is a shield as viewed from the viewpoint of an in-vehicle ADAS front camera. Here, all 360 degrees of front, rear, left, and right directions of the vehicle form a direction system of a round circular compass, and are represented by a coordinate system showing two-dimensional directions of an X-axis and a Y-axis. A vertical axis, that is, Y axis indicates an angle in a traveling direction of the vehicle. A blind spot angle reference direction is a direction indicated by a left side line of a blind spot angle line, and a blind spot angle is an angle of the blind spot region hidden from the ADAS front camera viewpoint, hidden by the vehicle which is the obstacle. A depth distance range of the blind spot is a depth distance range of the blind spot region that is hidden behind the vehicle which is the obstacle and cannot be seen. By using the blind spot angle information ofFIG.14Band a GPS position of the vehicle, it is possible to accurately express and specify where the blind spot region for the vehicle1A is.

As illustrated inFIG.11, the vehicle1A includes the first wheels2A and the second wheels2B, and is movable in a predetermined direction using the first wheels2A and the second wheels2B. The predetermined direction may be read as a traveling direction of the vehicle1A. The traveling direction is not limited to a direction of the straight traveling, and may include a direction of right turning and a direction of left turning.

As illustrated inFIG.12, the vehicle1A includes the position detection circuit11, the camera device12, the LiDAR13, the millimeter wave radar14, the steering circuit15, the accelerator circuit16, the brake circuit17, the wireless communication circuit18, the control device100, and the HMI device20.

The position detection circuit11detects a position of the vehicle1A. The position of the vehicle1A may be read as a first position.

The wireless communication circuit18receives a position of another vehicle, a pedestrian, or the like through V2X communication. Hereinafter, the other vehicle, the pedestrian, or the like may be referred to as a moving object5in some cases. A position of the moving object5may be read as a second position.

An imaging circuit constituting the camera device12captures an image of an outside of the vehicle1A and acquires the captured image.

With respect to the first position, the control circuit101sets, as the blind spot region, a region that becomes a blind spot due to the obstacle from a size of the obstacle detected from the captured image and a relative position between the obstacle and the vehicle1A. The obstacle is, for example, the other vehicle1B present in the traveling direction of the vehicle1A.

When the second position enters the blind spot region, an output circuit may output information calling first attention. In a case in which the second position does not enter the blind spot region, the output circuit may output information calling second attention. The output circuit may be an interface that outputs information to a display circuit or another device (for example, an electronic control unit (ECU)). The display circuit may be configured as the HMI device20.

Intensity (hereinafter, referred to as first intensity) for calling the attention to the information calling the first attention may be stronger than intensity (hereinafter, referred to as second intensity) for calling the attention to the information calling the second attention. In other words, the second intensity may be lower than the first intensity. Output of the information calling the second attention may mean that no information is output, or may mean that very little information is output.

In a case in which the second position is a position corresponding to a predetermined direction of the vehicle1A and the second position enters the blind spot region, the output circuit may output the information calling the first attention. In a case in which the second position is the position corresponding to the predetermined direction of the vehicle1A and the second position is not in the blind spot region, the output circuit may output the information calling the second attention. Here, the predetermined direction may be the traveling direction of the vehicle1A. Accordingly, in a case in which the second position is a position (for example, just beside the vehicle1A) different from the traveling direction of the vehicle1A, the output circuit may not output information calling the attention.

The imaging circuit may acquire the captured image such that at least a part of the captured image includes a predetermined direction (for example, a traveling direction) outside the vehicle1A.

The wireless communication circuit18may transmit the blind spot region through the V2X communication. The moving object5that has received the blind spot region through the V2X communication may transmit the second position through the V2X communication when the moving object5is in the blind spot region. When the second position enters the blind spot region, the output circuit may output the information calling the first attention. When the second position does not enter the blind spot region, the output circuit may output the information calling the second attention.

When the control circuit101detects the obstacle from the captured image, the wireless communication circuit18may transmit the blind spot region through the V2X communication.

The output circuit may be the display circuit. At least the information calling the first attention output from the display circuit may include a predetermined image at a position corresponding to the second position in a display region of the display circuit.

The moving object5may include at least a first communication device that can be carried by the pedestrian and a second communication device that can be installed in the vehicle. The wireless communication circuit18may be further configured such that the moving object5receives a first communication device type corresponding to the first communication device and a second communication device type corresponding to the second communication device. When the wireless communication circuit18receives the first communication device type, the information calling the first attention output by the display circuit may include a first image corresponding to the first communication device in the display region of the display circuit. When the wireless communication circuit18receives the second communication device type, the information calling the first attention output by the display circuit may include a second image corresponding to the second communication device in the display region of the display circuit. Here, the first image and the second image may be different images.

When the second position enters the blind spot region, the output circuit may output the information calling the first attention. Thereafter, when the second position does not enter the blind spot region, the output circuit may output information calling third attention. Here, the first intensity for calling the attention to the information calling the first attention may be stronger than intensity (hereinafter, referred to as third intensity) for calling the attention to the information calling the third attention. In other words, the third intensity may be weaker than the first intensity. Output of the information calling the third attention may mean that no information is output, or may mean that very little information is output.

For example, inFIG.13, since the vehicle1B is present in the traveling direction of the vehicle1A, the other side of the vehicle1B is the blind spot region as viewed from the driver of the vehicle1A.

The control circuit101of the vehicle1A may detect the blind spot region by the following (A1) to (A3).

(A1) The control circuit101analyzes a captured image obtained by capturing the image of the traveling direction of the vehicle1A by the camera device12, and detects a contour of the obstacle and a relative distance from the vehicle1A to the obstacle (hereinafter, referred to as an obstacle distance). In the case ofFIG.13, the control circuit101detects a contour of the vehicle1B as a contour of the obstacle. The obstacle distance may be detected using a parallax of two captured images, or may be detected using the LiDAR13or the millimeter wave radar14.

(A2) The control circuit101calculates the blind spot angle based on a size of the contour of the obstacle detected in (A1) and the obstacle distance.

(A3) The control circuit101detects the blind spot region based on the blind spot angle and the obstacle distance. For example, as illustrated inFIG.14A, the control circuit101may detect, as the blind spot region, a region that is beyond the obstacle distance in a sectorial region that expands at the blind spot angle in the traveling direction of the vehicle1A.

Information indicating the blind spot region (hereinafter, referred to as blind spot region information) may include the position (first position) of the vehicle1A, the traveling direction of the vehicle1A, the blind spot angle, the blind spot angle reference direction, a depth distance range of the blind spot, and the obstacle distance (seeFIG.16). Accordingly, as illustrated inFIGS.13,14A, and14B, the blind spot region of the vehicle1A can be identified.

The vehicle1A may detect the moving object5in the blind spot region by at least one of the following methods (B1) and (B2).

(B1) A device (first communication device or second communication device) provided in the moving object5appropriately transmits (for example, broadcasts) the position (second position) of the moving object5through the V2X communication. The control circuit101of the vehicle1A receives the position (second position) of the moving object5described above through the V2X communication through the wireless communication circuit18. The control circuit101of the vehicle1A detects the position of the moving object5in the blind spot region (that is, the moving object5in the blind spot region) among received positions of the moving object5.

(B2) The vehicle1A transmits (for example, broadcasts) the blind spot region information through the V2X communication through the wireless communication circuit18. When the moving object5that has received the blind spot region information is in the blind spot region indicated by the blind spot region information, the moving object5returns (feeds back) the position (second position) of the moving object5to the vehicle1A through the V2X communication. Accordingly, the vehicle1A can detect the moving object5in the blind spot region.

In the above (B1) and (B2), the device provided in the moving object5may transmit information (hereinafter, referred to as moving object type information) indicating a type of the moving object5in combination. For example, when the moving object5is a vehicle, the second communication device installed in the vehicle transmits the moving object type information indicating the “vehicle”. When the moving object5is a pedestrian, the first communication device carried by the pedestrian transmits the moving object type information indicating the “pedestrian”.

<Display of Information Calling Attention>

FIG.15is a diagram illustrating an example of display of information calling attention according to the second embodiment.

When the position of the moving object5is in the blind spot region, the control circuit101may display the information calling the first attention on the HMI device20which is an example of the display circuit. For example, when the control circuit101detects that three other vehicles and one pedestrian are present in the blind spot region, as illustrated inFIG.15, the control circuit101may display an image (vehicle icon501A) indicating the three vehicles and an image (pedestrian icon501B) indicating the one pedestrian on a contour502of the obstacle of the captured image displayed on the HMI device20. The pedestrian icon501B is an example of the first image, and the vehicle icon501A is an example of the second image. The control circuit101may determine whether the moving object5in the blind spot region is the vehicle or the pedestrian based on the moving object type information described above. Accordingly, the driver of the vehicle1A can recognize that the three vehicles and the one pedestrian are present in the blind spot region formed due to the obstacle (for example, another vehicle). Accordingly, the driver can more safely drive the vehicle1A.

When the position of the moving object5does not enter the blind spot region, the control circuit101may display, on the HMI device20which is an example of the display circuit, the information calling the second attention, or may not be displayed on the HMI device20. That is, the intensity (first intensity) of the attention to the information calling the first attention may be stronger than the intensity (second intensity) of the attention to the information calling the second attention.

As illustrated inFIG.15, the control circuit101may display the contour502of the obstacle on the captured image displayed on the HMI device20. In addition, the control circuit101may display, in the captured image, the blind spot angle formed by the contour502of the obstacle and a boundary line of the sectorial blind spot region formed by the blind spot angle.

In a case in which the display circuit is a head-up display (HUD), the control circuit101may display the contour502of the obstacle illustrated inFIG.15, the blind spot angle, and the boundary line along with the obstacle seen through the HUD.

FIG.16is a diagram showing an example of a V2X communication format of blind spot region information set according to the second embodiment.

The blind spot region information set is used when the information (blind spot region information) indicating the blind spot region of the vehicle1A is transmitted to the moving object5through the V2X communication.

As illustrated inFIG.16, the blind spot region information may include the blind spot angle of the vehicle1A, the blind spot angle reference direction of the vehicle1A, the depth distance range of the blind spot of the vehicle1A, the traveling direction of the vehicle1A, the position of the vehicle1A, the obstacle distance from the vehicle1A, and a speed of the vehicle1A.

The blind spot angle of the vehicle1A may be calculated as described above.

The traveling direction of the vehicle1A may be calculated based on a steering angle of a steering wheel in the steering circuit15. The traveling direction of the vehicle1A may be represented by an azimuth, or may be expressed by 360-degree azimuth angles, in which the north is 0 degrees (or 360 degrees), the east is 90 degrees, the south is 180 degrees, and the west is 270 degrees.

The position of the vehicle1A may be calculated by the position detection circuit11. The position of the vehicle1A may be represented by a set of longitude, latitude, and altitude.

The obstacle distance may be calculated as described above.

The speed of the vehicle1A may be calculated by a predetermined speed measurement device (not illustrated) provided in the vehicle1A.

The blind spot region information set may include a plurality of pieces of blind spot region information. In this case, in the blind spot region information set, the blind spot region information may be arranged in ascending order of the obstacle distance (that is, in order from the obstacle closest to the vehicle1A). For example, when a first obstacle and a second obstacle are present in order of proximity to the vehicle1A, a first blind spot region information indicating a blind spot region formed by the first obstacle and a second blind spot region information indicating a blind spot region formed by the second obstacle may be arranged in order in the blind spot region information set transmitted by the vehicle1A.

The information indicating the blind spot region is not limited to the example described above. For example, the information indicating the blind spot region may be represented by a combination of a plurality of triangles. In this case, a position and a shape of the triangle may be represented as a set of longitude, latitude and altitude for each of three vertices. The blind spot region information set may include information indicating the position and the shape of each of the triangles forming the blind spot region.

FIG.17is a diagram illustrating an example of a V2X communication format of moving object position information according to the second embodiment.

The moving object position information is used when the moving object5that has received the blind spot region information transmits (that is, feeds back) information indicating the position and the like of the moving object5to the vehicle that is a transmission source of the blind spot region information.

As illustrated inFIG.17, the moving object position information may include the position of the moving object5, the traveling direction of the moving object5, the speed of the moving object5, and a V2X communication terminal ID of the vehicle as the transmission source of the blind spot region information.

The position, the traveling direction, and the speed of the moving object5may be calculated in the same manner as the position, the traveling direction, and the speed of the vehicle1A described above. When the moving object5is a pedestrian, the traveling direction and the speed of the moving object5may be measured by a predetermined sensor (for example, an acceleration sensor, a gyro sensor, or a magnetic sensor) provided in a terminal of the moving object5.

The V2X communication terminal ID of the vehicle that is the transmission source of the blind spot region information may be included in the blind spot region information set (seeFIG.16) transmitted by the vehicle through the V2X communication.

FIG.18is a diagram showing an example of a V2X communication format of broadcast position information according to the second embodiment.

The broadcast position information is used when the vehicle1A or the moving object5broadcasts the information indicating the position and the like of the vehicle1A or the moving object5to surroundings through the V2X communication.

As illustrated inFIG.29, the broadcast position information may include the position of the vehicle1A or the moving object5, the traveling direction of the vehicle1A or the moving object5, and the speed of the vehicle1A or the moving object5.

FIG.19is a flowchart showing an example of a process in a case in which the vehicle1A determines whether the moving object5according to the second embodiment is in the blind spot region of the vehicle1A.

In S401, the moving object5broadcasts the broadcast position information (seeFIG.18) through the V2X communication.

In S402, the vehicle1A receives the broadcast position information in S401from the moving object5.

In S403, the vehicle1A obtains a captured image of the front through the camera device12.

In S404, the vehicle1A detects another vehicle from the captured image in S403, and surrounds a contour of the vehicle with a rectangular frame.

In S405, the vehicle1A determines whether another vehicle closest in the front (that is, an obstacle of an obstacle distance is shortest) forms the blind spot region. For example, when the traveling direction of the vehicle1A is in a range of the blind spot angle, the vehicle1A determines that the blind spot region is formed.

When the vehicle1A determines that the other vehicle (that is, the obstacle) closest in the front does not form the blind spot region (S405: NO), the vehicle1A ends the present process.

When the vehicle1A determines that the other vehicle (that is, the obstacle) closest in the front forms the blind spot region (S405: YES), the vehicle1A proceeds to a process of S406.

In S406, the vehicle1A specifies the blind spot region formed by the obstacle.

In S407, the vehicle1A determines whether the moving object5is present in the blind spot region based on the broadcast position information received in S402.

When the vehicle1A determines that the moving object5is present in the blind spot region (S407: YES), in S408, the vehicle1A outputs the information calling the first attention. For example, as illustrated inFIG.15, the vehicle1A displays the vehicle icon501A and/or the pedestrian icon501B on the HMI device20.

When the vehicle1A determines that the moving object5is not present in the blind spot region (S407: NO), the vehicle1A ends the present process. That is, the vehicle1A does not output the information calling the first attention. Alternatively, the vehicle1A may display the information calling the second attention.

FIG.20is a flowchart showing an example of a process in a case in which the moving object5according to the second embodiment determines whether the moving object5is in the blind spot region of the vehicle1A.

In S501, the vehicle1A obtains the captured image of the front of the vehicle1A through the camera device12.

In S502, the vehicle1A detects another vehicle from the captured image in S501, and surrounds a contour of the other vehicle (that is, the obstacle) with a rectangular frame.

In S503, the vehicle1A determines whether another vehicle closest in the front (that is, an obstacle of which an obstacle distance is shortest) forms the blind spot region.

When the vehicle1A determines that the other vehicle (that is, the obstacle) closest in the front does not form the blind spot region (S503: NO), the vehicle1A ends the present process.

When the vehicle1A determines that the other vehicle (that is, the obstacle) closest in the front forms the blind spot region (S503: YES), the vehicle1A proceeds to a process of S504.

In S504, the blind spot region formed by the obstacle is specified.

In S505, the vehicle1A transmits, through the V2X communication, the blind spot region information (seeFIG.16) indicating the blind spot region formed by the obstacle. Further, in S506, the vehicle1A waits for a reply (feedback) of the moving object position information (seeFIG.17) from the moving object5with respect to the transmission in S505.

In S507, the moving object5receives the blind spot region information in S505.

In S508, the moving object5determines whether the position of the moving object is in the blind spot region indicated by the blind spot region information.

When the moving object5determines that the position of the moving object5is not in the blind spot region (S508: NO), the moving object5ends the present process. That is, the moving object5does not return (feed back) the moving object position information.

When the moving object5determines that the position of the moving object5is in the blind spot region (S508: YES), in S509, the moving object5returns (feeds back) the moving object position information (seeFIG.17) to the vehicle1A through the V2X communication.

In S510, when the vehicle1A receives the moving object position information in S509, the vehicle1A proceeds to a process of S511.

In S511, the vehicle1A outputs the information calling the first attention. For example, as illustrated inFIG.15, the vehicle1A displays the vehicle icon501A and/or the pedestrian icon501B on the HMI device20.

When the vehicle1A does not receive the moving object position information from any moving object5, the vehicle1A does not output the information calling the first attention. Alternatively, the vehicle1A may output the information calling the second attention.

According to the process illustrated inFIG.19or20, the information calling the first attention is displayed when the moving object5is present in the blind spot region, and the information calling the attention is not displayed when the moving object5is not present in the blind spot region. That is, it is possible to call attention of the driver with appropriate intensity. Accordingly, it is possible to prevent the driver from becoming accustomed to display of the information calling the attention due to the excessive display of the information calling the attention and reducing an effect of the display calling the attention.

Third Embodiment

A vehicle and a control device according to a third embodiment will be described. In the third embodiment, the same components as those in the first or second embodiment are denoted by the same reference numerals, and a description thereof may be omitted. A content described in the third embodiment may be implemented together with the content described in at least one of the first and second embodiments.

FIG.21is a block diagram showing an example of configurations of devices provided in the vehicle1A and a server40according to the third embodiment.FIG.22is a schematic diagram illustrating a relationship between map data and a blind spot area according to the third embodiment.FIG.23is a schematic diagram illustrating the blind spot area and blind spot regions according to the third embodiment.

As illustrated inFIG.11, the vehicle1A includes the first wheels2A and the second wheels2B, and is movable in a predetermined direction using the first wheels2A and the second wheels2B. The predetermined direction may be read as a traveling direction of the vehicle1A. The traveling direction is not limited to a direction of the straight traveling, and may include a direction of right turning and a direction of left turning.

As illustrated inFIG.21, the vehicle1A includes the position detection circuit11, the camera device12, the LiDAR13, the millimeter wave radar14, the steering circuit15, the accelerator circuit16, the brake circuit17, a first wireless communication circuit21, a second wireless communication circuit22, the control device100, and the HMI device20.

The position detection circuit11detects a position of the vehicle1A. The position of the vehicle1A may be read as a first position.

The first wireless communication circuit21receives a position of another vehicle, a pedestrian, or the like through V2X communication. Hereinafter, the other vehicle, the pedestrian, or the like is referred to as the moving object5. A position of the moving object5may be read as a second position.

A map data holding circuit is set to hold map data. The map data holding circuit may be configured by the storage circuit102. The map data holding circuit may be configured by, for example, a RAM, a flash memory, or a combination thereof. The map data may include at least three-dimensional map data.

The output circuit is set so as to call attention. The output circuit is not limited to a circuit that simply outputs a signal, and may be a display circuit or a wireless communication circuit. The display circuit may be configured as, for example, the HMI device20.

When the control circuit101determines that the second position is in a blind spot due to an obstacle in the map data with respect to the first position, the output circuit may output information calling first attention. The obstacle is, for example, buildings (for example, a multi-floor building, a house, or the like) or a wall (for example, a fence) present along a road.

When the control circuit101determines that the second position is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit may output information calling second attention.

Intensity (hereinafter, referred to as first intensity) for calling the attention to the information calling the first attention may be stronger than intensity (hereinafter, referred to as second intensity) for calling the attention to the information calling the second attention. Output of the information calling the second attention may mean that no information is output, or may mean that very little information is output.

When the control circuit101determines that the second position is a position corresponding to a predetermined direction and the second position is in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit may output the information calling the first attention. When the control circuit101determines that the second position is the position corresponding to the predetermined direction and is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit may output the information calling the second attention.

The second wireless communication circuit22may be set to receive the map data. The first wireless communication circuit21and the second wireless communication circuit22may be an integrated wireless communication circuit.

Based on the first position and the map data, the control circuit101may set, as the blind spot region, a region that is the blind spot due to the obstacle in the map data with respect to the first position, and the first wireless communication circuit21may transmit the blind spot region. The moving object5that has received the blind spot region may transmit the second position when the moving object5is in the blind spot region. When the second position is in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit may output the information calling the first attention. When the second position is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit may output the information calling the second attention. At least a part of the blind spot region may include an intersection.

The output circuit is a display circuit, and at least the information calling the first attention output from the display circuit may include a predetermined image at a position corresponding to the second position in a display region of the display circuit.

The moving object may include at least a first communication device that can be carried by the pedestrian and a second communication device that can be installed in the vehicle. The first wireless communication circuit21may be further configured such that the moving object5receives a first communication device type corresponding to the first communication device and a second communication device type corresponding to the second communication device. When the first wireless communication circuit21receives the first communication device type, the information calling the first attention output from the display circuit may include a first image corresponding to the first communication device in the display region of the display circuit. When the first wireless communication circuit21receives the second communication device type, the information calling the first attention output by the display circuit may include a second image corresponding to the second communication device in the display region of the display circuit. Here, the first image and the second image may be different images.

When the control circuit101determines that the second position is in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit may output the information calling the first attention. Thereafter, when the control circuit101determines that the second position is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit may output information calling third attention. First intensity for calling the attention to the information calling the first attention may be stronger than third intensity for calling the attention to the information calling the third attention. Output of the information calling the third attention may mean that no information is output, or may mean that very little information is output.

Next, the server40will be described. The server40includes a processor41, a memory42, a storage43, and a communication circuit44. The server40achieves a function provided by the server40by reading and executing a computer program from the memory42or the storage43. Further, the server40is connected to a communication network50via the communication circuit44. The communication network50may be configured by a cellular network (for example, LTE, 4G, or 5G), the Internet, or a combination thereof.

The second wireless communication circuit22of the vehicle1A may be connected to the communication network50through an antenna23provided in the vehicle1A. Further, the second wireless communication circuit22may transmit and receive information to and from the server40through the communication network50.

The server40manages the map data. The map data may be two-dimensional map data or three-dimensional map data. The server40may receive captured images of an outside of the vehicle from a large number of vehicles while the vehicle is traveling, and create three-dimensional map data using the received captured images.

As illustrated inFIG.22, the server40sets the blind spot areas in the three-dimensional map data. For example, the server40sets the blind spot areas at intersections on which traffic lights of a residential street are not provided and visibility is poor due to a building, a wall, or the like. This is because, at such an intersection, the blind spot for the driver may be formed due to the buildings, the walls, or the like present along the road.

For example, as illustrated inFIG.22, the blind spot area may be set to a range of m from a center of the intersection in directions of the north, the south, the east, and the west. Further, the blind spot area may be represented by positions of four vertices (vertices A, B, C, and D inFIG.22) of a quadrangle that forms the blind spot area. The positions of the vertices A, B, C, and D may be represented by a set of latitude, longitude, and altitude.

The server40may transmit, to the vehicle1A, dynamic map information (seeFIG.27) including setting of the blind spot area to the map data. At this time, when the vehicle1A is in the blind spot area, the server40may add the information indicating the content in the dynamic map information and transmit the information. Accordingly, the vehicle1A can recognize whether the vehicle1A is in the blind spot area.

The process performed by the server40may be executed by edge computing (for example, a radio base station) present near the vehicle1A. Further, the map data may be stored in the edge computing. Accordingly, a communication delay between the vehicle1A and the server40can be reduced.

The vehicle1A can receive the dynamic map information from the server40and determine whether the vehicle1A is in the blind spot area. When the vehicle1A is in the blind spot area, the vehicle1A specifies the blind spot region for the driver. For example, the vehicle1A calculates the blind spot regions as illustrated inFIG.23, based on positions, sizes, and the like of obstacles such as buildings or walls in the map data received from the server40.

Further, the vehicle1A determines whether the moving object5is present in the blind spot region. For example, the vehicle1A receives information indicating the position of the moving object5from the moving object5or the server40, and determines whether the position of the moving object5is in the blind spot region. When the moving object5is in the blind spot region, the vehicle1A may display the information calling the first attention. Next, a display example of the information calling the first attention will be described.

<Display Example of Information Calling Attention>

FIG.24is a diagram showing a first example in which an image of the moving object5present in the blind spot region is displayed on the HMI device20according to the third embodiment.

When the moving object5enters the blind spot area and is present in the blind spot region, as an example of the information calling the first attention, as illustrated inFIG.24, the control circuit101of the vehicle1A may display, on the HMI device20, an image indicating the position of the moving object5present in the blind spot region and a traveling direction of the moving object5in accordance with the position of the intersection in the captured image. Here, when the moving object5is present in a blind spot region on a right front side as viewed from the driver, the image of the moving object5may be displayed at a position on a right side of the intersection in the captured image. Here, when the moving object5is present in a blind spot region on a left front side as viewed from the driver, the image of the moving object5may be displayed at a position on a left side of the intersection in the captured image.

When the moving object5is another vehicle, the vehicle icon501A may be displayed as an example of a second image, and when the moving object5is a pedestrian, the pedestrian icon501B may be displayed as an example of a first image. Further, the traveling direction of the moving object5may be indicated by an arrow. Further, when the HMI device20is a HUD, the control circuit101may display the vehicle icon501A and/or the pedestrian icon501B in accordance with the position of the intersection viewed through the HUD.

FIG.25is a diagram showing a second example in which the image of the moving object5present in the blind spot region is displayed on the HMI device20according to the third embodiment.

When the moving object5enters the blind spot area and is present in the blind spot region, as an example of the information calling the first attention, as illustrated inFIG.25, the control circuit101of the vehicle1A may display, at a lower end of the captured image on the HMI device20, the image indicating the position of the moving object5present in the blind spot region and the traveling direction of the moving object5. Here, when the moving object5is present in the blind spot region on the right front side as viewed from the driver, the image of the moving object5may be displayed at a lower right end of the captured image. Here, when the moving object5is present in the blind spot region on the left front side as viewed from the driver, the image of the moving object5may be displayed at a lower left end of the captured image.

When the moving object5is another vehicle, the vehicle icon501A may be displayed as an example of a second image, and when the moving object5is a pedestrian, the pedestrian icon501B may be displayed as an example of a first image. Further, the traveling direction of the moving object5may be indicated by an arrow. When the HMI device20is the HUD, the control circuit101may display the vehicle icon501A and/or the pedestrian icon501B at a lower end of the HUD.

FIG.26is a diagram showing an example of a V2X communication format of vehicle position information according to the third embodiment.

The vehicle position information is used when the vehicle1A transmits information indicating a position or the like thereof to the moving object5or the server40through V2X communication.

As illustrated inFIG.26, the vehicle position information may include the position of the vehicle1A, a traveling direction of the vehicle1A, a speed of the vehicle1A, and V2X communication terminal ID of the vehicle1A.

The position of the vehicle1A may be calculated by the position detection circuit11. The position of the vehicle1A may be represented by a set of longitude, latitude, and altitude.

The traveling direction of the vehicle1A may be calculated based on a steering angle of a steering wheel in a steering circuit. The traveling direction of the vehicle1A may be represented by an azimuth, or may be expressed by 360-degree azimuth angles, in which the north is 0 degrees (or 360 degrees), the east is 90 degrees, the south is 180 degrees, and the west is 270 degrees.

The speed of the vehicle1A may be calculated by a predetermined speed measurement device provided in the vehicle.

The V2X communication terminal ID of the vehicle1A is an ID for identifying the vehicle1A in the V2X communication.

FIG.27is a diagram showing an example of a V2X communication format of dynamic map information according to the third embodiment.

The dynamic map information is used when the server40transmits the map data including the blind spot area and the like to the vehicle or the moving object5through the V2X communication.

As illustrated inFIG.27, the dynamic map information may include at least one blind spot area information. In addition, the dynamic map information may include at least one piece of road information, at least one piece of intersection information, and at least one danger flag.

The blind spot area information may include a blind spot flag indicating whether the vehicle1A that is a transmission source of the vehicle position information is in the blind spot area, and position information indicating the blind spot area.

For example, the blind spot flag=0 indicates that the vehicle1A is not in the blind spot area, and the blind spot flag=1 indicates that the vehicle1A is in the blind spot area. When the vehicle1A, instead of the server40, determines whether the vehicle1A is in the blind spot area (seeFIG.30), the blind spot area information may not include the blind spot flag.

For example, the position information indicating the blind spot area may include positions of four vertices (vertices A, B, C, and D inFIG.23) of a quadrangle that forms the blind spot area. Each of the positions of the four vertices may be represented by a set of the latitude, the longitude, and the altitude.

The road information may include information such as a direction of a road, a width of the road, or one-way traffic in the blind spot area.

The intersection information may include information related to the intersection in the blind spot area.

For example, the danger flag of “0” indicates that the blind spot area is less dangerous, and the danger flag of “1” indicates that the blind spot area is dangerous. For example, the danger flag may be “1” when the road in the blind spot area is very narrow, there is a dead end, or there is an entrance-forbidden area.

FIG.28is a diagram showing an example of a V2X communication format of moving object position information according to the third embodiment.

The moving object position information is used when the moving object5transmits the information indicating the position or the like thereof to the vehicle1A or the server40through the V2X communication.

As illustrated inFIG.28, the moving object position information may include the position of the moving object5, the traveling direction of the moving object5, a speed of the moving object5, and a V2X communication terminal ID of the moving object5.

The position, the traveling direction, and the speed of the moving object5may be calculated in the same manner as the position, the traveling direction, and the speed of the vehicle1A described above. When the moving object5is a pedestrian, the traveling direction and the speed of the moving object5may be measured by a predetermined sensor (for example, an acceleration sensor, a gyro sensor, or a magnetic sensor) provided in a terminal of the moving object5.

FIG.29is a diagram showing an example of a V2X communication format of broadcast position information according to the third embodiment.

The broadcast position information is used when the vehicle or the moving object5broadcasts the information indicating the position and the like of the vehicle or the moving object5to surroundings through the V2X communication.

As illustrated inFIG.29, the broadcast position information may include the position of the vehicle or the moving object5, the traveling direction of the vehicle or the moving object5, and the speed of the vehicle or the moving object5.

FIG.30is a flowchart showing an example of a process in a case in which the vehicle1A according to the third embodiment determines whether the vehicle1A is in the blind spot area.

In S601, the vehicle1A measures the position of the vehicle1A.

In S602, the vehicle1A transmits, to the server40, the vehicle position information including the position of the vehicle1A measured in S601through the V2X communication.

In S603, the server40receives the vehicle position information in S602, and specifies the position of the vehicle1A with reference to the vehicle position information.

In S604, the server40transmits, to the vehicle1A, the surrounding map data including the position of the vehicle1A and the dynamic map information related to the map data through the V2X communication.

In S605, the vehicle1A receives the map data and the dynamic map information in S604.

In S606, the vehicle1A determines whether the vehicle1A is in the blind spot area based on the received dynamic map information. For example, the vehicle1A determines whether the position of the vehicle1A is in the blind spot area based on the position information indicating the blind spot area in the blind spot area information of the dynamic map information.

When the vehicle1A determines that the position of the vehicle1A is not in the blind spot area (S606: NO), the vehicle1A ends the present process.

When the vehicle1A determines that the position of the vehicle1A is in the blind spot area (S606: YES), the vehicle1A proceeds to a process of S607.

In S607, the vehicle1A specifies the blind spot region viewed from the vehicle1A based on a position, a size, and the like of the obstacle in the blind spot area in the map data.

In S608, the vehicle1A determines whether the moving object5is present in the blind spot region. For example, the vehicle1A receives the moving object position information or the broadcast position information from the moving object5by the V2X communication, and specifies the position of the moving object5. Further, the vehicle1A determines whether the position of the moving object5is in the blind spot region.

When the vehicle1A determines that the moving object5is not present in the blind spot region (S608: NO), the vehicle1A ends the present process. That is, the vehicle1A does not output the information calling the first attention. Alternatively, the vehicle1A may output the information calling the second attention.

When the vehicle1A determines that the moving object5is present in the blind spot region (S608: YES), the vehicle1A outputs the information calling the first attention in S609. For example, as illustrated inFIG.24orFIG.25, the vehicle1A displays the vehicle icon501A and/or the pedestrian icon501B on the HMI device20.

FIG.31is a flowchart illustrating an example of a process in a case in which the server40determines whether the vehicle1A according to the third embodiment is in the blind spot area.

In S701, the vehicle1A measures the position of the vehicle1A.

In S702, the vehicle1A transmits, to the server40, the vehicle position information including the position of the vehicle1A measured in S701through the V2X communication.

In S703, the server40receives the vehicle position information in S702, and specifies the position of the vehicle1A with reference to the vehicle position information.

In S704, the server40determines whether the position of the vehicle1A is in the blind spot area.

When the position of the vehicle1A is in the blind spot area, in S705, the server40transmits, to the vehicle1A, the map data around the vehicle1A, the dynamic map information including the blind spot flag (blind spot flag=1) indicating that the vehicle1A is in the blind spot area, and the moving object position information of the moving object5present in the blind spot area through the V2X communication. It is assumed that the moving object5transmits the moving object position information to the server40at any time.

When the position of the vehicle1A is not in the blind spot area (S704: NO), in S706, the server40transmits, to the vehicle1A, the map data around the vehicle1A and the dynamic map information including the blind spot flag (blind spot flag=0) indicating that the vehicle1A is not in the blind spot area through the V2X communication.

In S707, the vehicle1A receives, from the server40through the V2X communication, the map data and the dynamic map information transmitted in S705or S706.

In S708, the vehicle1A refers to the blind spot flag of the dynamic map information, and determines whether the vehicle1A is in the blind spot area.

When the vehicle1A determines that the position of the vehicle1A is not in the blind spot area (S708: NO), the vehicle1A ends the present process. That is, the vehicle1A does not display the information calling attention. Alternatively, the vehicle1A may display the information calling the second attention.

When the vehicle1A determines that the position of the vehicle1A is in the blind spot area (S708: YES), the process proceeds to S709.

In S709, the vehicle1A specifies the blind spot region viewed from the vehicle1A based on the position, the size, and the like of the obstacle in the blind spot area in the map data.

In S710, the vehicle1A determines whether the moving object5is present in the blind spot region. For example, the vehicle1A determines whether the moving object5is present in the blind spot region using the moving object position information received from the server40in S707.

When the vehicle1A determines that the moving object5is not present in the blind spot region (S710: NO), the vehicle1A ends the present process. That is, the vehicle1A does not display the information calling the first attention. Alternatively, the vehicle1A may display the information calling the second attention.

When the vehicle1A determines that the moving object5is present in the blind spot region (S710: YES), the vehicle1A outputs the information calling the first attention in S711. For example, as illustrated inFIG.24orFIG.25, the vehicle1A displays the vehicle icon501A and/or the pedestrian icon501B on the HMI device20.

In the process illustrated inFIG.30or31, when the vehicle1A does not enter the blind spot area (that is, when the vehicle1A exits from the blind spot area), the HMI device of the vehicle1A may hide the information calling the first attention. Alternatively, the HMI device20of the vehicle1A may display the information calling the third attention. The intensity (first intensity) for calling the attention to the information calling the first attention described above may be stronger than the intensity (third intensity) for calling the attention to the information calling the third attention.

According to the process illustrated inFIG.30or31, the information calling the first attention is displayed when the vehicle1A is in the blind spot area and the moving object is present in the blind spot region, and the information calling the attention is not displayed when the vehicle1A is not in the blind spot area. That is, it is possible to call attention of the driver with appropriate intensity. Accordingly, it is possible to prevent the driver from becoming accustomed to the display of the information calling the attention due to the excessive display of the information calling the attention and reducing an effect of displaying the information calling the attention.

Although embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited thereto. It is obvious to those skilled in the art that various changes, modifications, replacements, additions, deletions, and equivalents can be conceived within the scope described in the claims, and it is understood that these also belong to the technical scope of the present disclosure. In addition, components in the embodiments described above may be combined freely in a range without deviating from the spirit of the invention.

A vehicle including:a first wheel and a second wheel;a steering circuit configured to steer at least one of the first wheel and the second wheel; anda wireless communication circuit configured to wirelessly communicate with the first vehicle and the second vehicle, in whichwhen the wireless communication circuit receives a scheduled route of the first vehicle from the first vehicle while the vehicle is traveling on a first scheduled route, and determines that a possibility of a collision with the first vehicle is equal to or greater than a certain value based on the first scheduled route and the scheduled route of the first vehicle,the vehicle creates a second scheduled route different from the first scheduled route, starts traveling on the second scheduled route, and transmits the scheduled route of the first vehicle and the second scheduled route to the second vehicle.

The vehicle according to A-1, further including:a control circuit.

The vehicle according to A-1 or A-2, in whichthe possibility of the collision with the first vehicle, which is determined based on the first scheduled route and the scheduled route of the first vehicle, is set as a first possibility,a possibility of the collision with the first vehicle, which is determined based on the second scheduled route and the scheduled route of the first vehicle, is set as a second possibility, andthe second possibility is lower than the first possibility.

The vehicle according to any one of A-1 to A-3, in whichthe second scheduled route is a route on which the vehicle avoids the collision with the first vehicle.

The vehicle according to any one of A-1 to A-4, in whichthe second vehicle that has received the scheduled route of the first vehicle and the second scheduled route is capable of performing control based on the scheduled route of the first vehicle and the second scheduled route.

The vehicle according to any one of A-1 to A-5, in whichthe scheduled route of the first vehicle includes at least one piece of position information and at least one piece of direction information.

The vehicle according to any one of A-1 to A-6, in whicheach of the first scheduled route and the second scheduled route includes at least one piece of position information and at least one piece of direction information.

The vehicle according to any one of A-1 to A-7, further including:a position information detection circuit configured to acquire position information.

The vehicle according to any one of A-1 to A-8, in whichthe steering circuit performs steering with respect to the at least one of the first wheel and the second wheel based on the first scheduled route and the second scheduled route.

The vehicle according to any one of A-1 to A-9, further including:a drive portion configured to drive the at least one of the first wheel and the second wheel.

A control device mountable on a vehicle including a first wheel and a second wheel, a steering circuit configured to steer at least one of the first wheel and the second wheel, and a wireless communication circuit configured to wirelessly communicate with the first vehicle and the second vehicle, in whichwhen the wireless communication circuit receives a scheduled route of the first vehicle from the first vehicle while the vehicle is traveling on a first scheduled route, and determines that a possibility of a collision with the first vehicle is equal to or greater than a certain value based on the first scheduled route and the scheduled route of the first vehicle,the control device creates a second scheduled route different from the first scheduled route, starts traveling on the second scheduled route, and transmits the scheduled route of the first vehicle and the second scheduled route to the second vehicle.

The control device according to A-11, further including:a control circuit.

The control device according to A-11 or A-12, in whichthe possibility of the collision with the first vehicle, which is determined based on the first scheduled route and the scheduled route of the first vehicle, is set as a first possibility,a possibility of the collision with the first vehicle, which is determined based on the second scheduled route and the scheduled route of the first vehicle, is set as a second possibility, andthe second possibility is lower than the first possibility.

The control device according to any one of A-11 to A-13, in whichthe second scheduled route is a route on which the vehicle avoids the collision with the first vehicle.

The control device according to any one of A-11 to A-14, in whichthe second vehicle that has received the scheduled route of the first vehicle and the second scheduled route is capable of performing control based on the scheduled route of the first vehicle and the second scheduled route.

The control device according to any one of A-11 to A-15, in whichthe scheduled route of the first vehicle includes at least one piece of position information and at least one piece of direction information.

The control device according to any one of A-11 to A-16, in whicheach of the first scheduled route and the second scheduled route includes at least one piece of position information and at least one piece of direction information.

The control device according to any one of A-11 to A-17, further including:a position information detection circuit configured to acquire position information.

The control device according to any one of A-11 to A-18, in whichthe steering circuit performs steering with respect to the at least one of the first wheel and the second wheel based on the first scheduled route and the second scheduled route.

The control device according to any one of A-11 to A-19, in whichthe vehicle further includes a drive portion configured to drive the at least one of the first wheel and the second wheel.

A vehicle including a first wheel and a second wheel and movable in a predetermined direction using the first wheel and the second wheel, the vehicle including:a position detection circuit configured to detect a first position of the vehicle;a wireless communication circuit configured to receive a second position of a moving object;a map data holding circuit configured to hold map data; andan output circuit set configured to output information calling attention, in whichwhen the second position is in a blind spot due to an obstacle in the map data with respect to the first position, the output circuit outputs information calling first attention,when the second position is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs information calling second attention, andfirst intensity for calling attention to the information calling the first attention is stronger than second intensity for calling attention to the information calling the second attention.

The vehicle according to B-1, in whichwhen the second position is a position corresponding to the predetermined direction and the second position is in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the first attention, andwhen the second position is a position corresponding to the predetermined direction and is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the second attention.

The vehicle according to B-1 or B-2, in whichthe output of the information calling the second attention means that nothing is output.

The vehicle according to any one of B-1 to B-3, in whichthe wireless communication circuit is set as a first wireless communication circuit, andthe vehicle further includes a second wireless communication circuit configured to receive the map data.

The vehicle according to any one of B-1 to B-4, in whichthe map data includes at least three-dimensional map data.

The vehicle according to any one of B-1 to B-5, in whichbased on the first position and the map data, a region that is a blind spot due to the obstacle in the map data is set as a blind spot region with respect to the first position,the wireless communication circuit transmits the blind spot region,the moving object that has received the blind spot region transmits the second position when the moving object is in the blind spot region,when the second position is in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the first attention, andwhen the second position is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the second attention.

The vehicle according to B-6, in whichat least a part of the blind spot region includes an intersection.

The vehicle according to any one of B-1 to B-7, in whichthe output circuit is a display circuit, andat least the information calling the first attention output from the display circuit includes a predetermined image at a position corresponding to the second position in a display region of the display circuit.

The vehicle according to any one of B-1 to B-7, in whichthe output circuit is a display circuit,the moving object includes at least a first communication device configured to be carried by a pedestrian and a second communication device configured to be provided on the vehicle,the wireless communication circuit is further configured to receive a first communication device type corresponding to the first communication device by the moving object and a second communication device type corresponding to the second communication device by the moving object,when the wireless communication circuit receives the first communication device type, the information calling the first attention output from the display circuit includes a first image corresponding to the first communication device in a display region of the display circuit, andwhen the wireless communication circuit receives the second communication device type, the information calling the first attention output from the display circuit includes a second image corresponding to the second communication device in the display region of the display circuit.

The vehicle according to any one of B-1 to B-9, in whichwhen the second position is in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the first attention,thereafter, when the second position is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs information calling third attention, andthe first intensity for calling the attention to the information calling the first attention is stronger than third intensity for calling attention to the information calling the third attention.

A control device configured to be mounted on a vehicle including a first wheel and a second wheel, movable in a predetermined direction using the first wheel and the second wheel, and further including a position detection circuit configured to detect a first position of the vehicle, and a wireless communication circuit configured to receive a second position of a moving object, the control device including:a map data holding circuit configured to hold map data;an output circuit configured to output information calling attention, in whichwhen the second position is in a blind spot due to an obstacle in the map data with respect to the first position, the output circuit outputs information calling first attention,when the second position is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs information calling second attention, andfirst intensity for calling attention to the information calling the first attention is stronger than second intensity for calling attention to the information calling the second attention.

The control device according to B-11, in whichwhen the second position is a position corresponding to the predetermined direction and the second position is in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the first attention, andwhen the second position is a position corresponding to the predetermined direction and is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the second attention.

The control device according to B-11 or B-12, in whichthe output of the information calling the second attention means that nothing is output.

The control device according to any one of B-11 to B-13, in whichthe wireless communication circuit is set as a first wireless communication circuit, andthe vehicle further includes a second wireless communication circuit configured to receive the map data.

The control device according to any one of B-11 to B-14, in whichthe map data includes at least three-dimensional map data.

The control device according to any one of B-11 to B-15, in whichbased on the first position and the map data, a blind spot region that is the blind spot due to the obstacle in the map data with respect to the first position is generated,the wireless communication circuit transmits the blind spot region,the moving object that has received the blind spot region transmits the second position when the moving object is in the blind spot region,when the second position is in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the first attention, andwhen the second position is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the second attention.

The control device according to B-16, in whichat least a part of the blind spot region includes an intersection.

The control device according to any one of B-11 to B-17, in whichthe output circuit is configured to be connected to a display circuit, andthe information calling the first attention output from the display circuit includes a predetermined image at a position corresponding to the second position in a display region of the display circuit.

The control device according to any one of B-11 to B-17, in whichthe output circuit is configured to be connected to a display circuit,the moving object includes at least a first communication device configured to be carried by a pedestrian and a second communication device configured to be provided on the vehicle,the wireless communication circuit is further configured to receive a first communication device type corresponding to the first communication device by the moving object and a second communication device type corresponding to the second communication device by the moving object,when the wireless communication circuit receives the first communication device type, the information calling the first attention output from the display circuit includes a first image corresponding to the first communication device in a display region of the display circuit, andwhen the wireless communication circuit receives the second communication device type, the information calling the first attention output from the display circuit includes a second image corresponding to the second communication device in the display region of the display circuit.

The control device according to any one of B-11 to B-19, in whichwhen the second position is in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs the information calling the first attention,thereafter, when the second position is not in the blind spot due to the obstacle in the map data with respect to the first position, the output circuit outputs information calling third attention, andthe first intensity for calling the attention to the information calling the first attention is stronger than third intensity for calling attention to the information calling the third attention.

The present application is based on Japan patent application (Japanese Patent Application No. 2020-200523) filed on Dec. 2, 2020, Japanese patent application (Japanese Patent Application No. 2021-21156) filed on Feb. 12, 2021, and Japanese patent application (Japanese Patent Application No. 2021-21157) filed on Feb. 12, 2021, and the contents of which are incorporated herein by reference.

INDUSTRIAL APPLICABILITY

The technique of the present disclosure is useful for improving safety of driving a vehicle.