JP5024255B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device.

Conventionally, as a technology in such a field, there is JP-A-2006-227811. The driving support device described in this publication detects the presence or absence of a blind spot area caused by an oncoming vehicle, and when the blind spot area exists and the right turn state of the host vehicle is detected, A warning is generated. As a result, it is possible to prevent contact between the vehicle or pedestrian hidden in the blind spot created by the oncoming vehicle and the host vehicle.
JP 2006-227811 A JP 2003-237407 A Japanese Patent Laid-Open No. 11-53690 JP 2007-233646 A

  Here, in recent years, there is a demand for improvement in technology for preventing collisions. In the above-described prior art, the blind spot for the own vehicle created by the other vehicle is considered, but the blind spot for the other vehicle created by the own vehicle and the blind spot for the second other vehicle created by the first other vehicle are considered. There was a problem that was not.

  The present invention has been made to solve such a problem, and calculates a blind spot region created by an object, thereby making it difficult for mobile objects existing in the blind spot region created by the object to contact each other. Provided is a driving support device capable of

  The driving support device according to the present invention detects a blind spot object position recognition means for recognizing the position of a blind spot object that generates a blind spot area, a moving object existing in the vicinity of the blind spot object, and the moving object and the blind spot object. And a blind spot area calculating means for calculating a blind spot area for a moving body generated by the blind spot object based on the relative position acquired by the relative position acquiring means. It is characterized by that.

  According to such a driving assistance device, the position of the blind spot object that generates the blind spot area is recognized, and the blind spot object is based on the relative position between the blind spot object and the moving object existing in the vicinity of the blind spot object. It is possible to calculate the blind spot area for the moving object created by the above. Thereby, it is possible to recognize the blind spot area for the moving object due to the blind spot object, for example, by issuing an alarm to the moving object existing in the blind spot area, and different blind spot areas created by the blind spot object It is possible to make it difficult for the moving bodies present in the area to contact each other.

  Here, the blind spot object position recognition means for recognizing the position of the host vehicle, which is the blind spot object, and the relative position for detecting the moving body existing in the vicinity of the host vehicle and acquiring the relative position between the moving body and the host vehicle A configuration is provided that includes position acquisition means and blind spot area calculation means for calculating a blind spot area for a moving body generated by the host vehicle based on the relative position acquired by the relative position acquisition means. Thereby, it is possible to recognize the blind spot area for the moving object created by the own vehicle, and to estimate the change of the blind spot area for the moving object due to the movement of the own vehicle and the change in the possibility of contact of the moving object. Can do.

  When a plurality of moving bodies including the first moving body and the second moving body are detected, the blind spot area for the first moving body is set as the first blind spot area, and the second moving body is Using the blind spot area as the second blind spot area, it is determined whether or not the second moving object exists in the first blind spot area, and whether or not the first moving object exists in the second blind spot area. Mutual blind spot judging means for judging that there is a mutual blind spot when the second moving object is present in the first blind spot area and the first moving object is present in the second blind spot area. It is preferable to further provide. In addition, it is preferable to further include notifying means for notifying that there is a mutual blind spot. Thereby, it is possible to detect the presence or absence of a plurality of moving bodies that cannot be visually recognized.

  In addition, a course prediction unit that predicts a course of at least one of the first mobile body and the second mobile body, and a first mobile body and a second mobile body based on the course predicted by the course prediction unit It is preferable to further include a collision determination unit that performs the collision determination.

  Further, when the collision determination means determines that there is a possibility of a collision between the first moving body and the second moving body, a collision avoidance operation control means for controlling a collision avoidance operation for avoiding the collision. Is preferably further provided. Further, it is preferable that the collision avoidance operation control means moves the host vehicle to a position that obstructs the course of the first moving body or the second moving body as the collision avoiding operation.

  According to the present invention, it is possible to provide a driving assistance device capable of calculating a blind spot area created by a blind spot object and making it difficult for a moving body existing in the blind spot area created by the blind spot object to contact each other. it can.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of an image display device according to the invention will be described with reference to the drawings. In the description of the drawings, the same or corresponding elements are denoted by the same reference numerals, and redundant description is omitted.

[First Embodiment]
First, the driving assistance device according to the first embodiment of the present invention will be described. FIG. 1 is a plan view showing the positional relationship between a host vehicle equipped with the driving support apparatus according to the first embodiment and other vehicles existing in a blind spot area created by the host vehicle, and FIG. 2 is a driving support according to the first embodiment. It is a block block diagram of an apparatus.

In Figure 1, shows the travel path of the two lanes (four _lanes) L 1 ~L ₄ (left-hand traffic), the vehicle _{A 1} is stopped at the intersection immediately before that exist right turn lane _{L 2,} the right turn lane _{L 2} The other vehicle B ₁ existing in the traveling lane L ₁ adjacent to the left side goes straight toward the intersection, and the other vehicle B ₂ existing in the right turn lane L ₃ that is the opposite lane is about to turn right at the intersection.

In the state shown in FIG. 1, the blind area F ₁ for the other vehicles B ₁ to the host vehicle A ₁ produces there are other vehicles B _2, other blind area F ₂ for the other vehicles B ₂ of the vehicle A ₁ produces vehicle _{B 1} is present.

Driving support device 1 according to the first embodiment (see FIG. 2) is mounted on the vehicle A _1, the vehicle (blind spot object) other vehicle (first mobile A ₁ produces a second moving body ) _B 1, the blind spot region (the first blind area for the _{B 2,} and calculates the second blind _area) F 1, _{F 2.} Hereinafter, when it is not necessary to distinguish the other vehicles B ₁ and B ₂ , they are referred to as other vehicles B, and when it is not necessary to distinguish the blind spot areas F ₁ and F ₂ , they are referred to as blind spot areas F.

  As shown in FIG. 2, the driving support device 1 includes a sensor (moving body detection means) 2, an alarm device (notification means) 3, and an electronic control unit (hereinafter referred to as “ECU”) 4. The sensor 2 and the alarm device 3 are electrically connected.

Sensor 2, which functions as an object detecting means for detecting a vehicle B present in the vicinity of the own vehicle A _1, information that allows for calculating a relative position between the vehicle A ₁ and another vehicle B Is something to get. Examples of the sensor 2 include an imaging camera, a millimeter wave radar, a vehicle-to-vehicle communication unit, a road-to-vehicle communication unit, and the like.

Hereinafter, a case where the sensor 2 is an imaging camera will be described. Imaging camera is intended for imaging the surroundings of the own vehicle A _1, a plurality (e.g., for forward imaging, lateral imaging, such as backward imaging) is provided. Image information acquired by the imaging camera is output to the ECU 4.

Alarm 3 is to emit a warning sound (horn) in the area around the vehicle A _1. Then, the "another vehicle B ₂ existing in the blind area F ₁ for the other vehicles B _1" and "another vehicle B ₁ existing in the blind area F ₂ for the other vehicles B _2", another blind spot It functions as an informing means for informing that the other vehicle B ₂ , B ₁ of the other party exists in the areas F ₁ , F ₂ (there is a mutual blind spot described later). By issuing an alarm sound, the driver of the other vehicle B can be alerted.

  The ECU 4 includes a CPU that performs arithmetic processing, a ROM and a RAM that serve as a storage unit, an input signal circuit, an output signal circuit, a power supply circuit, and the like. For the other vehicle B that the host vehicle A1 creates based on information from the sensor 2 The blind spot area F is calculated.

  In the CPU of the ECU 4, by executing a program stored in the storage unit, an object position acquisition unit (a blind spot object position recognition unit, a relative position acquisition unit) 5, an individual blind spot area calculation unit (a blind spot area calculation unit) 6. , A mutual blind spot determination unit (mutual blind spot determination means) 7 and a notification control unit 8 are configured. Further, the storage unit stores model image information serving as comparison data for recognizing moving bodies such as other vehicles B, two-wheeled vehicles, and pedestrians. In addition, the storage unit stores data acquired by the sensor 2, a calculation result by the CPU, and the like.

  The object position acquisition unit 5 performs image processing based on the image information output from the sensor 2 and detects the other vehicle B. For example, the other vehicle B is recognized by comparing with model image information of a plurality of types of vehicles stored in the storage unit.

Further, the target position acquiring unit 5, based on the image information output from the sensor 2, the relative position between the vehicle A ₁ and another vehicle B (e.g., relative distance, relative angle), and, of another vehicle B Information such as size (for example, vehicle body length, vehicle width, vehicle height, shape) is acquired. Further, GPS positioning data acquired by the navigation system, based on the map data, it is possible to recognize the position of the host vehicle A _1.

Further, the object position acquisition unit 5 assigns reference numbers (1, 2,..., N) to a plurality of other vehicles B ₁ , B ₂ ,..., B _n based on the acquired position information. For example, a serial number may be assigned in order from the other vehicle B close to the blind spot object that generates the blind spot area F. In other vehicles (B ₁ , B ₂ ,..., B _n ), the number given to the lower right of “B” is the reference number. Further, instead of the reference number, for example, an alphabet or the like may be attached to identify the moving body.

The individual blind spot area calculation unit 6 calculates a blind spot area F for the other vehicle B generated by the own vehicle A ₁ based on the relative position acquired by the object position acquisition unit 5. In the individual blind spot area calculation unit 6, individual blind spot area calculation units corresponding to the plurality of moving bodies are configured for the plurality of moving bodies (other vehicles B ₁ , B ₂ ) recognized by the object position detection acquisition unit 5. Then, blind spot areas F ₁ and F ₂ for each moving body are calculated.

The mutual blind spot determination unit 7 determines whether or not there is a mutual blind spot (overlapping blind spot) when a plurality of other vehicles B ₁ and B ₂ are detected. In mutual blind spot determining section 7, another vehicle B ₂ is present in the blind area F ₁ for the other vehicles B _1, and each other blind spots when there is another vehicle B ₁ in the blind area F ₂ for the other vehicles B ₂ Is determined to exist. Thereby, the combination of the other vehicles B ₁ and B ₂ existing in each other's blind spot areas F ₁ and F ₂ is specified.

  The notification control unit 8 controls the alarm device 3 and outputs a warning sound by the alarm device 3 to urge attention when there is a mutual blind spot.

Next, control processing executed by the driving support apparatus 1 according to the present embodiment will be described along the flowchart of FIG. The operation in the state shown in FIG. 1 will be mainly described. First, the other vehicles B ₁ and B ₂ are detected by the sensor 2. Information about the detected other vehicles B ₁ and B ₂ is output to the ECU 4.

The ECU 4 inputs various data from the sensor 2 (S1). Here, image processing is performed by inputting image information from the imaging camera as the sensor 2, and the other vehicles B ₁ and B ₂ existing in the vicinity of the host vehicle A ₁ are recognized.

Next, the ECU 4 assigns a reference number to the other vehicles B ₁ and B ₂ recognized based on the input information, and the relative position between the own vehicle A ₁ and the other vehicle B ₁ , the own vehicle A ₁ and the others. obtaining a relative position between the vehicle _{B 2} (S2).

Subsequently, ECU 4 is based on the relative position of the own vehicle _{A 1} and another vehicle _{B 1,} and calculates the blind spot region _{F 1} for the other vehicles _{B 1} generated by the own vehicle _{A 1,} with the vehicle _{A 1} based on the relative positions of the other vehicles _{B 2,} and calculates the blind spot region F2 for the other vehicles _{B 2} generated by the own vehicle _{a 1} (S3). Here, as shown in FIG. 1, the driver's position in the estimated vehicle B as a reference point, based on the relative distance and relative angle between the vehicle A ₁ and another vehicle B, the vehicle A ₁ A blind spot area F that becomes a blind spot is calculated geometrically.

Next, the ECU 4 calculates the overlap of the blind spots and determines whether or not there is a mutual blind spot (S4). Here, it is determined that there is another vehicle B ₂ in the blind spot area F _1, and, if there is another vehicle B ₁ in the blind area F _2, mutual blind spot exists. A combination of the other vehicles B ₁ and B ₂ that cannot be visually recognized is specified. Note that when there are other vehicles that are difficult to visually recognize, it may be determined that there is a mutual blind spot.

  The ECU 4 terminates the process when there is no mutual blind spot, and when it determines that there is a mutual blind spot, the ECU 4 proceeds to step 5 and gives a warning by the alarm device 3 to notify that the other vehicle B has a mutual blind spot. Then, the process ends.

As described above, according to the driving support device 1 according to the present embodiment, the host vehicle A ₁ is based on the relative position between the host vehicle A ₁ that generates the blind spot region F and the other vehicle B existing in the vicinity of the host vehicle A _1. The blind spot area F for the other vehicle B created by ₁ can be calculated. Further, when there are a plurality of other vehicles B, it is possible to calculate the overlap of the blind spots and determine the presence or absence of the mutual blind spots. Thereby, the other vehicles B that cannot be visually recognized can be identified and alerted, and the collision between the other vehicles B having the mutual blind spots can be made difficult to occur. Further, by the movement of the own vehicle A _1, it is possible to estimate the change in the blind spot F for the vehicle B by the vehicle A _1, it is possible to estimate the change in the risk of nearby vehicles A _1. In addition, it is good also as a structure which alert | reports the information regarding the presence or absence of a mutual blind spot to the other vehicle B using inter-vehicle communication.

[Second Embodiment]
Next, a driving support apparatus according to a second embodiment of the present invention will be described. Figure 4 is a block diagram of a driving support device according to the second embodiment, FIG. 5 is a plan view showing the positional relationship between the other vehicles existing blind area where the vehicle A _1, and the vehicle A ₁ produces . The driving support device 11 of the second embodiment shown in FIG. 4 is different from the driving support device 1 of the first embodiment in that a course prediction unit 12 and a collision determination unit 13 are further provided. In the ECU 4 of the second embodiment, the course prediction unit 12 and the collision determination unit 13 are constructed by executing a program.

  The course prediction unit 12 predicts the course of the other vehicle B based on the information of the other vehicle B acquired by the sensor 2. Specifically, the latest movement of the other vehicle B is calculated, the movement is estimated, and the course is predicted. Further, the route is predicted in consideration of the light color information of the traffic light, the lane in which the other vehicle B travels, and the operation status of the direction indicator of the other vehicle B.

For example, as shown in FIG. 5, when the other vehicle B ₁ goes straight on the traveling lane L ₁ at a constant speed and the direction indicator is not operating, the other vehicle B ₁ is predicted to go straight. Further, another vehicle B ₂ is traveling on the right turn lane L ₃ in the opposite lane at a low speed, when the right direction indicator is activated, the other vehicles B ₂ is expected to turn right.

The collision determination unit 13 determines the collision of the other vehicles B ₁ and B ₂ based on the route of the other vehicle B ₁ predicted by the route prediction unit 12 and the route of the other vehicle B ₂ . For example, as shown in FIG. 5, when the other vehicle B ₁ goes straight and the other vehicle B ₂ turns right, the other vehicles B ₁ and B ₂ are determined to have a possibility of collision.

  Next, control processing executed by the driving support apparatus 1 according to the present embodiment will be described along the flowchart of FIG. The operation in the state shown in FIG. 6 will be mainly described. Hereinafter, differences from the processing in the first embodiment will be described.

In the ECU 4 of the second embodiment, when it is determined in step 4 that there is a mutual blind spot, the process proceeds to step 11 to predict the course of the other vehicles B ₁ and B ₂ . In the subsequent step 12, a collision determination is performed based on the course prediction of the other vehicles B ₁ and B ₂ . If it is determined that there is no possibility of a collision, the process is terminated. If it is determined that there is a possibility of a collision, the process proceeds to step 5 where a warning is given using the alarm device 3 and the blind spot area F Is informed that there is a possibility of a collision with another vehicle B existing in the vehicle, and the process is terminated.

  Even in the driving support apparatus 11 of the second embodiment, the same operations and effects as the first embodiment are obtained. Furthermore, since it is the structure provided with the course prediction part 12 and the collision determination part 13, the possibility of the collision of the other vehicles B which cannot mutually visually recognize can be determined. Further, since warnings can be made according to the possibility of collision, unnecessary warnings can be reduced and alerts can be made with certainty.

[Third Embodiment]
Next, a driving assistance apparatus according to a third embodiment of the present invention will be described. Figure 7 is a block diagram of a driving support apparatus according to the third embodiment, FIGS. 8 and 9 is a plan showing the positional relationship between other vehicles existing blind area where the vehicle A _1, and the vehicle A ₁ produces a diagram, which are the diagram showing the position of the back-and-forth movement of the own vehicle a _1.

  The driving support device 21 of the third embodiment shown in FIG. 7 is different from the driving support device 11 of the second embodiment in that an automatic moving means 23 is provided instead of the alarm device 3, and a collision is provided instead of the notification control unit 8. It is a point provided with the suppression action control part 22. FIG. In ECU4 of 3rd Embodiment, the collision suppression action control part 22 is constructed | assembled by running a program.

The collision suppression action control unit 22 controls a collision avoidance operation for avoiding a collision when the collision determination unit 13 determines that there is a possibility of a collision between the other vehicles B. For example, based on the predicted courses of the other vehicles B ₁ and B ₂ calculated by the course prediction unit 12, a position where any one of the courses can be disturbed is calculated, and the host vehicle A ₁ is moved to that position. To control. Further, as the collision avoidance operation, to a position capable of eliminating the mutual blind spots where it is determined by the mutual blind determination unit 7 may be controlled to move the own vehicle A _1. And the collision suppression action control part 22 transmits a drive signal to the automatic movement means 23 electrically connected with ECU4, and performs a collision suppression action.

Automatic movement means 23 is driven based on the drive signals output by the collision suppressing action control unit 22, and moves the vehicle A ₁ automatically. The automatic movement means 23, an engine propelling the vehicle A _1, the motor and the like. Further, by controlling the brake actuator, and cancels the stop state, it may be moved subject vehicle A _1.

  Next, control processing executed by the driving support apparatus 21 according to the present embodiment will be described along the flowchart of FIG. The operation in the state shown in FIGS. 8 and 9 will be mainly described. Hereinafter, differences from the processing in the second embodiment will be described.

In the ECU 4 of the third embodiment, when it is determined in step 4 that there is a mutual blind spot, the process proceeds to step 11 to perform course prediction of the other vehicles B ₁ and B ₂ . In Figure 8, in front of another vehicle B ₁ of the traffic lane L _1, there is another vehicle C ₁ in front of the intersection, in front of the own vehicle A ₁ of Passing Lane L _2, other forwardly of the intersection vehicle _{C 2} is present. In ECU 4, based on information from the sensors 2, it recognizes the position of the other vehicle _C 1, _{C 2,} in front of another vehicle _{B 1} / vehicle _{A 1,} another vehicle _{B 1} / vehicle _{A 1} can enter It can be determined whether or not there is a space. In Figure 8, in front of another vehicle B _1, since there is a space, to route prediction when another vehicle B ₁ represents straight without stopping at the intersection before.

In the subsequent step 12, a collision determination is performed based on the course prediction of the other vehicles B ₁ and B ₂ . If it is determined that there is no possibility of a collision, the process is terminated, and if it is determined that there is a possibility of a collision, the process proceeds to step 13 to execute a collision suppression action. Here, setting the position to move the vehicle A ₁ in the intersection is on the predicted course of another vehicle B _2. Then, as shown in FIG. 9, to move the vehicle A _1, is stopped at the intersection. By moving the host vehicle A ₁ in this way, the course of the other vehicle B ₂ is obstructed, and the collision between the other vehicles B ₁ and B ₂ is avoided.

Even in the driving support device 21 of the third embodiment, the same operations and effects as those of the second embodiment are exhibited. Furthermore, in the driving support device 21 of the third embodiment, when it is determined that there is a possibility of collision between the other vehicles B ₁ and B ₂ , the collision avoiding operation for avoiding the collision is executed. A collision between the vehicles B ₁ and B ₂ can be prevented in advance.

  The collision avoidance operation may be other operations. For example, a warning signal may be transmitted to another vehicle using inter-vehicle communication or the like to prompt the driver of the other vehicle to perform a deceleration operation or a steering operation to execute a collision avoidance operation. Further, when the own vehicle moves, the blind spot area may be changed so that other vehicles can be visually recognized.

As mentioned above, although this invention was concretely demonstrated based on the embodiment, this invention is not limited to the said embodiment. In the above embodiment, the host vehicle A ₁ equipped with the driving support device 1 calculates the blind spot areas F ₁ and F ₂ of the other vehicles B ₁ and B ₂ created by the host vehicle A ₁ . May be another moving body. For example, as shown in FIG. 11, the driving support device 1 is the own vehicle A ₂ equipped with blind spot region F ₁ for the other vehicles B ₁ produced by the other vehicles B _0, the other vehicles B ₂ produced by the other vehicles B ₀ it may be calculated blind spot region F ₂ for the.

In FIG. 11, the other vehicle B ₀ that is the blind spot object that generates the blind spot areas F ₁ and F ₂ is stopped in the right turn lane L ₂ immediately before the intersection. The other vehicle B ₁ existing in the traveling lane L ₁ adjacent to the left side of the right turn lane L ₂ goes straight toward the intersection, and the other vehicle B ₂ existing in the right turn lane L ₃ that is the opposite lane is about to turn right at the intersection. . Then, the own vehicle _{A 2} equipped with the driving support apparatus of the present invention, in the traveling path _{L 5} intersecting the lane _L 1 ~L _4, has stopped at an intersection immediately before visible to other vehicles _B 0 .about.B ₂ It is a state.

Sensor 2 of the own vehicle A ₂ acts as a blind spot object position recognizing means for recognizing a position of another vehicle B ₀ is a blind spot object. The sensor 2 detects other vehicles B ₁ and B ₂ existing in the vicinity of the other vehicle B ₀ . Based on the information acquired by the sensor 2, the ECU 4 acquires the relative position between the other vehicle B ₀ and the other vehicle B ₁ and the relative position between the other vehicle B ₀ and the other vehicle B ₂ .

Then, the ECU 4 calculates the blind spot area F ₁ for the other vehicle B ₁ generated by the other vehicle B ₀ based on the acquired relative position between the other vehicle B ₀ and the other vehicle B _1, and acquires the other based on the relative position of the vehicle B ₀ and the other vehicles B _2, and calculates the blind spot region F ₂ for the other vehicles B ₂ generated by another vehicle B _0. According to such a driving support device, it is possible to calculate the blind spot areas F ₁ and F ₂ for the other vehicles B ₁ and B ₂ by the other vehicle B ₀ . Then, based on the calculated blind spot areas F ₁ and F ₂ , the blind spot area is determined by determining the presence / absence of a mutual blind spot, performing a collision determination, warning another vehicle, performing a collision avoidance operation, and the like. Collisions between the other vehicles B ₁ and B ₂ existing in F ₁ and F ₂ can be reduced.

In the above embodiment, the blind spot object mobile (vehicle A _1, another vehicle B ₀₎ although the blind spot object such as a building, or the object does not move. FIG. 12 is a plan view showing the positional relationship between the host vehicle A ₃ equipped with the driving support device, the building E that is a blind spot object, and other vehicles B ₁ and B ₃ that exist in the blind spot area created by the building E.

In FIG. 12, the building E, which is a blind spot object that generates the blind spot areas F ₁ and F ₃ , becomes the travel lane L ₁ and the travel path L ₅ at the intersection of the travel lanes L ₁ and L ₄ and the travel path L ₅ . It exists at the facing corner. The other vehicle B ₁ existing in the travel lane L ₁ goes straight toward the intersection, and the other vehicle B ₃ present in the travel path L ₅ intersecting the travel lane L ₁ at the intersection goes straight toward the intersection. Then, the own vehicle A ₃ equipped with the driving support apparatus of the present invention, in the traffic lane L ₄ is opposite lane of the traffic lane L _1, is present at the intersection just before building E, another vehicle B _1, B ₃ Is visible.

Sensor 2 of the own vehicle A ₃ serves as a blind spot object position recognizing means for recognizing a position of the building E is a blind spot object. The sensor 2 detects other vehicles B ₁ and B ₃ existing in the vicinity of the building E. The ECU 4 acquires the relative position between the building E and the other vehicle B ₁ and the relative position between the building E and the other vehicle B ₃ based on the information acquired by the sensor 2.

Then, ECU 4, based on the obtained relative position of the building E and another vehicle B _1, and calculates the blind spot region F ₁ for the other vehicles B ₁ generated by the building E, obtained buildings E and other vehicles Based on the relative position to B ₂ , a blind spot area F ₃ for the other vehicle B ₃ generated by the building E is calculated. According to such a driving support device, it is possible to calculate the blind spots F ₁ and F ₃ of the other vehicles B ₁ and B ₃ due to the building E. Then, based on the calculated blind spot areas F ₁ and F ₃ , the blind spot area is determined by determining the presence / absence of a mutual blind spot, performing a collision determination, warning another vehicle, performing a collision avoidance operation, and the like. Collisions between the other vehicles B ₁ and B ₃ existing in F ₁ and F ₃ can be reduced.

  In the above-described embodiment, the moving object that exists in the vicinity of the blind spot object is described as an automobile (another vehicle B). However, the moving object that exists in the vicinity of the blind spot object may be, for example, a pedestrian or a motorcycle. Other mobile objects such as bicycles may be used.

In the state shown in FIG. 13, the vehicle A ₁ equipped with the driving support apparatus of the present invention, is stopped just before the crosswalk intersection. In the traveling lane L ₁ adjacent to the traveling lane L ₂ where the host vehicle A ₁ exists, the other vehicle B ₁ goes straight toward the intersection. A pedestrian M crosses the pedestrian crossing ahead of the host vehicle A ₁ and the other vehicle B _{1 from} the opposite lane L ₃ , L ₄ side to the traveling lane L ₁ , L ₂ side.

The driving assist apparatus 1 mounted in the vehicle A1, as a moving body existing in the vicinity of a blind spot object vehicle A _1, another vehicle B _1, detects the pedestrian M. The driving support device 1 calculates a blind spot area F ₁ for the other vehicle B ₁ created by the own vehicle A ₁ based on the relative position between the own vehicle A ₁ and the other vehicle B ₁ . Further, the driving support device 1, based on the relative position of the walker M and the vehicle A _1, calculates the blind spot region F ₄ for the pedestrian M, produced by the vehicle A _1.

According to such a driving assistance device, based on the calculated blind spot areas F ₁ and F ₄ , the presence / absence of a mutual blind spot is determined, the collision is determined, and the other vehicle B ₁ and the pedestrian M are warned. it, such as by executing a collision avoidance operation, it is possible to reduce the pedestrian M present in the blind area F _1, a collision with another vehicle B ₁ existing in the blind area F _4.

  Moreover, in the said embodiment, although the vehicle-mounted camera was illustrated as a relative position acquisition means which acquires the relative position of a moving body and a blind spot target object, another apparatus position acquisition means may be sufficient. For example, the relative position may be acquired using a millimeter wave radar, and the position information acquired by each mobile object using GPS may be obtained using communication means such as inter-vehicle communication, inter-pedal communication, and road-to-vehicle communication. You may get it.

Is a plan view showing another vehicle B _1, the positional relationship between B ₂ existing in the blind area F _1, F ₂ of the vehicle A ₁ equipped with the driving support apparatus according to the first _embodiment, and the vehicle A ₁ produces . It is a block block diagram of the driving assistance device concerning a 1st embodiment. It is a flowchart which shows the process sequence performed with the driving assistance device which concerns on 1st Embodiment. It is a block block diagram of the driving assistance device which concerns on 2nd Embodiment. Is a plan view showing another vehicle B _1, the positional relationship between B ₂ existing in the blind area F _1, F ₂ of the vehicle A ₁ equipped with the driving support device according to the second _embodiment, and the vehicle A ₁ produces . It is a flowchart which shows the process sequence performed with the driving assistance device which concerns on 2nd Embodiment. It is a block block diagram of the driving assistance device which concerns on 3rd Embodiment. Be a plan view showing another vehicle B _1, the positional relationship between B ₂ existing in the blind area F _1, F ₂ of the third embodiment the vehicle A ₁ equipped with the driving support device according to the _embodiment, and the vehicle A ₁ produces The position before movement of the host vehicle A1 is shown. Be a plan view showing another vehicle B _1, the positional relationship between B ₂ existing in the blind area F _1, F ₂ of the third embodiment the vehicle A ₁ equipped with the driving support device according to the _embodiment, and the vehicle A ₁ produces The position after movement of the host vehicle A1 is shown. It is a flowchart which shows the process sequence performed with the driving assistance device which concerns on 3rd Embodiment. Own vehicle A ₂ equipped with the driving support apparatus according to another _embodiment, showing the other vehicles B _1, the positional relationship between B ₂ present in the blind spot region other vehicles B ₀ is a blind spot _object is another vehicle B ₀ produces It is a top view. Other embodiments the own vehicle A ₃ equipped with the driving support device _according, is a plane view showing the building E is a blind spot object, the positional relationship of another vehicle B _1, B ₃ existing in the blind area buildings E produces . Driving support apparatus own vehicle A ₁ equipped with according to another _embodiment, another vehicle B ₁ is present in the blind area F ₄ where the vehicle A _{1 produces,} and, present in the blind area F ₁ of the vehicle A ₁ produces It is a top view which shows the positional relationship of the pedestrian M.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,11,21 ... Driving assistance device, 2 ... Sensor, 3 ... Alarm, 4 ... ECU, 5 ... Object position acquisition part, 6 ... Individual blind spot area | region calculation part, 7 ... Mutual blind spot determination part, 8 ... Notification control , 12 ... Course prediction unit, 13 ... Collision determination unit, 22 ... Collision suppression action control unit, A ₁ ... Own vehicle (dead angle object), A ₂ , A ₃ ... Own vehicle, B ₀ ... Other vehicle (dead angle object) Object), B ₁ , B ₂ , B ₃ ... other vehicles, E ... building (dead angle object), F ₁ , F ₂ , F ₃ , F ₄ ... blind spot area, M ... pedestrian.

Claims (3)

Blind spot object position recognition means for recognizing the position of the blind spot object that generates the blind spot area;
Relative position acquisition means for detecting a moving object existing in the vicinity of the blind spot object and acquiring a relative position between the moving object and the blind spot object;
A blind spot area calculating means for calculating a blind spot area for the moving body generated by the blind spot object based on the relative position acquired by the relative position acquiring means ,
The blind spot object position recognizing means for recognizing the position of the vehicle that is the blind spot object;
The relative position acquisition means for detecting a moving body existing in the vicinity of the host vehicle and acquiring a relative position between the moving body and the host vehicle;
The blind spot area calculating means for calculating a blind spot area for the moving body generated by the host vehicle based on the relative position acquired by the relative position acquiring means,
When a plurality of the moving bodies including the first moving body and the second moving body are detected,
The blind spot area for the first moving body is a first blind spot area, and the blind spot area for the second moving body is a second blind spot area,
Determining whether or not the second moving body is present in the first blind spot area, and determining whether or not the first moving body is present in the second blind spot area;
A mutual blind spot determining means for determining that there is a mutual blind spot when the second moving object is present in the first blind spot area and the first moving object is present in the second blind spot area; Prepared,
A course prediction means for predicting a course of at least one of the first moving body and the second moving body;
A collision determination unit that performs a collision determination between the first moving body and the second moving body based on the path predicted by the path prediction unit;
When the collision determination unit determines that there is a possibility of a collision between the first moving body and the second moving body, the host vehicle is moved as a collision avoiding operation for avoiding the collision. A driving assistance apparatus , further comprising a collision avoidance operation control means for controlling . 2. The driving according to claim 1, wherein the collision avoidance operation control means moves the host vehicle to a position that obstructs a course of the first moving body or the second moving body as the collision avoiding operation. Support device. The driving support device according to claim 1 , further comprising notification means for notifying that the mutual blind spot is present .

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