Source: https://patents.google.com/patent/WO2018163349A1/en
Timestamp: 2020-02-23 13:52:50
Document Index: 169222449

Matched Legal Cases: ['art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 26', 'art 26', 'art 26', 'art 26', 'art 26', 'art 12', 'art 26', 'art 12', 'art 26', 'art 12', 'art 26', 'art 12', 'art 26', 'art 12', 'art 24', 'art 91', 'art 91']

WO2018163349A1 - Traveling support device and traveling support method - Google Patents
Traveling support device and traveling support method Download PDF
WO2018163349A1
WO2018163349A1 PCT/JP2017/009445 JP2017009445W WO2018163349A1 WO 2018163349 A1 WO2018163349 A1 WO 2018163349A1 JP 2017009445 W JP2017009445 W JP 2017009445W WO 2018163349 A1 WO2018163349 A1 WO 2018163349A1
PCT/JP2017/009445
井崎　公彦
中村　好孝
直志 宮原
小畑　直彦
義典 上野
2017-03-09 Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
2017-03-09 Priority to PCT/JP2017/009445 priority Critical patent/WO2018163349A1/en
2018-09-13 Publication of WO2018163349A1 publication Critical patent/WO2018163349A1/en
238000006011 modification Methods 0 description 45
230000004048 modification Effects 0 description 45
230000002093 peripheral Effects 0 description 39
The present invention has the purpose of providing a technology which can restrict an information processing amount when a first lane change is performed in which a preceding vehicle and a following vehicle integrally change lanes. The present invention is provided with: an information acquisition unit which acquires a relative position of another vehicle and a relative speed of the other vehicle; and a control unit which determines whether the first lane change can be performed in which the preceding vehicle and the following vehicle integrally change lanes, while the following vehicle maintains automatic following, on the basis of the relative position of the other vehicle and the relative speed of the other vehicle, which are acquired by the information acquisition unit, wherein the driver of the following vehicle can participate in automatic driving of the following vehicle.
The present invention relates to a driving support device and a driving support method for supporting driving of a preceding vehicle and a succeeding vehicle.
In recent years, an automatic following traveling system has been proposed in which the relative position and relative speed of a preceding vehicle and a following vehicle are detected, and the following vehicle automatically follows the preceding vehicle based on the detection result. Various techniques have been proposed for automatic driving of such vehicles.
For example, Patent Document 1 discloses a technique for determining whether or not a preceding vehicle and a group of succeeding vehicles that automatically follow the preceding vehicle in series can change lanes integrally. In such a technique, if the preceding vehicle is configured to change the lane when it is determined that the lane can be changed integrally, it is possible to maintain automatic tracking in a group of subsequent vehicles as much as possible.
Japanese Patent Laid-Open No. 10-261194
As described above, in the traveling in which a group of subsequent vehicles automatically follow the preceding vehicle in series, so-called platone traveling, automatic driving at an automatic driving level that does not involve the driver at all is used. That is, in platoon driving, the distance between vehicles is generally about the full length of the vehicle, and the vehicle during platoon driving cannot directly participate in driving control of the vehicle unless it escapes from platoon driving once. It is. However, when executing an automatic driving at an automatic driving level that does not involve the driver at all, a relatively high information processing capability is required in the automatic driving control unit that controls the automatic driving. In addition to this, there is a problem that when the lane change as described above is performed, a very high information processing capability is required in the automatic operation control unit.
Therefore, the present invention has been made in view of the above problems, and a technology capable of suppressing the amount of information processing when the first lane change is performed in which the preceding vehicle and the following vehicle change lanes integrally. The purpose is to provide.
The driving support device according to the present invention includes at least one of a preceding vehicle, a succeeding vehicle capable of automatically following the preceding vehicle by inter-vehicle communication and automatic driving, and at least one other than the preceding vehicle and the following vehicle. An information acquisition unit that acquires another vehicle relative position that is a relative position with respect to another vehicle, and that acquires another vehicle relative speed that is a relative speed between at least one of the preceding vehicle and the following vehicle and the other vehicle; Whether or not it is possible to execute the first lane change in which the preceding vehicle and the following vehicle change lanes integrally while the following vehicle maintains automatic tracking based on the other vehicle relative position and the other vehicle relative speed acquired by the acquisition unit. The automatic driving of the following vehicle is an automatic driving that can involve the driver of the following vehicle.
According to the present invention, since the automatic driving of the following vehicle is an automatic driving in which the driver of the following vehicle can be involved, it is possible to suppress the amount of information processing when the first lane change is performed.
It is a figure which shows the preceding vehicle and subsequent vehicle which are supported by the driving assistance apparatus which concerns on Embodiment 1. FIG. It is a block diagram which shows the structure of the driving assistance apparatus which concerns on Embodiment 1. FIG. It is a figure which shows an automatic driving | operation level. It is a figure which shows a SAE level. FIG. 6 is a block diagram showing a configuration of a preceding side travel support unit according to Embodiment 2. FIG. 6 is a block diagram illustrating a configuration of a subsequent side travel support unit according to a second embodiment. 10 is a flowchart showing an operation of a preceding side travel support unit according to the second embodiment. 6 is a flowchart showing an operation of a subsequent side travel support unit according to the second embodiment. 10 is a flowchart showing an operation of a preceding side travel support unit according to a fifth modification of the second embodiment. 10 is a flowchart showing an operation of a subsequent side travel support unit according to a fifth modification of the second embodiment. FIG. 10 is a diagram for explaining the operation of the driving support apparatus according to the second embodiment. FIG. 10 is a diagram for explaining the operation of the driving support apparatus according to the second embodiment. FIG. 10 is a diagram for explaining an operation of a driving support apparatus according to Embodiment 3. FIG. 10 is a diagram for explaining an operation of a driving support apparatus according to Embodiment 3. 10 is a flowchart showing an operation of a preceding side travel support unit according to the third embodiment. 10 is a flowchart showing an operation of a subsequent side travel support unit according to the third embodiment. FIG. 10 is a block diagram illustrating a configuration of a preceding side travel support unit according to a fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. FIG. 10 is a block diagram illustrating a configuration of a subsequent side travel support unit according to a fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. FIG. 22 is a diagram showing a display example by display control of a preceding side travel support unit according to Modification 3 of Embodiment 4. 10 is a flowchart showing an operation of a preceding side travel support unit according to the fifth embodiment. 10 is a flowchart showing an operation of a subsequent side travel support unit according to the fifth embodiment. FIG. 10 is a diagram for explaining the operation of a driving support apparatus according to a fifth embodiment. FIG. 10 is a diagram for explaining the operation of a driving support apparatus according to a fifth embodiment. It is a block diagram which shows the hardware constitutions of the driving assistance apparatus which concerns on another modification. It is a block diagram which shows the hardware constitutions of the driving assistance apparatus which concerns on another modification. It is a block diagram which shows the structure of the server which concerns on another modification. It is a block diagram which shows the structure of the communication terminal which concerns on another modification.
The travel support apparatus according to Embodiment 1 of the present invention supports travel of the preceding vehicle 2 and the subsequent vehicle 3 shown in FIG. In FIG. 1, the preceding vehicle 2 and the succeeding vehicle 3 displayed in a pentagonal shape are advanced toward the acute angle side of the pentagon.
The preceding vehicle 2 may or may not be capable of automatic driving. On the other hand, the succeeding vehicle 3 is capable of automatic driving, and can be automatically tracked to follow the preceding vehicle 2 by inter-vehicle communication and automatic driving. In addition, the following vehicle 3 may be one or plural.
FIG. 2 is a block diagram showing a configuration of the travel support apparatus 1 according to the first embodiment. The travel support apparatus 1 of FIG. 2 includes an information acquisition unit 11 and a control unit 12. The components constituting the driving support device 1 may be distributed and mounted on the preceding vehicle 2 and the succeeding vehicle 3 as described later, or may be concentrated on one of the preceding vehicle 2 and the following vehicle 3. May be.
The information acquisition unit 11 acquires a relative position of another vehicle that is a relative position of at least one of the preceding vehicle 2 and the following vehicle 3 and one or more other vehicles other than the preceding vehicle 2 and the following vehicle 3. The one or more other vehicles include, for example, the other vehicle 4a in FIG. 1 traveling in the lane in which the preceding vehicle 2 and the following vehicle 3 are about to change lanes, and the other vehicle 4b traveling after the other vehicle 4a. And are included.
The information acquisition unit 11 of FIG. 2 not only acquires the above-described other vehicle relative position, but also calculates another vehicle relative position that is a relative position between at least one of the preceding vehicle 2 and the following vehicle 3 and one or more other vehicles. get.
Based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit 11, the control unit 12 changes the lane of the preceding vehicle 2 and the following vehicle 3 integrally while the subsequent vehicle 3 maintains automatic tracking. It is determined whether the first lane change can be executed. In the following description, the first lane change is referred to as “integrated lane change”.
For example, in the case of FIG. 1, the control unit 12 becomes the shortest within the period in which the preceding vehicle 2 and the following vehicle 3 change lanes based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit 11. An inter-vehicle distance between the other vehicle 4a and the other vehicle 4b is estimated and obtained. In the following description, such an inter-vehicle distance, that is, a distance between other vehicles traveling in the lane in which the preceding vehicle 2 and the following vehicle 3 are to change lanes may be referred to as “an inter-vehicle distance”. .
The control unit 12 determines that the integrated lane can be changed when the distance between the other vehicles is greater than the first distance, and determines that the integrated lane cannot be changed when the distance is equal to or less than the first distance. Here, the first distance is a predetermined distance necessary for the preceding vehicle 2 and the following vehicle 3 to change lanes integrally. When the second distance is a predetermined distance necessary for each of the preceding vehicle 2 and the following vehicle 3 to change lanes individually, the first distance is longer than the second distance.
In the configuration in which the preceding vehicle 2 can be driven automatically, the preceding vehicle 2 may or may not change the lane by the automatic driving based on the determination result of the control unit 12 regarding the integrated lane change. In the configuration in which the preceding vehicle 2 is not capable of automatic driving, for example, the determination result of the control unit 12 regarding the integrated lane change is notified to the driver of the preceding vehicle 2, and the driver of the preceding vehicle 2 changes the lane by manual driving. Or not.
Next, automatic operation will be described. FIG. 3 is a diagram showing the automatic driving levels defined in Japan. FIG. 4 is a diagram showing SAE (Society of Automotive Automotive Engineers) levels defined in the United States and Europe. 3 and the SAE level in FIG. 4, the higher the level, the higher the degree of driving performed by the system side, and the automatic driving level and the SAE level generally correspond.
Here, the so-called Platone travel automatic operation is an automatic operation of automatic operation level 4 (FIG. 3) or SAE levels 4 and 5 (FIG. 4), and it is assumed that the driver is not involved at all in Platone travel. Yes. However, in order for the preceding vehicle and the following vehicle to change lanes integrally with such an automatic driving level, there is a problem that a device for controlling automatic driving requires very high information processing capability. It was.
On the other hand, in the first embodiment, the automatic operation of the following vehicle 3 is an automatic operation of automatic operation levels 1 to 3 (FIG. 3) or SAE levels 1 to 3 (FIG. 4). That is, the automatic driving of the following vehicle 3 includes an automatic driving in which the driver of the following vehicle 3 performs one of acceleration, steering and braking, an automatic driving in which not all of acceleration, steering and braking are performed, and a system. The automatic driving includes the automatic driving corresponding to the driver of the succeeding vehicle 3 when the side normally performs all of acceleration, steering and braking but the system requests. As described above, in the first embodiment, the automatic driving of the following vehicle 3 is an automatic driving in which the driver of the following vehicle 3 can be involved. Note that being able to participate means that manual driving control is possible when the driver regains the driving control right from the automatic driving state. In general, whether or not the driver can be involved with an indicator such as the braking distance, the appropriate distance between the vehicle from the idle distance, or whether the time to reach the position of the preceding vehicle is a certain value or more. It can be used for judgment.
According to the driving support apparatus 1 according to the first embodiment as described above, the automatic driving of the following vehicle 3 is an automatic driving that allows the driver of the following vehicle 3 to participate, so that the integrated lane change is performed. The amount of information processing at the time can be suppressed. As a result, shortening of processing time in the driving support device 1 and reduction in cost of the driving support device 1 can be expected.
The travel support device 1 according to Embodiment 2 of the present invention includes a preceding travel support unit mounted on the preceding vehicle 2 and a subsequent travel support unit mounted on the subsequent vehicle 3.
FIG. 5 is a block diagram showing the configuration of the preceding travel support unit 1a according to the second embodiment, and FIG. 6 is a block diagram showing the configuration of the subsequent travel support unit 1b according to the second embodiment. is there. In the following description, among the components described in the second embodiment, the same or similar components as those in the first embodiment are denoted by the same reference numerals, and different components are mainly described. As shown in FIGS. 5 and 6, the block configuration of the preceding traveling support unit 1a and the block configuration of the subsequent traveling support unit 1b are substantially the same.
<Advance driving support department>
Before describing the internal configuration of the preceding traveling support unit 1a in FIG. 5, the components around the preceding traveling support unit 1a will be described.
The surrounding state detection unit 21a detects information necessary for automatic driving of the preceding vehicle 2 based on images and sensing information acquired by the camera 21aa, the millimeter wave radar 21ab, the ultrasonic sensor 21ac, and the laser radar 21ad. The information detected by the surrounding state detection unit 21a includes, for example, information on the lane of the road on which the preceding vehicle 2 is traveling, and other vehicles and obstacles around the preceding vehicle 2. The information related to other vehicles in the vicinity of the preceding vehicle 2 includes, for example, the preceding-side other vehicle relative position, which is the other-vehicle relative position between the preceding vehicle 2 and the other vehicles 4a, 4b, the preceding vehicle 2, and the other vehicles 4a, 4b. And the other vehicle relative speed which is the relative speed of the other vehicle. However, the surrounding state detection unit 21a is not limited to the configuration described above, and may include a part of the sensing devices described above. Further, other sensing devices and sensing information may be used. The other vehicle relative speed may be obtained from various physical quantities. For example, the other vehicle relative speed may be obtained from a difference in absolute speed between the host vehicle and the other vehicle, or may be obtained from another physical quantity such as a relative acceleration or an absolute acceleration.
The driving operation unit 22a receives a driving operation such as an actuator operation from the driver. For example, a steering wheel, an accelerator pedal, a brake pedal, a shift lever, and a winker lever are used for the driving operation unit 22a.
The traveling drive system 23a performs traveling of the preceding vehicle 2 and changing the traveling direction based on the control of the automatic operation control unit 24a.
The automatic driving control unit 24a controls the traveling drive system 23a based on the information detected by the surrounding state detection unit 21a and the driving operation received by the driving operation unit 22a. Thereby, the automatic driving control unit 24a controls the automatic driving of the preceding vehicle 2. Any one of automatic driving levels 0 to 4 is set as the automatic driving level of the preceding vehicle 2 (FIG. 3). The automatic driving control unit 24a may formulate a travel control plan based on the information detected by the surrounding situation detection unit 21a.
The inter-vehicle communication unit 25a transmits and receives various information to and from the following vehicle 3 by performing inter-vehicle communication with the following vehicle 3.
Next, the internal configuration of the preceding travel support unit 1a will be described. The preceding side travel support unit 1a includes a surrounding vehicle information interface unit 11aa, a driving control interface unit 11ab, an out-of-vehicle communication interface unit 11ac, and a travel support plan formulation unit 12a. The surrounding vehicle information interface unit 11aa, the driving control interface unit 11ab, and the outside communication interface unit 11ac mounted on the preceding vehicle 2 are included in the concept of the information acquisition unit 11 in FIG. 1 of the first embodiment. An information acquisition unit is configured. Moreover, the driving support plan formulation unit 12a mounted on the preceding vehicle 2 constitutes a preceding control unit included in the concept of the control unit 12 in FIG. 1 of the first embodiment.
The surrounding vehicle information interface unit 11aa acquires information detected by the surrounding state detection unit 21a, and outputs the acquired information to the travel support plan formulation unit 12a. In addition, the information detected by the surrounding state detection unit 21a includes the above-described preceding-side other vehicle relative position, the preceding-side other vehicle relative speed, and the like.
The driving control interface unit 11ab outputs various types of information output from the driving support plan formulation unit 12a to the automatic driving control unit 24a, and outputs various types of information output from the automatic driving control unit 24a to the driving support plan formulation unit 12a. To do.
The outside-vehicle communication interface unit 11ac transmits various types of information output from the driving support plan formulating unit 12a to the following vehicle 3 through the inter-vehicle communication of the inter-vehicle communication unit 25a, and formulates a driving support plan based on the various types of information received from the following vehicle 3. Or output to the unit 12a. That is, the travel support plan formulation unit 12a can transmit and receive various types of information to and from the following vehicle 3 by inter-vehicle communication.
Similar to the control unit 12 described in the first embodiment, the driving support plan formulation unit 12a is based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the surrounding vehicle information interface unit 11aa. It is determined whether the body lane change can be executed.
In addition, the driving support plan formulation unit 12a is configured so that the succeeding vehicle 3 does not maintain automatic following based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the surrounding vehicle information interface unit 11aa. 2 and the following vehicle 3 determine whether or not the second lane change in which the lane is individually changed can be executed. In the following description, the second lane change is referred to as “independent lane change”. For example, the driving support plan formulation unit 12a determines that the independent lane can be changed when the distance between other vehicles described in the first embodiment is greater than the second distance, and independent when the distance is equal to or less than the second distance. It is determined that the type lane cannot be changed.
Here, the driving support plan formulation unit 12a according to the second embodiment determines whether or not the first lane change mode capable of determining whether or not the integrated lane change can be executed and whether or not the independent lane change can be executed. And a second lane change mode that can be determined. In the following description, the first lane change mode is referred to as “integrated lane change mode”, and the second lane change mode is referred to as “independent lane change mode”.
The driving support plan formulation unit 12a is configured to perform the integrated type based on the instruction for executing either the integrated lane change mode or the independent lane change mode from at least one of the preceding vehicle 2 and the following vehicle 3. A lane change mode and an independent lane change mode are selectively executed. In the second embodiment, the driving support plan formulation unit 12a executes the integrated lane change mode based on an instruction for executing the integrated lane change mode from both the preceding vehicle 2 and the following vehicle 3. . Then, the travel support plan formulation unit 12a executes the independent lane change mode based on an instruction from one of the preceding vehicle 2 and the subsequent vehicle 3 for executing the independent lane change mode.
Specifically, when the driving support plan formulation unit 12a receives a request for automatic tracking from the following vehicle 3 through inter-vehicle communication, the driving support plan formulation unit 12a issues an instruction to execute the automatic tracking and the integrated lane change mode in the preceding vehicle 2. Judge that it was broken. And after automatic tracking is performed, the driving assistance plan formulation part 12a transmits the notification which performs integrated lane change mode to the following vehicle 3 by vehicle-to-vehicle communication. Thereafter, the driving support plan formulation unit 12a executes the integrated lane change mode when receiving an instruction for executing the integrated lane change mode from the succeeding vehicle 3 by inter-vehicle communication. In this way, when executing the integrated lane change mode, negotiation is performed between the preceding vehicle 2 and the following vehicle 3.
On the other hand, the travel support plan formulation unit 12a determines that an instruction for executing the independent lane change mode has been issued in the preceding vehicle 2 when the request for automatic driving of the preceding vehicle 2 is acquired from the automatic driving control unit 24a. Then, the independent lane change mode is executed.
The driving support plan formulation unit 12a performs normal automatic driving when the integrated lane change mode is being executed, and when a predetermined lane change condition is satisfied during that time, the integrated lane change mode is performed. Determine whether the change can be performed. Similarly, the driving support plan formulation unit 12a performs normal automatic driving when the independent lane change mode is executed, and when a predetermined lane change condition is satisfied during the automatic lane change mode, It is determined whether or not the independent lane change can be executed. The lane change condition referred to here includes, for example, a case where the speed of the other vehicle traveling in front of the preceding vehicle 2 is equal to or lower than a predetermined speed in the lane in which the preceding vehicle 2 is traveling. Used.
When the driving support plan formulation unit 12a according to the second embodiment determines whether or not the integrated lane change can be performed, the automatic driving control unit 24a automatically performs the integrated lane change based on the determination result. Output instructions to do in. Further, when it is determined whether or not the integrated lane change can be executed, the travel support plan formulation unit 12a formulates a preceding automatic driving plan that is an automatic driving plan for the preceding vehicle 2 based on the determination result. . The preceding-side automatic driving plan includes, for example, at least one plan of the integrated lane change mode and the independent lane change mode, or at least one plan of the integrated lane change and the independent lane change.
As described above, the driving support plan formulation unit 12a of the preceding vehicle 2 is based on the information acquired by the surrounding vehicle information interface unit 11aa, the driving control interface unit 11ab, and the outside communication interface unit 11ac, and changes to the integrated lane and makes it independent. Judgment of whether or not to execute each type lane change, selection of execution of the integrated lane change mode and the independent lane change mode, information exchange and negotiation with the following vehicle 3, and formulation of a preceding automatic driving plan.
<Subsequent travel support unit>
Before describing the internal configuration of the subsequent travel support unit 1b in FIG. 6, the components around the subsequent travel support unit 1b will be described. As described below, the surrounding situation detection unit 21b and the like are substantially the same as the surrounding situation detection unit 21a and the like described above.
The surrounding state detection unit 21b detects information necessary for automatic driving of the succeeding vehicle 3 based on images and sensing information acquired by the camera 21ba, the millimeter wave radar 21bb, the ultrasonic sensor 21bc, and the laser radar 21bd. The information detected by the surrounding state detection unit 21b includes, for example, information on the lane of the road on which the subsequent vehicle 3 is traveling, and other vehicles and obstacles around the subsequent vehicle 3. The information related to other vehicles in the vicinity of the succeeding vehicle 3 includes, for example, the succeeding side other vehicle relative position that is the other vehicle relative position with respect to the following vehicle 3 and the other vehicles 4a and 4b, the following vehicle 3 and the other vehicles 4a and 4b. And the other-side relative vehicle relative speed, which is the other-vehicle relative speed.
The driving operation unit 22b receives a driving operation such as an actuator operation from the driver.
The traveling drive system 23b performs traveling of the succeeding vehicle 3 and change of the traveling direction based on the control of the automatic operation control unit 24b.
The automatic driving control unit 24b controls the traveling drive system 23b based on the information detected by the surrounding state detection unit 21b and the driving operation received by the driving operation unit 22b. Thereby, the automatic driving control unit 24b controls the automatic driving of the succeeding vehicle 3, and the succeeding vehicle 3 can automatically follow the preceding vehicle 2. Any of the automatic driving levels 1 to 3 is set as the automatic driving level (FIG. 3) of the succeeding vehicle 3.
The inter-vehicle communication unit 25b transmits and receives various information to and from the preceding vehicle 2 by performing inter-vehicle communication with the preceding vehicle 2.
Next, the internal configuration of the trailing side travel support unit 1b will be described. The subsequent side travel support unit 1b includes a surrounding vehicle information interface unit 11ba, a driving control interface unit 11bb, an out-of-vehicle communication interface unit 11bc, and a travel support plan formulation unit 12b. The peripheral vehicle information interface unit 11ba, the driving control interface unit 11bb, and the outside communication interface unit 11bc mounted on the subsequent vehicle 3 are included in the concept of the information acquisition unit 11 in FIG. 1 of the first embodiment. An information acquisition unit is configured. Further, the travel support plan formulation unit 12b mounted on the subsequent vehicle 3 constitutes a subsequent control unit included in the concept of the control unit 12 in FIG. 1 of the first embodiment. As described below, the surrounding vehicle information interface unit 11ba and the like are substantially the same as the above-described surrounding vehicle information interface unit 11aa and the like.
The surrounding vehicle information interface unit 11ba acquires the information detected by the surrounding state detection unit 21b and outputs the acquired information to the travel support plan formulation unit 12b. Note that the information detected by the peripheral state detection unit 21b includes the above-described subsequent-side other vehicle relative position, the subsequent-side other vehicle relative speed, and the like.
The driving control interface unit 11bb outputs various types of information output from the driving support plan formulation unit 12b to the automatic driving control unit 24b, and outputs various types of information output from the automatic driving control unit 24b to the driving support plan formulation unit 12b. To do.
The out-of-vehicle communication interface unit 11bc transmits various information output from the driving support plan formulation unit 12b to the preceding vehicle 2 by the inter-vehicle communication of the inter-vehicle communication unit 25b, or formulates a driving support plan based on the various information received from the preceding vehicle 2. Or output to the unit 12b. That is, the driving support plan formulation unit 12b can transmit and receive various types of information to and from the preceding vehicle 2 through inter-vehicle communication.
Similar to the control unit 12 described in the first embodiment, the driving support plan formulation unit 12b is based on the subsequent other vehicle relative position and the subsequent other vehicle relative speed acquired by the surrounding vehicle information interface unit 11ba. It is determined whether or not the body lane change can be executed, or whether or not the independent lane change can be executed.
The driving support plan formulation unit 12b is configured to execute the integrated type lane change mode or the independent type lane change mode from at least one of the preceding vehicle 2 and the following vehicle 3 based on an instruction for executing either the integrated lane change mode or the independent lane change mode. A lane change mode and an independent lane change mode are selectively executed. Note that the integrated lane change mode and the independent lane change mode of the following vehicle 3 are the same as the integrated lane change mode and the independent lane change mode of the preceding vehicle 2. Further, the driving support plan formulation unit 12b of the following vehicle 3 negotiates between the preceding vehicle 2 and the following vehicle 3 in the same manner as the driving support plan formulation unit 12a of the preceding vehicle 2, thereby performing an integrated lane change mode. And the independent lane change mode is selectively executed.
As described above, the driving support plan formulation unit 12b of the succeeding vehicle 3 changes the integrated lane change and the independence based on the information acquired by the surrounding vehicle information interface unit 11ba, the driving control interface unit 11bb, and the outside communication interface unit 11bc. Whether to execute each type of lane change is determined, selection of execution of the integrated lane change mode and the independent lane change mode, and information exchange and negotiation with the preceding vehicle 2 are performed.
FIG. 7 is a flowchart showing the operation of the preceding-side travel support unit 1a according to the second embodiment.
First, in step S1, the preceding vehicle 2 starts running using, for example, automatic driving at an automatic driving level 2 having a passing function. At this time, the automatic driving control unit 24a performs automatic driving while recognizing a lane or the like. Moreover, the driving assistance plan formulation part 12a performs independent lane change mode, when performing the said automatic driving | operation. Thus, the driving support plan formulation unit 12a determines whether or not the independent lane change can be executed based on the preceding other vehicle relative position and the preceding other vehicle relative speed until the integrated lane change mode is executed. Judgment and the like are performed as appropriate.
In step S2, when the driving support plan formulation unit 12a receives a request for automatic tracking from the following vehicle 3 through inter-vehicle communication, the driving support plan formulation unit 12a transmits an automatic tracking approval to the subsequent vehicle 3 through inter-vehicle communication. The driving support plan formulation unit 12a determines whether such a series of transmission / reception has been performed. If it is determined that a series of transmission / reception has been performed, the process proceeds to step S3. If it is determined that a series of transmission / reception has not been performed, the process of step S2 is performed again.
In step S3, the driving support plan formulation unit 12a transmits to the following vehicle 3 a notification for executing the integrated lane change mode by inter-vehicle communication. Then, the travel support plan formulation unit 12a determines whether or not an instruction for executing the integrated lane change mode is received from the following vehicle 3 by inter-vehicle communication. Note that a series of transmission / reception, that is, negotiation, regarding the lane change mode in step S3 is automatically performed without notifying the driver. If it is determined that the instruction is received from the succeeding vehicle 3, the process proceeds to step S4. If it is determined that the instruction is not received from the succeeding vehicle 3, the process returns to step S2.
In step S4, the driving support plan formulation unit 12a changes the lane change mode to be executed from the independent lane change mode to the integrated lane change mode.
In step S5, the driving support plan formulation unit 12a determines whether the lane change condition is satisfied. For example, the driving support plan formulation unit 12a determines that the speed of the other vehicle traveling in front of the preceding vehicle 2 is equal to or lower than a predetermined speed based on the information detected by the surrounding situation detection unit 21a. In this case, it is determined that the lane change condition is satisfied. If it is determined that the lane change condition is satisfied, the process proceeds to step S6. If it is determined that the lane change condition is not satisfied, the process of step S5 is performed again.
In step S6, the surrounding vehicle information interface unit 11aa acquires the preceding side other vehicle relative position and the leading side other vehicle relative speed from the surrounding state detection unit 21a. The driving support plan formulation unit 12a determines whether the integrated lane change can be executed based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the surrounding vehicle information interface unit 11aa. If it is determined that the integrated lane change can be performed, the process proceeds to step S7. If it is determined that the integrated lane change cannot be performed, the process returns to step S5.
In step S7, the driving support plan formulation unit 12a formulates a preceding automatic driving plan based on the determination result as to whether or not the integrated lane change can be executed.
In step S8, the driving support plan formulation unit 12a outputs a command for performing an integrated lane change by automatic driving to the automatic driving control unit 24a.
In step S9, the automatic driving control unit 24a executes the integrated lane change based on the command output from the travel support plan formulation unit 12a. Thereafter, the process of FIG. 7 ends.
FIG. 8 is a flowchart showing the operation of the subsequent travel support unit 1b according to the second embodiment.
First, in step S21, the following vehicle 3 starts running using, for example, automatic driving at an automatic driving level 2 having a passing function. At this time, the automatic driving control unit 24b performs automatic driving while recognizing a lane or the like. Moreover, the driving assistance plan formulation part 12b performs independent lane change mode, when performing the said automatic driving | operation. Thereby, the driving support plan formulation unit 12b determines whether or not the independent lane change can be executed based on the subsequent other vehicle relative position and the subsequent other vehicle relative speed until the integrated lane change mode is executed. Judgment and the like are performed as appropriate.
In step S22, the driving support plan formulation unit 12b determines whether the preceding vehicle 2 has been detected. For example, the driving support plan formulation unit 12b determines that the preceding vehicle 2 has been detected when inter-vehicle communication with the preceding vehicle 2 becomes possible. If it is determined that the preceding vehicle 2 is detected, the process proceeds to step S23. If it is determined that the preceding vehicle 2 is not detected, the process of step S22 is performed again.
In step S23, the driving support plan formulation unit 12b transmits a request for automatic tracking to the preceding vehicle 2 by inter-vehicle communication. Then, the travel support plan formulation unit 12b determines whether or not automatic follow-up approval has been received from the preceding vehicle 2 through inter-vehicle communication. If it is determined that the automatic follow-up approval is received from the preceding vehicle 2, the process proceeds to step S24. If it is determined that the automatic follow-up approval is not received from the preceding vehicle 2, the process of step S23 is performed again. .
In step S24, the automatic operation control unit 24b starts automatic tracking to the preceding vehicle 2.
In step S25, when the driving support plan formulation unit 12b receives a notification from the preceding vehicle 2 that executes the integrated lane change mode through inter-vehicle communication, the driving support plan formulation unit 12b issues an instruction to execute the integrated lane change mode through inter-vehicle communication. It transmits to the preceding vehicle 2. Note that when the notification is received from the preceding vehicle 2, the driving support plan formulation unit 12b may automatically transmit the instruction to the preceding vehicle 2, receive the notification from the preceding vehicle 2, and When the execution of the succeeding vehicle 3 is approved, the instruction may be transmitted to the preceding vehicle 2. The driving support plan formulation unit 12b determines whether or not a series of transmission / reception for such a lane change mode has been performed. If it is determined that a series of transmission / reception has not been performed, the process proceeds to step S26. If it is determined that a series of transmission / reception has been performed, the process proceeds to step S29.
In step S26, the driving support plan formulation unit 12b maintains the independent lane change mode.
In step S27, the driving support plan formulation unit 12b determines whether the preceding vehicle 2 has left automatic tracking. For example, the driving support plan formulation unit 12b determines that the preceding vehicle 2 has left when the vehicle-to-vehicle communication with the preceding vehicle 2 becomes impossible. If it is determined that the preceding vehicle 2 has left, the process proceeds to step S28. If it is determined that the preceding vehicle 2 has not left, the process of step S27 is performed again.
In step S28, the automatic driving control unit 24b cancels the automatic tracking to the preceding vehicle 2. Thereafter, the process returns to step S22.
When the process proceeds from step S25 to step S29, the driving support plan formulation unit 12b changes the lane change mode to be executed from the independent lane change mode to the integrated lane change mode.
In step S30, the driving support plan formulation unit 12b determines whether the lane change condition is satisfied. For example, the driving support plan formulation unit 12b determines that the lane change condition is satisfied, for example, when the determination result that the lane change condition is satisfied is received from the preceding vehicle 2 by inter-vehicle communication. If it is determined that the lane change condition is satisfied, the process proceeds to step S31. If it is determined that the lane change condition is not satisfied, the process of step S30 is performed again.
In step S31, the surrounding vehicle information interface unit 11ba acquires the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed from the surrounding state detection unit 21b. The driving support plan formulation unit 12b determines whether the integrated lane change can be executed based on the subsequent other vehicle relative position and the subsequent other vehicle relative speed acquired by the surrounding vehicle information interface unit 11ba. If it is determined that the integrated lane change cannot be performed, the process proceeds to step S32. If it is determined that the integrated lane change can be performed, the process proceeds to step S33. If the contents of the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed are different from the contents of the preceding-side other vehicle relative position and the preceding-side other vehicle relative speed, the determination result of this step S31, The determination results in step S6 in FIG. 7 are different from each other.
In step S32, the driving support plan formulation unit 12b changes the lane change mode to be executed from the integrated lane change mode to the independent lane change mode. Thereafter, the process returns to step S22.
In step S33, the driving support plan formulation unit 12b outputs a command for performing the integrated lane change by automatic driving to the automatic driving control unit 24b.
In step S34, the automatic driving control unit 24b executes the integrated lane change based on the command output from the travel support plan formulation unit 12b. Thereafter, the process of FIG. 8 ends.
<Summary of Embodiment 2>
According to the driving support apparatus 1 according to the second embodiment as described above, the integrated lane change mode capable of determining whether or not the integrated lane change can be executed, and whether or not the independent lane change can be executed. The independent lane change mode capable of determining is selectively executed. According to such a configuration, when the lane change condition is satisfied, execution of the integrated lane change can be determined, or execution of the independent lane change can be determined.
Further, in the second embodiment, the integrated lane change mode is executed based on the instruction for executing the integrated lane change mode from both the preceding vehicle 2 and the following vehicle 3, and the preceding vehicle 2 and the following vehicle 3 are executed. The independent lane change mode is executed based on an instruction for executing the independent lane change mode from one of the above. Accordingly, when it is determined that the integrated lane change mode is executed in both the preceding vehicle 2 and the subsequent vehicle 3, the integrated lane change mode is executed, and the independent lane change is performed in one of the preceding vehicle 2 and the subsequent vehicle 3. If it is determined that the mode is to be executed, the independent lane change mode is executed. Therefore, the lane change mode to be executed can be appropriately selected.
In the second embodiment, the automatic lane change is automatically performed by the automatic operation control units 24a and 24b based on the determination result of the travel support plan formulation units 12a and 12b as to whether or not the integrated lane change can be executed. Outputs instructions for operation. Thereby, an integrated lane change can be performed appropriately. Further, in the second embodiment, based on the determination result of the travel support plan formulation unit 12a as to whether or not the integrated lane change can be executed, the preceding-side automatic driving plan that is the automatic driving plan of the preceding vehicle 2 is determined. Formulate. Thereby, the determination result as to whether or not the integrated lane change can be executed can be reflected in the preceding automatic driving plan.
<Each modification of Embodiment 2>
Next, modifications of the second embodiment will be described. For convenience of explanation, the surrounding vehicle information interface unit 11aa, the operation control interface unit 11ab, and the outside communication interface unit 11ac mounted on the preceding vehicle 2 may be referred to as “preceding side information acquisition unit”. 2 may be described as a “preceding side plan formulation unit 12a”.
Similarly, hereinafter, the surrounding vehicle information interface unit 11ba, the operation control interface unit 11bb, and the outside-vehicle communication interface unit 11bc mounted on the following vehicle 3 may be referred to as “following side information acquisition unit”. The travel support plan formulation unit 12b may be referred to as a “subsequent plan formulation unit 12b”.
<Modification 1 of Embodiment 2>
In the second embodiment, in step S3 in FIG. 7, the preceding vehicle 2 transmits a notification to execute the integrated lane change mode to the succeeding vehicle 3, and gives an instruction to execute the integrated lane change mode. 3, the integrated lane change mode is executed in the preceding vehicle 2. Then, in step S25 of FIG. 8, the following vehicle 3 receives a notification for executing the integrated lane change mode from the preceding vehicle 2, and transmits an instruction for executing the integrated lane change mode to the preceding vehicle 2. In this case, the integrated lane change mode is executed in the succeeding vehicle 3. However, switching between these lane change modes is not limited to this.
For example, the vehicle that first transmits the notification for executing the integrated lane change mode may be reversed. That is, in step S25 of FIG. 8, when the following vehicle 3 transmits a notification to execute the integrated lane change mode to the preceding vehicle 2 and receives an instruction from the preceding vehicle 2 to execute the integrated lane change mode. In addition, the integrated lane change mode may be executed in the following vehicle 3. Then, in step S3 of FIG. 7, the preceding vehicle 2 has received a notification for executing the integrated lane change mode from the succeeding vehicle 3, and has transmitted an instruction for executing the integrated lane change mode to the subsequent vehicle 3. In this case, the integrated lane change mode may be executed in the preceding vehicle 2.
In the second embodiment, when one of the preceding vehicle 2 and the following vehicle 3 executes the independent lane change mode, the vehicle that does not execute the independent lane change mode is not transmitted to the other vehicle. . However, the present invention is not limited to this. When one of the preceding vehicle 2 and the following vehicle 3 executes the independent lane change mode, the vehicle transmits a notification for executing the independent lane change mode to the other vehicle. Also good. The other vehicle may execute the independent lane change mode when receiving the notification.
Furthermore, in a configuration in which the preceding vehicle 2 transmits a notification for executing the integrated lane change mode or the independent lane change mode, the preceding vehicle 2 may perform the transmission at any time. Similarly, in the configuration in which the subsequent vehicle 3 transmits a notification for executing the integrated lane change mode or the independent lane change mode, the subsequent vehicle 3 may perform the transmission at any time.
<Modification 2 of Embodiment 2>
In the second embodiment, the preceding-side plan formulation unit 12a performs the integrated lane change mode and the independent type from the execution of one of the integrated lane change and the independent lane change to the completion of the change. Of the lane change modes, the lane change mode corresponding to the other lane change that has not been executed may not be executed.
That is, the preceding-side plan formulation unit 12a executes the lane to be executed even if it receives a notification from the following vehicle 3 for changing to the independent lane change mode by inter-vehicle communication until the completion of the integrated lane change. It is not necessary to change the change mode to the independent lane change mode. In addition, the preceding-side plan formulation unit 12a performs the lane to be executed even if it receives a notification from the following vehicle 3 for changing to the integrated lane change mode by inter-vehicle communication from the execution to the completion of the independent lane change. It is not necessary to change the change mode to the integrated lane change mode.
Similarly, the subsequent plan formulation unit 12b executes the integrated lane change even after receiving from the preceding vehicle 2 a notification of changing to the independent lane change mode by inter-vehicle communication until the completion. It is not necessary to change the lane change mode to the independent lane change mode. Further, the succeeding-side plan formulation unit 12b performs the lane to be executed even if it receives from the preceding vehicle 2 a notification of changing to the integrated lane change mode by inter-vehicle communication from the execution to the completion of the independent lane change. It is not necessary to change the change mode to the integrated lane change mode.
According to the configuration as described above, it is possible to prevent the execution of the lane change from being disturbed on the way.
<Modification 3 of Embodiment 2>
In the second embodiment, the preceding side plan formulation unit 12a has formulated the preceding side automatic driving plan based on the determination result of the preceding side plan formulation unit 12a as to whether or not the integrated lane change can be executed. When the preceding side automatic driving plan is formulated, the leading side plan formulation unit 12a does not need to negotiate with the succeeding vehicle 3 at any time, based on the leading side automatic driving plan and the integrated lane change mode and the independent lane change mode. Can be selectively executed, and consequently, the integrated lane change and the independent lane change can be selectively executed. However, depending on the surrounding situation of the following vehicle 3, it may be considered that the automatic operation control unit 24b of the following vehicle 3 may desire immediate execution of the integrated lane change.
Therefore, the outside communication interface unit 11ac, which is the subsequent side information acquisition unit, acquires an execution request for executing the integrated lane change from the automatic driving control unit 24b of the subsequent vehicle 3, and the preceding side information acquisition unit The execution request acquired by the side information acquisition unit may be acquired from the following vehicle 3 by inter-vehicle communication. Then, when the preceding side information acquisition unit acquires an execution request from the following vehicle 3, the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be executed regardless of the preceding side automatic driving plan. The integrated lane change may be executed when it is determined that the integrated lane change can be executed. According to the configuration as described above, the integrated lane change can be immediately executed by making an execution request in the automatic driving control unit 24b of the following vehicle 3.
<Modification 4 of Embodiment 2>
In the second embodiment, each of the preceding side plan formulation unit 12a and the subsequent side plan formulation unit 12b selects either the integrated lane change mode or the independent lane change mode.
However, the present invention is not limited to this, and a center (not shown) capable of communicating with the preceding traveling support unit 1a and the following traveling support unit 1b of the traveling support device 1 by wireless communication or the like may be selected. Specifically, the center may receive an instruction for executing any one of the integrated lane change mode and the independent lane change mode from at least one of the preceding vehicle 2 and the following vehicle 3. . Then, the center may select one of the integrated lane change mode and the independent lane change mode based on the received instruction. Then, the center transmits the selected lane change mode to the preceding vehicle 2 and the succeeding vehicle 3, and each of the preceding side plan formulation unit 12a and the subsequent side plan formulation unit 12b executes the lane change mode selected by the center. Also good.
According to such a configuration, the center can mediate the negotiation between the preceding vehicle 2 and the following vehicle 3. Each of the preceding side driving support unit 1a and the subsequent side driving support unit 1b and the center may communicate directly or indirectly.
<Modification 5 of Embodiment 2>
The preceding automatic driving plan formulated by the preceding plan formulation unit 12a in the second embodiment may be transmitted to the succeeding vehicle 3 by inter-vehicle communication. That is, the preceding-side plan formulation unit 12a determines the preceding-side automatic driving plan to be transmitted to the succeeding vehicle 3 by inter-vehicle communication based on the determination result of the preceding-side plan formulation unit 12a as to whether or not the integrated lane change can be executed. It may be formulated.
FIG. 9 is a flowchart showing the operation of the preceding side travel support unit 1a according to the present modification. The operation in FIG. 9 is the same as that in which step S41 is added between step S7 and step S8 in FIG. In this step S41, the preceding side plan formulation unit 12a transmits the preceding side automatic driving plan to the following vehicle 3 by inter-vehicle communication.
FIG. 10 is a flowchart showing the operation of the subsequent side travel support unit 1b according to this modification. The operation shown in FIG. 10 is the same as that obtained by replacing step S30 in FIG. 8 with step S46. In step S46, the succeeding-side plan formulation unit 12b receives the preceding-side automatic driving plan from the preceding vehicle 2 through inter-vehicle communication. Then, the succeeding-side plan formulation unit 12b determines whether or not the received leading-side automatic driving plan is prescribed to execute the integrated lane change with respect to the current time. If it is determined that execution of the integrated lane change is defined, the process proceeds to step S31. If it is determined that execution of the integrated lane change is not specified, the process of step S46 is performed. Done again.
According to the configuration as described above, the subsequent side plan formulation unit 12b can selectively execute the integrated lane change mode and the independent lane change mode based on the preceding side automatic driving plan. The succeeding-side plan formulation unit 12b formulates a succeeding-side automatic driving plan that is an automatic driving plan for the following vehicle 3 based on the preceding-side automatic driving plan and the information acquired by the succeeding-side information acquisition unit. May be. In this case, the subsequent side plan formulation unit 12b selectively executes the integrated lane change mode and the independent lane change mode based on the subsequent automatic driving plan, or performs the integrated lane change and the independent lane change. Or can be performed selectively.
<Modification 6 of Embodiment 2>
In the fifth modification of the second embodiment, the preceding plan formulation unit 12a sends the following vehicle 3 to the following vehicle 3 by inter-vehicle communication based on the determination result of the preceding plan formulation unit 12a itself as to whether or not the integrated lane change can be executed. We have developed a leading automatic driving plan to be transmitted, but this is not a limitation. For example, the preceding side plan formulation unit 12a, based on the determination result of the preceding side plan formulation unit 12a itself as to whether or not the integrated lane change can be executed, is to be transmitted to the succeeding vehicle 3 by inter-vehicle communication. May be formulated.
According to the configuration as described above, the subsequent-side plan formulation unit 12b selects the integrated lane change mode and the independent lane change mode based on the subsequent-side automatic driving plan formulated by the preceding-side plan formulation unit 12a. It is possible to execute the operation in an integrated manner or selectively execute the integrated lane change and the independent lane change.
The information used when formulating the preceding automatic driving plan may be different from the information used when formulating the subsequent automatic driving plan. As a result, the preceding automatic driving plan and the subsequent automatic driving plan May be different. When the preceding automatic driving plan and the subsequent automatic driving plan are different, the driving support plan formulation unit 12a sends both the preceding automatic driving plan and the subsequent automatic driving plan to the subsequent vehicle 3 by inter-vehicle communication. You may send it.
<Modification 7 of Embodiment 2>
In the second embodiment, the preceding side information acquisition unit may acquire the automatic driving level of the subsequent vehicle 3 from the subsequent vehicle 3 by inter-vehicle communication. Then, the driving support plan formulation unit 12a determines whether or not the integrated lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the automatic driving level acquired by the preceding side information acquisition unit. Also good.
For example, when the automatic driving level of the succeeding vehicle 3 is less than the automatic driving level 2, the driver of the following vehicle 3 may be generally driving manually. Therefore, when the automatic driving level of the following vehicle 3 is less than the automatic driving level 2, the driving support plan formulation unit 12a can change the integrated lane by increasing the first distance described in the first embodiment. May be difficult to obtain. On the other hand, when the automatic driving level of the following vehicle 3 is the automatic driving level 3, it is possible to shorten or eliminate the idling time required when the driver drives manually. Therefore, when the automatic driving level of the following vehicle 3 is the automatic driving level 3, the driving support plan formulation unit 12a can change the integrated lane by shortening the first distance described in the first embodiment. The determination may be easily obtained.
According to the above configuration, it can be appropriately determined whether or not the integrated lane change can be executed.
For example, the preceding information acquisition unit may acquire the automatic driving level of the other vehicles 4a and 4b in FIG. 1 from the other vehicles 4a and 4b by inter-vehicle communication. Then, the travel support plan formulation unit 12a is based on the other vehicle relative position, the other vehicle relative speed, the automatic driving level of the subsequent vehicle 3, and the automatic driving level of the other vehicles 4a and 4b acquired by the preceding side information acquisition unit. Thus, it may be determined whether or not the integrated lane change can be executed.
<Modification 8 of Embodiment 2>
In the second embodiment, it is determined whether each of the preceding plan formulation unit 12a and the subsequent plan formulation unit 12b can execute each of the integrated lane change and the independent lane change. However, the present invention is not limited to this. One of the preceding plan formulation unit 12a and the subsequent plan formulation unit 12b determines whether or not each of the integrated lane change and the independent lane change can be executed, and the other is The result determined in (1) may be used as it is.
The block configuration of the preceding traveling support unit 1a included in the traveling support device 1 according to the third embodiment of the present invention is the same as the block configuration (FIG. 5) of the preceding traveling support unit 1a according to the second embodiment. Further, the block configuration of the subsequent travel support unit 1b included in the travel support device 1 according to the third embodiment is the same as the block configuration (FIG. 6) of the subsequent travel support unit 1b according to the second embodiment. Hereinafter, among the constituent elements described in the third embodiment, constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
11 and 12 are diagrams for explaining the operation of the travel support device 1 according to the second embodiment described above. 11 and 12 show a case where the preceding vehicle 2 and the following vehicle 3 are about to change to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane.
In this case, the preceding plan formulation unit 12a of the preceding vehicle 2 determines whether or not the integrated lane change can be executed based on the preceding other vehicle relative position and the preceding other vehicle relative speed. In the case of FIG. 11, since the other vehicles 4a and 4c exist within the detection range 2a of the preceding vehicle 2, the preceding-side plan formulation unit 12a determines the relative position of the other vehicle relative to the preceding vehicle 2 and the other vehicles 4a and 4c. It is determined whether the integrated lane change can be executed based on the relative speed of the other vehicle.
Similarly, the succeeding side plan formulation unit 12b of the following vehicle 3 determines whether or not the integrated lane change can be executed based on the following other vehicle relative position and the following other vehicle relative speed. In the case of FIG. 11, since the other vehicles 4b and 4d exist within the detection range 3a of the subsequent vehicle 3, the subsequent-side plan formulation unit 12b determines the other vehicle relative position and the other vehicle 4 and the other vehicles 4b and 4d. It is determined whether the integrated lane change can be executed based on the relative speed of the other vehicle.
As a result, the preceding plan formulation unit 12a that cannot recognize the other vehicle 4b behind the other vehicle 4a determines that the integrated lane change can be executed. Further, the succeeding plan formulation unit 12b that cannot recognize the other vehicle 4a in front of the other vehicle 4b determines that the integrated lane change can be executed.
However, when the preceding vehicle 2 and the following vehicle 3 are changed to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane, the following vehicle 3 comes into contact with the other vehicle 4b as shown in FIG. There is a possibility that. Alternatively, as another case, it is assumed that the succeeding plan formulation unit 12b determines that the integrated lane change cannot be performed, but the preceding plan formulation unit 12a determines that the integrated lane change can be performed. In this case, only the preceding vehicle 2 changes lanes, and the automatic tracking of the following vehicle 3 to the preceding vehicle 2 cannot be maintained. In Embodiment 3 described below, it is possible to solve such a problem.
FIGS. 13 and 14 are diagrams for explaining the operation of the travel support apparatus 1 according to the third embodiment. 13 and 14 also show a case where the preceding vehicle 2 and the following vehicle 3 are about to change to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane, as in FIGS. 11 and 12. Has been.
Here, in the third embodiment, the subsequent side information acquisition unit of the subsequent vehicle 3 acquires the subsequent other vehicle relative position and the subsequent other vehicle relative speed.
The preceding side information acquisition unit of the preceding vehicle 2 not only acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed, but also the subsequent side other vehicle relative position and the following side other acquired by the subsequent side information acquiring unit. The vehicle relative speed is acquired from the following vehicle 3 by inter-vehicle communication.
Based on the preceding other vehicle relative position, the preceding other vehicle relative speed, the succeeding other vehicle relative position, and the following other vehicle relative speed acquired by the preceding information acquisition unit, the preceding side plan formulation unit 12a is integrated. It is determined whether or not a lane change can be executed. In the case of FIG. 13, the preceding plan formulation unit 12a performs the other vehicle relative position and the other vehicle relative speed for the preceding vehicle 2 and the other vehicles 4a and 4c, and the other vehicle for the subsequent vehicle 3 and the other vehicles 4b and 4d. It is determined whether or not the integrated lane change can be executed based on the relative position and the relative speed of the other vehicle.
As a result, the preceding side plan formulation unit 12a can determine that the inter-vehicle distance between the other vehicle 4a and the other vehicle 4b, that is, the inter-vehicle distance is not sufficient, and determines that the integrated lane change cannot be performed. can do. For this reason, the integrated lane change is not executed, and automatic tracking can be maintained. When high accuracy is required for the distance between other vehicles, the information acquisition unit acquires the inter-vehicle distance between the preceding vehicle 2 and the succeeding vehicle 3, and the preceding-side plan formulation unit 12a performs the above-described relative position. The inter-vehicle distance may be obtained based on the relative speed and the inter-vehicle distance acquired by the information acquisition unit. If high accuracy is not required for the distance between other vehicles, the preceding plan formulation unit 12a may obtain the distance between other vehicles based on the above-described relative position and relative speed and a predetermined distance. Good.
FIG. 15 is a flowchart showing the operation of the preceding-side travel support unit 1a according to the third embodiment. The operation in FIG. 15 is the same as that in which step S6 in FIG. 7 is replaced with steps S51 and S52.
In step S51, the preceding plan formulation unit 12a receives the succeeding other vehicle relative position and the following other vehicle relative speed from the following vehicle 3 through inter-vehicle communication.
In step S52, the preceding side plan formulation unit 12a acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed via the surrounding vehicle information interface unit 11aa. The driving support plan formulation unit 12a is integrated based on the acquired preceding other vehicle relative position and preceding other vehicle relative speed, and the subsequent other vehicle relative position and the following other vehicle relative speed received in step S51. It is determined whether or not a lane change can be executed. If it is determined that the integrated lane change can be performed, the process proceeds to step S7. If it is determined that the integrated lane change cannot be performed, the process returns to step S5.
FIG. 16 is a flowchart showing the operation of the subsequent travel support unit 1b according to the third embodiment. The operation in FIG. 16 is the same as that in which step S56 is added between step S29 and step S30 in FIG. In step S56, the succeeding-side plan formulation unit 12b transmits the succeeding-side other vehicle relative position and the following-side other vehicle relative speed to the preceding vehicle 2 by inter-vehicle communication. Such transmission may be performed when requested by the preceding vehicle 2.
If it is determined in step S30 that the lane change condition is satisfied, the process proceeds to step S31. If it is determined that the lane change condition is not satisfied, the process returns to step S56.
<Summary of Embodiment 3>
According to the driving support device 1 according to the third embodiment as described above, based on the preceding other vehicle relative position, the preceding other vehicle relative speed, the following other vehicle relative position, and the following other vehicle relative speed, Determine whether an integrated lane change can be performed. According to such a configuration, the detection range 2a of the preceding vehicle 2 can be substantially enlarged, and as a result, it can be appropriately determined whether or not the integrated lane change can be executed.
<Each modification of Embodiment 3>
Next, modifications of the third embodiment will be described. Although not described in detail, each modification of the second embodiment may be appropriately combined with the third embodiment, or each modification of the third embodiment may be appropriately combined with the second embodiment.
<Modification 1 of Embodiment 3>
In Embodiment 3, the in-vehicle communication interface unit 11ac, which is the preceding side information acquisition unit of the preceding vehicle 2, not only acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed, but also the subsequent side information acquiring unit. The acquired subsequent-side other vehicle relative position and subsequent-side other vehicle relative speed were acquired from the following vehicle 3 by inter-vehicle communication. However, the present invention is not limited to this, and the determination result of the subsequent plan formulation unit 12b as to whether or not the integrated lane change can be executed is used instead of the subsequent other vehicle relative position and the subsequent other vehicle relative speed. May be.
That is, the vehicle-side communication interface unit 11ac, which is the preceding side information acquisition unit, acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed and determines whether or not the integrated lane change can be executed. You may acquire the determination result of the formulation part 12b from the succeeding vehicle 3 by vehicle-to-vehicle communication. And the preceding side plan formulation unit 12a is based on the preceding side other vehicle relative position, the preceding side other vehicle relative speed acquired by the preceding side information acquisition unit, and the determination result of the subsequent side plan formulation unit 12b. It may be determined whether the lane change can be executed. Also in this case, the same effect as in the third embodiment can be obtained.
<Modification 2 of Embodiment 3>
In Embodiment 3, when the lane change condition is satisfied, the preceding-side plan formulation unit 12a receives the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed from the following vehicle 3 by inter-vehicle communication (FIG. 15). Step S51). However, the present invention is not limited to this, and the preceding-side plan formulation unit 12a determines the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed by the inter-vehicle communication regardless of whether the lane change condition is satisfied or not. You may always receive from.
FIG. 17 is a block diagram showing a configuration of the preceding traveling support unit 1a according to the fourth embodiment of the present invention. Hereinafter, among the constituent elements described in the fourth embodiment, constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
Before describing the internal configuration of the preceding travel support unit 1a in FIG. 17, the components around the preceding travel support unit 1a will be described. The peripheral components other than the HMI (Human Machine Interface) unit 26a are the same as the peripheral components in the second embodiment.
The HMI unit 26a is an HMI of the driver of the preceding vehicle 2, and includes a display unit 26aa, an acoustic unit 26ab, and an operation input unit 26ac such as a touch panel. However, the present invention is not limited to this, and the HMI unit 26a may include at least one of the display unit 26aa, the acoustic unit 26ab, and the operation input unit 26ac. Further, the HMI unit 26a may include other functional units such as a vibration unit that applies vibration to the driver.
Next, the internal configuration of the preceding-side travel support unit 1a in FIG. 17 will be described. 17 is the same as the configuration in which the HMI interface unit 11ad is added to the preceding side driving support unit 1a of FIG. The HMI interface unit 11ad is included in the concept of the preceding information acquisition unit described above.
The HMI interface unit 11ad outputs the operation from the driver acquired by the operation input unit 26ac to the preceding plan formulation unit 12a. Further, the HMI interface unit 11ad outputs the video signal output from the preceding plan formulation unit 12a to the display unit 26aa, and outputs the audio notification signal output from the preceding plan formulation unit 12a to the acoustic unit 26ab. Thereby, the preceding side plan formulation part 12a can display various information on the display part 26aa, or can output various information to the sound part 26ab by voice.
The peripheral situation detection unit 21a detects a front-rear relative position, which is a relative position with respect to the preceding vehicle 2 and the subsequent vehicle 3, as needed. Get from time to time.
18 to 23 are diagrams showing display examples of the display unit 26aa by the display control of the preceding side plan formulation unit 12a included in the preceding side travel support unit 1a.
FIG. 18 is a display example until it is determined Yes in step S2. As shown in FIG. 18 and as shown in FIGS. 19 to 23, the preceding-side plan formulation unit 12a determines that the preceding vehicle 2 based on the preceding-side other vehicle relative position and the preceding-rear relative position acquired by the surrounding vehicle information interface unit 11aa. The relative positions of the following vehicle 3 and the other vehicles 4a, 4b, 4c are appropriately displayed on the display unit 26aa. 18 to 23, the preceding vehicle 2 and the like are displayed in a deformed manner, but the display mode of the preceding vehicle 2 and the like is not limited to this.
FIG. 19 is a display example from the determination of Yes in step S2 of FIG. 7 until step S3 is performed, and FIG. 20 is a display example while step S3 of FIG. 7 is performed. As shown in FIGS. 19 and 20, the preceding-side plan formulation unit 12a causes the display unit 26aa to display information transmitted and received between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication using symbols or the like. Note that the symbol according to the fourth embodiment includes at least one of a figure and a character.
For example, as shown in FIG. 19, when the automatic follow-up is performed between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication, the preceding side plan formulation unit 12 a displays a symbol 27 a or the like indicating that. 26aa. Also, for example, as shown in FIG. 20, when the preceding side plan formulation unit 12a performs negotiation for executing the integrated lane change mode between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication, A symbol 27b or the like indicating that is displayed on the display unit 26aa. Also, for example, although not shown, the preceding plan formulation unit 12a represents that when the execution request described in the third modification of the second embodiment is transmitted from the succeeding vehicle 3 to the preceding vehicle 2 by inter-vehicle communication. A symbol or the like may be displayed on the display unit 26aa.
In addition, for example, although not shown in the drawings, when it is configured to be able to transmit and receive information between the preceding vehicle 2 and the other vehicle by inter-vehicle communication, the preceding-side plan formulation unit 12a is configured as shown in FIGS. Similarly, a symbol or the like indicating information transmitted / received between the preceding vehicle 2 and another vehicle may be displayed on the display unit 26aa.
FIG. 21 is a display example when the mode is changed to the integrated lane change mode in step S4 of FIG. As shown in FIG. 21, the preceding plan formulation unit 12a changes the display of the display unit 26aa based on the mode being executed among the integrated lane change mode and the independent second lane change mode.
In the case where the integrated lane change mode is being executed, the preceding side plan formulation unit 12a according to the fourth embodiment displays symbols 27c, 27d and the like indicating that the integrated lane change mode is being executed on the display unit 26aa. Let The symbol 27c is a rope-like figure that connects the preceding vehicle 2 and the following vehicle 3, and the symbol 27d is a figure that serves as an indicator of whether or not the integrated lane change can be performed.
On the other hand, when the independent lane change mode is being executed, the preceding plan formulation unit 12a according to the fourth embodiment does not display a symbol or the like indicating that the independent lane change mode is being executed on the display unit 26aa. . In this case, the driver of the preceding vehicle 2 can grasp which of the integrated lane change mode and the independent lane change mode is being executed based on whether or not the symbols 27c and 27d are displayed. Of course, when the independent lane change mode is executed, the preceding plan formulation unit 12a may display a symbol (not shown) indicating that the independent lane change mode is being executed on the display unit 26aa. .
FIG. 22 is a display example when it is determined Yes in step S6 of FIG. 7, and FIG. 23 is a display example when it is determined No in step S6 of FIG. As shown in FIGS. 22 and 23, the preceding plan formulation unit 12a changes the display of the display unit 26aa based on the determination result of the integrated lane change.
FIG. 22 includes symbols 27e and 27f respectively indicating the predicted positions of the preceding vehicle 2 and the succeeding vehicle 3 when the integrated lane change is performed, and a symbol 27g indicating that the integrated lane change mode is maintained. A symbol 27h serving as an index indicating whether the integrated lane change can be performed and an arrow symbol 27i indicating that the preceding vehicle 2 and the following vehicle 3 can go to the symbols 27e and 27f are illustrated.
In FIG. 23, the above-described symbols 27e, 27f, and 27h, an arrow symbol 27j indicating that the preceding vehicle 2 can go to the symbol 27e, and a symbol 27k indicating that the following vehicle 3 cannot go to the symbol 27f are included. It is shown.
Although not shown, the preceding plan formulation unit 12a displays the display unit 26aa based on the determination result of the independent lane change in the same manner as changing the display of the display unit 26aa based on the determination result of the integrated lane change. The display of may be changed. The symbols 27a to 27k may be displayed by animation.
FIG. 24 is a block diagram showing a configuration of the subsequent side travel support unit 1b according to Embodiment 4 of the present invention. Hereinafter, among the constituent elements described in the fourth embodiment, constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
As shown in FIG. 24, a display unit 26ba, an acoustic unit 26bb, a touch panel, and the like are provided around the subsequent driving support unit 1b, like the HMI unit 26a provided around the preceding driving support unit 1a in FIG. HMI part 26b provided with the operation input part 26bc. 24 is the same as the configuration in which the HMI interface unit 11bd is added to the subsequent travel support unit 1b in FIG. The HMI interface unit 11bd is included in the concept of the subsequent side information acquisition unit.
The HMI interface unit 11bd outputs the operation from the driver acquired by the operation input unit 26bc to the subsequent plan formulation unit 12b. In addition, the HMI interface unit 11bd outputs the video signal output from the subsequent side plan formulation unit 12b to the display unit 26ba, and outputs the audio notification signal output from the subsequent side plan formulation unit 12b to the acoustic unit 26bb. Thereby, the succeeding plan formulation unit 12b can display various information on the display unit 26ba, and can output various information to the sound unit 26bb by voice.
The subsequent plan formulation unit 12b performs display control similar to that of the preceding plan formulation unit 12a described above. For this reason, display similar to the display examples of FIGS. 18 to 23 may be performed by the display control of the subsequent plan formulation unit 12b. However, as another example here, the display unit 26ba is a HUD (head-up display) that can display one or more display objects that are visible from the driver's seat of the following vehicle 3 so as to overlap the scenery outside the following vehicle 3. A case will be described as an example. In addition, according to the display part 26ba comprised from such HUD, the virtual image which is visible to the driver | operator of the following vehicle 3 as if it exists in the real world three-dimensional space can be displayed as a virtual display object. It becomes possible.
25 to 29 are diagrams showing display examples of the display unit 26ba by the display control of the subsequent side plan formulation unit 12b included in the subsequent side travel support unit 1b. 25 to 29 show a state where the vehicle can be seen from the interior of the following vehicle 3 through the windshield 3b. The symbols 28a and the like in the display examples of FIGS. 25 to 29 are virtual display objects.
FIG. 25 is a display example from step S23 in FIG. 8 until it is determined Yes in step S23. As shown in FIG. 25, the driving support plan formulation unit 12b causes the display unit 26ba to display a symbol 28a indicating the inter-vehicle distance between the preceding vehicle 2 and the following vehicle 3.
FIG. 26 is a display example when automatic tracking is performed in step S24 of FIG. 8, and FIG. 27 is a display example while step S25 of FIG. 8 is performed. As shown in FIG.26 and FIG.27, the succeeding side plan formulation part 12b displays on the display part 26ba the information transmitted / received between the preceding vehicle 2 and the succeeding vehicle 3 by inter-vehicle communication by a symbol or the like.
For example, as shown in FIG. 26, when the automatic follow-up is performed between the preceding vehicle 2 and the succeeding vehicle 3 by inter-vehicle communication, the succeeding plan formulation unit 12b displays a symbol 28b or the like indicating the fact. To display. Here, the symbol 28b is a character “follow”, but is not limited thereto. For example, as the symbol 28b, a figure surrounding the preceding vehicle 2 may be used, or other characters or symbols may be used.
Further, for example, as shown in FIG. 27, the subsequent plan formulation unit 12b performs the negotiation for executing the integrated lane change mode between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication. A symbol 28c or the like indicating that is displayed on the display unit 26ba. At this time, the subsequent plan formulation unit 12b also displays the symbol 28d indicating the subsequent vehicle 3 on the display unit 26ba.
FIG. 28 is a display example when the mode is changed to the integrated lane change mode in step S29 of FIG. As shown in FIG. 28, the succeeding plan formulation unit 12b changes the display of the display unit 26ba based on the mode being executed among the integrated lane change mode and the independent second lane change mode.
When the integrated lane change mode is executed, the subsequent plan formulation unit 12b according to the fourth embodiment displays symbols 28e, 28f and the like indicating that the integrated lane change mode is being executed on the display unit 26ba. Let The symbol 28e is a character “integrated”, and the symbol 28f is a rope-like figure connecting the preceding vehicle 2 and the symbol 28d indicating the following vehicle 3.
On the other hand, when the independent lane change mode is executed, the subsequent plan formulation unit 12b according to the fourth embodiment does not display a symbol or the like indicating that the independent lane change mode is being executed on the display unit 26ba. . In this case, the driver of the succeeding vehicle 3 can grasp which of the integrated lane change mode and the independent lane change mode is executed based on whether or not the symbols 28e and 28f are displayed. Of course, when the independent lane change mode is being executed, the subsequent plan formulation unit 12b may display a symbol (not shown) indicating that the independent lane change mode is being executed on the display unit 26ba. .
FIG. 29 is a display example when the integrated lane change is executed in step S34 of FIG. As illustrated in FIG. 29, the subsequent plan formulation unit 12b changes the display of the display unit 26ba based on the determination result of the integrated lane change. FIG. 29 shows an arrow symbol 28g and a character symbol 28h indicating that the integrated lane change is being performed.
<Summary of Embodiment 4>
According to the driving support apparatus 1 according to the fourth embodiment as described above, the determination result of the integrated lane change, the determination result of the independent lane change, the integrated lane change mode, and the independent lane change mode The display on the display unit is changed based on at least one of the mode being executed. Thus, the driver can know the status of the integrated lane change and the independent lane change.
In the fourth embodiment, since the relative positions of the preceding vehicle 2, the succeeding vehicle 3 and the other vehicle are displayed on the display unit, the driver can know the relative positions of the preceding vehicle 2, the succeeding vehicle 3 and the other vehicle. it can.
Further, in the fourth embodiment, information transmitted and received between the preceding vehicle 2 and the following vehicle 3 is displayed on the display unit by inter-vehicle communication, so that the driver can determine which between the preceding vehicle 2 and the following vehicle 3. It is possible to know whether such information is being transmitted / received.
<Each modification of Embodiment 4>
Next, modifications of the fourth embodiment will be described. Although not described in detail, the modification examples of the second and third embodiments may be appropriately combined with the fourth embodiment, or the modification examples of the fourth embodiment may be appropriately combined with the second and third embodiments. May be.
In Embodiments 2 and 3, the negotiation in step S3 in FIG. 7 was automatically performed without notifying the driver. However, the present invention is not limited to this, and the instruction in the negotiation, that is, the instruction for executing the integrated lane change mode may be an instruction from the driver of at least one of the preceding vehicle 2 and the following vehicle 3. . In this case, at least one of the operation input units 26ac and 26bc may receive an instruction for executing the integrated lane change mode from the corresponding driver.
Specifically, when the preceding side information acquisition unit of the preceding vehicle 2 acquires an instruction for executing the integrated lane change mode from the driver of the preceding vehicle 2 via the operation input unit 26ac, The plan formulation unit 12a may transmit the instruction to the following vehicle 3 by inter-vehicle communication. And the succeeding side plan formulation part 12b which concerns on Embodiment 4 displays that on the display part 26ba, when the said instruction | indication is received from the preceding vehicle 2 by vehicle-to-vehicle communication (FIG. 27). At this time, when the subsequent side information acquisition unit of the subsequent vehicle 3 acquires the approval of the instruction for executing the integrated lane change mode from the driver of the subsequent vehicle 3 via the operation input unit 26bc, The side plan formulation unit 12b may transmit the instruction to the preceding vehicle 2 by inter-vehicle communication.
Alternatively, when the subsequent side information acquisition unit of the subsequent vehicle 3 acquires an instruction for executing the integrated lane change mode from the driver of the subsequent vehicle 3 via the operation input unit 26bc, the subsequent side plan formulation unit 12b may transmit the instruction to the preceding vehicle 2 by inter-vehicle communication. Then, when the preceding plan formulation unit 12a according to the fourth embodiment receives the instruction from the succeeding vehicle 3 through inter-vehicle communication, the preceding plan formulation unit 12a displays that on the display unit 26aa (FIG. 20). At this time, when the preceding side information acquisition unit of the preceding vehicle 2 acquires the approval of the instruction for executing the integrated lane change mode from the driver of the preceding vehicle 2 via the operation input unit 26ac, The side plan formulation unit 12a may transmit the instruction to the following vehicle 3 by inter-vehicle communication.
According to the above configuration, the driver can perform an operation for controlling the negotiation at his / her will. As described above, at least one of the operation input units 26ac and 26bc may receive an instruction for executing the independent lane change mode from the corresponding driver.
In the third modification of the second embodiment, the subsequent side information acquisition unit acquires the execution request for executing the integrated lane change from the automatic driving control unit 24b of the subsequent vehicle 3. However, the present invention is not limited to this, and the subsequent side information acquisition unit acquires an execution request for executing the integrated lane change from the driver of the subsequent vehicle 3 instead of the automatic driving control unit 24b of the subsequent vehicle 3. May be.
<Modification 3 of Embodiment 4>
In Embodiment 4, the subsequent side information acquisition unit acquires subsequent side other vehicle information that is information related to the other vehicle of the subsequent vehicle 3 other than the subsequent side other vehicle relative position and the subsequent side other vehicle relative position. The information acquisition unit may acquire the subsequent-side other vehicle information acquired by the subsequent-side information acquisition unit from the subsequent vehicle 3 by inter-vehicle communication. And the preceding side plan formulation part 12a may display the following side other vehicle information acquired in the preceding side information acquisition part on the display part 26aa. Here, the subsequent side other vehicle information includes, for example, the detection range 3a of the subsequent vehicle 3 and the like.
In the example of FIG. 30, not only the detection range 2a of the preceding vehicle 2 but also the detection range 3a of the subsequent vehicle 3 acquired by the preceding information acquisition unit is displayed on the display unit 26aa by the display control of the preceding plan formulation unit 12a. Has been. According to such a configuration, the driver of the preceding vehicle 2 can know the detection range 2 a of the preceding vehicle 2 and the detection range 3 a of the subsequent vehicle 3.
Contrary to the above, the preceding side information acquisition unit acquires the preceding side other vehicle information that is information related to the other vehicle of the preceding vehicle 2 other than the preceding side other vehicle relative position and the preceding side other vehicle relative position, The succeeding side information acquiring unit may acquire the preceding other vehicle information acquired by the preceding side information acquiring unit through inter-vehicle communication. And the succeeding side plan formulation part 12b may display the preceding side other vehicle information acquired in the succeeding side information acquisition part on the display part 26ba.
The block configuration of the preceding traveling support unit 1a included in the traveling support device 1 according to the fifth embodiment of the present invention is the same as the block configuration (FIG. 5) of the preceding traveling support unit 1a according to the second embodiment. Further, the block configuration of the subsequent travel support unit 1b included in the travel support device 1 according to the fifth embodiment is the same as the block configuration (FIG. 6) of the subsequent travel support unit 1b according to the second embodiment. Hereinafter, among the constituent elements described in the fifth embodiment, constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
In the fifth embodiment, the preceding side information acquisition unit acquires the front-rear inter-vehicle distance that is the inter-vehicle distance between the preceding vehicle 2 and the subsequent vehicle 3 in the automatic tracking of the subsequent vehicle 3. And the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the distance between the front and rear vehicles acquired by the preceding side information acquisition unit, When it is determined that the integrated lane change is not possible, the front-rear distance is shortened.
FIG. 31 is a flowchart showing the operation of the preceding traveling support unit 1a according to the fifth embodiment. The operation in FIG. 31 is the same as that in which steps S61 and S62 are added between steps S52 and S5 in FIG.
In step S61 after step S52, the preceding side information acquisition unit acquires the front-rear inter-vehicle distance. The preceding side plan formulation unit 12a determines whether or not the integrated lane change can be executed when the distance between the preceding and following vehicles acquired by the preceding side information acquisition unit is shortened. If it is determined that the integrated lane change can be performed, the process proceeds to step S62. If it is determined that the integrated lane change cannot be performed, the process returns to step S5.
In step S62, the preceding plan formulation unit 12a transmits an instruction to shorten the distance between the preceding and following vehicles to the following vehicle 3 by inter-vehicle communication. Thereafter, the process returns to step S5.
FIG. 32 is a flowchart showing the operation of the trailing side travel support unit 1b according to the fifth embodiment. The operation in FIG. 32 is the same as that in which steps S66 and S67 are added between step S56 and step S30 in FIG.
In step S66 after step S56, the subsequent plan formulation unit 12b determines whether or not an instruction to shorten the distance between the preceding and following vehicles has been received from the preceding vehicle 2 by inter-vehicle communication. The process proceeds to step S67 when it is determined that an instruction to shorten the front-rear distance is received, and the process proceeds to step S30 when it is determined that an instruction to shorten the front-rear distance is not received.
In step S67, the subsequent plan formulation unit 12b outputs a command for shortening the front-rear vehicle distance to the automatic driving control unit 24b, and the automatic driving control unit 24b outputs the command output from the travel support plan formulating unit 12a. To reduce the distance between the two cars. Thereafter, the process proceeds to step S30.
33 and 34 are diagrams for explaining the operation of the travel support apparatus 1 according to the fifth embodiment. 33 and 34 show a case where the preceding vehicle 2 and the following vehicle 3 are about to change to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane. Note that the preceding-side plan formulation unit 12a determines that the integrated lane change cannot be performed when the range 29 surrounding the preceding vehicle 2 and the following vehicle 3 is in contact with the other vehicles 4a and 4b.
33, since the range 29 is in contact with the other vehicle 4b, the preceding plan formulation unit 12a determines in step S52 that the integrated lane change cannot be executed. In this case, the preceding side plan formulation unit 12a performs the processes of Steps S61 and S62, and the subsequent side plan formulation unit 12b performs the processes of Steps S66 and S67. As a result, the front-rear inter-vehicle distance is shortened, and the longitudinal length of the range 29 is shortened as shown in FIG. In the case of FIG. 34, since the range 29 does not come into contact with any other vehicle 4a, 4b, the preceding-side plan formulation unit 12a determines in step S52 that the integrated lane change can be executed, and the integrated lane change is executed.
<Summary of Embodiment 5>
According to the driving support apparatus 1 according to the fourth embodiment as described above, the front-rear inter-vehicle distance is shortened when it is determined that the integrated lane change is not possible. According to such a structure, possibility that an integrated lane change will be performed can be raised.
<Variations of Embodiment 5>
Next, modifications of the fifth embodiment will be described. Although not described in detail, Embodiment 5 may be appropriately combined with each modification of Embodiments 2 to 4, or Embodiment 2 to 4 may be appropriately combined with each modification of Embodiment 5. May be.
<Modification 1 of Embodiment 5>
In the fifth embodiment, in step S62 in FIG. 31, the preceding plan formulation unit 12a transmits an instruction to shorten the distance between the preceding and following vehicles to the succeeding vehicle 3 by inter-vehicle communication. At this time, the predecessor plan formulation unit 12a may transmit to the succeeding vehicle 3 how many meters the front-rear inter-vehicle distance should be set by inter-vehicle communication.
In addition, the subsequent plan formulation unit 12b outputs a command to the automatic operation control unit 24b to return the front-rear inter-vehicle distance to the original distance before the shortening after executing the integrated lane change by shortening the front-rear inter-vehicle distance. Also good. Alternatively, the subsequent plan formulation unit 12b may transmit a command to the preceding vehicle 2 to return the front-rear inter-vehicle distance by inter-vehicle communication after executing the integrated lane change by shortening the front-rear inter-vehicle distance. And the preceding side plan formulation part 12a may output the instruction | command which leaves | separates from the succeeding vehicle 3 to the automatic driving control part 24a, when the instruction | command which returns the distance between preceding and succeeding vehicles is received from the succeeding vehicle 3 by communication between vehicles.
In the fifth embodiment, the preceding-side plan formulation unit 12a shortens the preceding and following vehicle distance, but the following-side plan formulation unit 12b may shorten the preceding and following vehicle distance. Specifically, not the preceding side information acquisition unit but the subsequent side information acquisition unit may acquire the front-rear inter-vehicle distance. Then, the subsequent side plan formulation unit 12b determines whether or not the integrated lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the distance between the front and rear vehicles acquired by the subsequent side information acquisition unit, When it is determined that the integrated lane cannot be changed, the front-rear inter-vehicle distance may be shortened.
<Modification 2 of Embodiment 5>
In the fifth embodiment, the front-rear inter-vehicle distance is automatically changed by performing inter-vehicle communication between the preceding plan formulation unit 12a of the preceding vehicle 2 and the subsequent plan formulation unit 12b of the subsequent vehicle 3.
However, the present invention is not limited to this. For example, an operation input unit 26bc may be provided in the vicinity of the subsequent-side travel support unit 1b as in the fourth embodiment. Then, when the subsequent side information acquisition unit of the subsequent vehicle 3 acquires an operation from the driver of the subsequent vehicle 3 about whether to change the distance between the preceding and rear vehicles via the operation input unit 26bc, the subsequent side plan is formulated. The unit 12b may transmit an operation signal corresponding to the operation acquired by the subsequent side information acquisition unit to the preceding vehicle 2 by inter-vehicle communication. Then, in step S61 in FIG. 31, it is determined that the preceding plan formulation unit 12a can execute the integrated lane change, and an operation signal corresponding to an operation for changing the front-rear inter-vehicle distance is transmitted by inter-vehicle communication. If received from, the process may proceed to step S62.
<Modification 3 of Embodiment 5>
In the fifth embodiment, when the preceding-side plan formulation unit 12a determines that the integrated lane change is not possible, the preceding-side plan formulation unit 12a transmits an instruction to shorten the front-rear inter-vehicle distance to the subsequent vehicle 3 by inter-vehicle communication. However, the present invention is not limited to this, and when the preceding plan formulation unit 12a determines that the integrated lane change is not possible, the inter-vehicle distance between one other vehicle 4a and another other vehicle 4b in FIG. That is, an instruction to increase the distance between other vehicles may be transmitted to one other vehicle 4a and another other vehicle 4b by inter-vehicle communication.
Specifically, the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be performed based on the other vehicle relative position and the other vehicle relative speed acquired by the preceding side information acquisition unit. When it is determined that the body lane cannot be changed, an instruction to increase the distance between the other vehicles may be transmitted to one other vehicle 4a and another other vehicle 4b by inter-vehicle communication. According to such a structure, possibility that an integrated lane change will be performed can be raised.
The preceding side plan formulation unit 12a may transmit an instruction to increase the distance between the other vehicles to the subsequent vehicle 3 by inter-vehicle communication, and the subsequent side plan formulation unit 12b may transmit the instruction transmitted from the preceding vehicle 2. The vehicle may be transmitted to one other vehicle 4a and another vehicle 4b by inter-vehicle communication.
Alternatively, the subsequent side plan formulation unit 12b determines whether or not the integrated lane change can be executed based on the other vehicle relative position and the other vehicle relative speed acquired by the subsequent side information acquisition unit, and the integrated lane change is performed. When it is determined that the vehicle cannot be operated, an instruction to increase the distance between the other vehicles may be transmitted to one other vehicle 4a and another other vehicle 4b by inter-vehicle communication. In this case, the subsequent side plan formulation unit 12b may transmit an instruction to increase the distance between the other vehicles to the preceding vehicle 2 by inter-vehicle communication, and the preceding side plan formulation unit 12a may transmit the instruction transmitted from the subsequent vehicle 3. The instruction may be transmitted to one other vehicle 4a and another vehicle 4b by inter-vehicle communication.
The information acquisition unit 11 and the control unit 12 in the above-described travel support device 1 are hereinafter referred to as “information acquisition unit 11 etc.”. The information acquisition unit 11 and the like are realized by a processing circuit 81 illustrated in FIG. That is, the processing circuit 81 determines whether the succeeding vehicle 3 is based on the information acquisition unit 11 that acquires the other vehicle relative position and the other vehicle relative speed, and the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit 11. And a control unit 12 that determines whether or not the preceding vehicle 2 and the following vehicle 3 can execute the first lane change in which the lane is changed integrally while maintaining the automatic tracking. Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in the memory may be applied. The processor corresponds to, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor) and the like.
When the processing circuit 81 is dedicated hardware, the processing circuit 81 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate). Array) or a combination thereof. Each function of each unit such as the information acquisition unit 11 may be realized by a circuit in which processing circuits are distributed, or the function of each unit may be realized by a single processing circuit.
When the processing circuit 81 is a processor, the functions of the information acquisition unit 11 and the like are realized by a combination with software or the like. Note that the software or the like corresponds to, for example, software, firmware, or software and firmware. Software or the like is described as a program and stored in the memory 83. As shown in FIG. 36, the processor 82 applied to the processing circuit 81 implements the functions of the respective units by reading out and executing the program stored in the memory 83. That is, the driving support device 1 is executed by the processing circuit 81 to acquire the other vehicle relative position and the other vehicle relative speed, and the subsequent operation based on the acquired other vehicle relative position and the other vehicle relative speed. A step of determining whether or not the vehicle 3 can perform a first lane change in which the preceding vehicle 2 and the following vehicle 3 change lanes integrally while maintaining automatic tracking; The memory 83 is stored. In other words, it can be said that this program causes a computer to execute procedures and methods such as the information acquisition unit 11. Here, the memory 83 is, for example, non-volatile or RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), or the like. Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disk), its drive device, etc., or any storage media used in the future May be.
As described above, the configuration in which each function of the information acquisition unit 11 and the like is realized by either hardware or software has been described. However, the present invention is not limited to this, and a configuration in which a part of the information acquisition unit 11 or the like is realized by dedicated hardware and another part is realized by software or the like. For example, the function of the information acquisition unit 11 is realized by the processing circuit 81 as dedicated hardware, and the processing circuit 81 as the processor 82 reads and executes the program stored in the memory 83 for the other parts. The function can be realized. As described above, the processing circuit 81 can realize the functions described above by hardware, software, or the like, or a combination thereof.
In addition, the driving support device 1 described above includes an in-vehicle device such as a PND (Portable Navigation Device) and a navigation device, a communication terminal including a mobile terminal such as a mobile phone, a smartphone, and a tablet, and applications installed on these devices. The present invention can also be applied to a driving support system constructed as a system by appropriately combining functions and servers. In this case, each function or each component of the driving support device 1 described above may be distributed and arranged in each device that constructs the system, or may be concentrated on any device. Good. As an example, the driving support device may be distributed and arranged in the in-vehicle device mounted in the preceding vehicle 2 and the in-vehicle device mounted in the succeeding vehicle 3, or concentrated on one of the in-vehicle devices. It may be arranged.
FIG. 37 is a block diagram showing a configuration of the server 91 according to this modification. The server 91 of FIG. 37 includes a communication unit 91a and a control unit 91b, and can perform wireless communication with the in-vehicle device 5a of the preceding vehicle 2 and the in-vehicle device 5b of the subsequent vehicle 3.
The communication unit 91a as an acquisition unit receives the other vehicle relative position and the other vehicle relative speed by performing wireless communication with the in-vehicle devices 5a and 5b.
The control unit 91b has a function similar to that of the control unit 12 in FIG. 2 when a processor (not illustrated) of the server 91 executes a program stored in a memory (not illustrated) of the server 91. That is, the control unit 91b determines whether or not the first lane change, that is, the integrated lane change can be performed based on the other vehicle relative position and the other vehicle relative speed received by the communication unit 91a. And the communication part 91a transmits the determination result of the control part 91b to the vehicle equipment 5a, 5b.
The server 91 configured as described above can obtain the same effects as those of the travel support device 1 described in the first embodiment.
FIG. 38 is a block diagram showing a configuration of the communication terminal 96 according to the present modification. 38 includes a communication unit 96a similar to the communication unit 91a and a control unit 96b similar to the control unit 91b, and includes an in-vehicle device 5a of the preceding vehicle 2 and an in-vehicle device 5b of the subsequent vehicle 3. Wireless communication can be performed. For example, a mobile terminal such as a mobile phone, a smart phone, and a tablet carried by the driver of the preceding vehicle 2 or the following vehicle 3 is applied to the communication terminal 96. In FIG. 38, as an example, the communication terminal 96 is carried by the driver of the preceding vehicle 2, for example. According to the communication terminal 96 configured as described above, it is possible to obtain the same effect as that of the driving support device 1 described in the first embodiment.
The present invention can be freely combined with each embodiment and each modification within the scope of the invention, or can be appropriately modified and omitted with each embodiment and each modification.
1 driving support device, 2 preceding vehicle, 3 succeeding vehicle, 4a, 4b other vehicle, 11 information acquisition unit, 11aa, 11ba peripheral vehicle information interface unit, 11ab, 11bb driving control interface unit, 11ac, 11bc external communication interface unit, 12 Control unit, 12a preceding plan formulation unit, 12b succeeding plan formulation unit, 26aa, 26ba display unit.
Relative relation between at least one of the preceding vehicle and a succeeding vehicle capable of following the preceding vehicle by inter-vehicle communication and automatic driving and one or more other vehicles other than the preceding vehicle and the following vehicle An information acquisition unit that acquires a relative position of another vehicle that is a position and acquires a relative speed of another vehicle that is a relative speed of at least one of the preceding vehicle and the subsequent vehicle and the other vehicle;
Based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit, a first lane in which the preceding vehicle and the succeeding vehicle change lanes integrally while the following vehicle maintains automatic tracking. A control unit for determining whether or not the change can be executed,
The driving support apparatus according to claim 1, wherein the automatic driving of the succeeding vehicle is an automatic driving in which a driver of the succeeding vehicle can participate.
Based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit, a second lane in which the preceding vehicle and the succeeding vehicle individually change lanes without maintaining the automatic following of the succeeding vehicle. A driving support device that determines whether or not a change can be executed.
Selectively executing a first lane change mode capable of determining whether or not the first lane change can be executed and a second lane change mode capable of determining whether or not the second lane change can be executed; Driving support device.
It is a driving assistance device according to claim 3,
Based on an instruction for executing one of the first lane change mode and the second lane change mode from at least one of the preceding vehicle and the subsequent vehicle, the first lane change mode and the A driving support device that selectively executes the second lane change mode.
The driving support device according to claim 4,
The driving support device, wherein the instruction is an instruction from a driver of at least one of the preceding vehicle and the following vehicle.
Based on an instruction to execute the first lane change mode from both the preceding vehicle and the subsequent vehicle, the first lane change mode is executed,
A travel support device that executes the second lane change mode based on an instruction from one of the preceding vehicle and the subsequent vehicle to execute the second lane change mode.
The other of the first lane change mode and the second lane change mode that is not executed during the period from the execution of one of the first lane change and the second lane change to completion. The driving support device that does not execute the lane change mode corresponding to the lane change.
The center capable of communicating with the driving support device is
Based on an instruction for executing one of the first lane change mode and the second lane change mode from at least one of the preceding vehicle and the subsequent vehicle, the first lane change mode and the Select one lane change mode of the second lane change mode,
A travel support device that executes a lane change mode selected by the center.
Including a preceding side information acquisition unit and a subsequent side information acquisition unit mounted on the preceding vehicle and the subsequent vehicle,
Including a preceding control unit and a following control unit mounted on the preceding vehicle and the following vehicle,
The preceding information acquisition unit
A preceding-side other vehicle relative position that is the other-vehicle relative position for the preceding vehicle and the other vehicle, and a preceding-side other vehicle relative speed that is the other-vehicle relative speed for the preceding vehicle and the other vehicle. Acquired,
The preceding control unit is
Determining whether or not the first lane change can be performed based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the information acquisition unit;
The subsequent side information acquisition unit includes:
A subsequent-side relative vehicle relative position that is the relative position of the other vehicle with respect to the subsequent vehicle and the other vehicle, and a subsequent-side relative speed of the other vehicle that is the relative speed of the other vehicle with respect to the subsequent vehicle and the other vehicle. Acquired,
The succeeding side control unit determines whether or not the first lane change can be executed based on the succeeding side other vehicle relative position and the succeeding side other vehicle relative speed acquired by the information acquiring unit. apparatus.
The driving support device according to claim 9, wherein
The determination result of the succeeding side control unit as to whether or not the succeeding side other vehicle relative position and the succeeding side other vehicle relative speed acquired by the succeeding side information acquiring unit or the first lane change can be executed. Further acquisition by inter-vehicle communication,
The preceding-side other vehicle relative position and the preceding-side other vehicle relative speed acquired by the preceding-side information acquiring unit, and the subsequent-side other vehicle relative position and the succeeding-side other vehicle acquired by the preceding-side information acquiring unit. A travel support device that determines whether or not the first lane change can be performed based on a relative speed or a determination result of the subsequent control unit acquired by the preceding information acquisition unit.
Obtaining the automatic driving level of the following vehicle by inter-vehicle communication;
A travel support device that determines whether or not the first lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the automatic driving level acquired by the preceding side information acquisition unit.
The preceding vehicle can be driven automatically,
Based on the determination result of the preceding control unit as to whether or not the first lane change can be performed, the first lane change is performed by the automatic driving to the automatic driving control unit that controls the automatic driving of the preceding vehicle. A driving support device that outputs a command for driving or formulates a preceding automatic driving plan that is an automatic driving plan for the preceding vehicle.
A preceding automatic driving plan that is an automatic driving plan for the preceding vehicle to be transmitted to the following vehicle by inter-vehicle communication based on a determination result of the preceding control unit as to whether or not the first lane change can be performed. Or the driving assistance device which formulates the succeeding side automatic driving plan which is the plan of the automatic driving of the succeeding vehicle.
It is a driving assistance device according to claim 12, Comprising:
An execution request for executing the first lane change is acquired from the following vehicle,
The execution request acquired by the subsequent side information acquisition unit is acquired by inter-vehicle communication,
When the preceding information acquisition unit acquires the execution request, it is determined whether or not the first lane change can be executed regardless of the preceding automatic driving plan, and the first lane change can be executed. The driving support device that executes the first lane change when it is determined that
Obtaining an inter-vehicle distance between the preceding vehicle and the succeeding vehicle in automatic follow-up of the succeeding vehicle;
Based on the other vehicle relative position, the other vehicle relative speed, and the inter-vehicle distance acquired by the information acquisition unit, it is determined whether or not the first lane change can be executed, and the first lane change cannot be performed. A travel support device that shortens the inter-vehicle distance when it is determined.
When determining whether or not the first lane change can be executed based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit, and when determining that the first lane change cannot be performed A driving support device that transmits an instruction to increase the inter-vehicle distance between one other vehicle and another other vehicle to the one other vehicle and the other other vehicle by inter-vehicle communication.
Based on at least one of the determination result of the first lane change, the determination result of the second lane change, and the mode being executed among the first lane change mode and the second lane change mode. The driving support device that changes the display on the display unit.
The information acquisition unit acquires a front-rear relative position that is a relative position of the preceding vehicle and the subsequent vehicle;
A travel support device that causes a display unit to display relative positions of the preceding vehicle, the succeeding vehicle, and the other vehicle based on the relative position of the other vehicle and the relative position of the front and rear acquired by the information acquisition unit.
The subsequent side information acquisition unit acquires subsequent side other vehicle information that is information related to the other vehicle of the subsequent vehicle,
The preceding side information acquisition unit acquires the subsequent side other vehicle information acquired by the subsequent side information acquisition unit by inter-vehicle communication,
A travel support device that causes the display unit to display the subsequent-side other vehicle information acquired by the preceding-side information acquisition unit.
A driving support device that displays information transmitted and received between the preceding vehicle and the following vehicle by inter-vehicle communication on a display unit.
Relative relation between at least one of the preceding vehicle and a succeeding vehicle capable of following the preceding vehicle by inter-vehicle communication and automatic driving and one or more other vehicles other than the preceding vehicle and the following vehicle The other vehicle relative position which is a position, and the other vehicle relative speed which is a relative speed for at least one of the preceding vehicle and the succeeding vehicle and the other vehicle,
Based on the acquired relative position of the other vehicle and the relative speed of the other vehicle, is it possible to execute a first lane change in which the preceding vehicle and the succeeding vehicle change lanes integrally while the subsequent vehicle maintains automatic tracking? Determine whether or not
The driving support method, wherein the automatic driving of the succeeding vehicle is an automatic driving in which a driver of the succeeding vehicle can be involved.
PCT/JP2017/009445 2017-03-09 2017-03-09 Traveling support device and traveling support method WO2018163349A1 (en)
PCT/JP2017/009445 WO2018163349A1 (en) 2017-03-09 2017-03-09 Traveling support device and traveling support method
JP2017009445A JPWO2018163349A1 (en) 2017-03-09 2017-03-09 Driving support device and driving support method
WO2018163349A1 true WO2018163349A1 (en) 2018-09-13
ID=63448464
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