CN-121989931-A - Driving assistance system

CN121989931ACN 121989931 ACN121989931 ACN 121989931ACN-121989931-A

Abstract

The invention provides a driving assistance system capable of improving safety in a cross scene. The driving support system includes a time prediction unit that predicts an arrival time, a position prediction unit that predicts a passing front end position and a passing rear end position, and a margin distance setting unit that sets a margin distance. The driving support system includes a determination position setting unit that sets a front end determination position, a rear end determination position, a crossing front end position, and a crossing rear end position, and a determination unit. When the front end judgment position is located behind the intersecting rear end position in the traveling direction intersecting the moving body or when the rear end judgment position is located in front of the intersecting front end position in the traveling direction intersecting the moving body, the judgment unit judges that the assist state is not necessary. The determination unit determines that the assist state is necessary when the front end determination position is located forward of the intersecting rear end position in the traveling direction of the moving body and the rear end determination position is located rearward of the intersecting front end position in the traveling direction of the moving body.

Inventors

MATSUNAGA SHOGO
INUI TAKASHI
Able to do so

Assignees

株式会社电装

Dates

Publication Date: 20260508
Application Date: 20251023
Priority Date: 20241101

Claims (9)

1. A driving assistance system is provided with: The detection device detects surrounding objects; a vehicle track prediction unit that predicts a vehicle track, which is a movement track of the vehicle; a target trajectory prediction unit configured to predict a target trajectory, the target trajectory being the movement trajectory traversing the moving body detected by the detection device; A time prediction unit configured to predict an arrival time, which is a time taken for the host vehicle to reach an intersection region where the host vehicle trajectory and the target trajectory intersect; A position prediction unit configured to predict a passing front end position at which the front end of the moving object passes at a time point when the arrival time has elapsed, and a passing rear end position at which the rear end of the moving object passes at a time point when the arrival time has elapsed; A margin distance setting unit that sets a required margin distance between the host vehicle and the traversing moving body at a point in time when the arrival time has elapsed; A judgment position setting unit that sets a front end judgment position and a rear end judgment position, and sets a crossing front end position and a crossing rear end position, wherein the front end judgment position is a position obtained by adding the margin distance to the crossing front end position in the traveling direction of the crossing moving body, the rear end judgment position is a position obtained by adding the margin distance to the crossing rear end position in a direction opposite to the traveling direction of the crossing moving body, the crossing front end position is an end portion located forward of the traveling direction of the crossing moving body in the crossing region, and the crossing rear end position is an end portion located rearward of the traveling direction of the crossing moving body in the crossing region; A judging section for judging that an assist state is not required when the front end judging position is located behind the crossing rear end position in the traveling direction of the crossing movable body or when the rear end judging position is located in front of the crossing front end position in the traveling direction of the crossing movable body, and judging that an assist state is required when the front end judging position is located in front of the crossing rear end position in the traveling direction of the crossing movable body and the rear end judging position is located behind the crossing front end position in the traveling direction of the crossing movable body, and And an assist control unit that performs driving assist using a driving assist device when the determination unit determines that the assist is required, and that stops the driving assist when the determination unit determines that the assist is not required.
2. The driving assistance system according to claim 1, wherein, The margin distance setting unit sets the margin distance to be larger as the speed of the host vehicle is higher.
3. The driving assistance system according to claim 1, wherein, The margin distance setting unit sets the margin distance to be larger as the target speed, which is the speed of the traverse moving body, is larger.
4. The driving assistance system according to claim 1, wherein, The margin distance setting unit sets the margin distance to be larger as the traversing moving body is farther from the host vehicle.
5. The driving assistance system according to claim 1, wherein, The margin distance setting unit sets a pre-passing margin distance and a post-passing margin distance, wherein the pre-passing margin distance is the margin distance when the position of the crossing moving body at the time point when the arrival time has elapsed is a position before the crossing region is passed, the post-passing margin distance is the margin distance when the position of the crossing moving body at the time point when the arrival time has elapsed is a position after the crossing region is passed, The determination position setting unit sets a position obtained by adding the passing front margin distance to the passing front end position in the traveling direction of the traverse moving body as the front end determination position, and sets a position obtained by adding the passing rear margin distance to the passing rear end position in a direction opposite to the traveling direction of the traverse moving body as the rear end determination position.
6. The driving assistance system according to claim 5, wherein, The margin distance setting unit sets the pre-passage margin distance to be larger than the post-passage margin distance.
7. The driving assistance system according to any one of claims 1 to 6, wherein, When the determination unit determines that the assist is not necessary during the execution of the driving assist, the assist control unit stops the driving assist during the execution.
8. The driving assistance system according to claim 7, wherein, When the front end judgment position is located forward of the crossing front end position in the traveling direction of the crossing moving body, the judgment unit judges that the assist state is not necessary even when the front end judgment position is located forward of the crossing rear end position in the traveling direction of the crossing moving body and the rear end judgment position is located rearward of the crossing front end position in the traveling direction of the crossing moving body, wherein the current rear end position is the rear end position of the crossing moving body at the current time point.
9. The driving assistance system according to claim 8, wherein, The determination unit determines that the assist-free state is not necessary when the current rear end position is located rearward of the intersecting front end position in the traveling direction of the traversing moving body and the current front end position is located forward of the intersecting rear end position in the traveling direction of the traversing moving body and the passing rear end position is located forward of the intersecting front end position in the traveling direction of the traversing moving body, even when the front end determination position is located forward of the intersecting rear end position in the traveling direction of the traversing moving body and the rear end determination position is located rearward of the intersecting front end position in the traveling direction of the traversing moving body.

Description

Driving assistance system Technical Field The disclosure in this specification relates to a driving assistance system. Background Patent document 1 discloses a collision determination device that determines whether or not a vehicle three-dimensional object intersects a movement path of the object. The contents of the prior art documents are incorporated by reference as an explanation of the technical elements in the present specification. Patent document 1 Japanese patent laid-open No. 2020-8288 In the configuration of the prior art document, collision determination between the host vehicle and the object is performed, and control for decelerating the host vehicle speed is performed as necessary as collision suppression control. However, driving assistance in an uncorrupted crossover scenario is not assumed. Here, even in a non-collided cross scene, in a scene crossing at a very close distance, there are cases where the subject side is collided with a fear of collision or the driver feels a fear of collision. Therefore, in the driving assistance system, it is required to avoid a very close intersection and improve safety in the intersection scene. In the above-described viewpoints or in other viewpoints not mentioned, further improvements are demanded for the driving assistance system. Disclosure of Invention It is an object of the disclosure to provide a driving assistance system capable of improving safety in a crossover scenario. The driving assistance system disclosed herein includes: A detection device (51) for detecting a surrounding object; A vehicle track prediction unit (72A) that predicts a vehicle track (K1) that is a movement track of the vehicle (10); A target track prediction unit (72B) for predicting a target track (K2) that is a movement track traversing the moving body (20) and detected by the detection device; a time prediction unit (72C) that predicts an arrival time, which is the time until the host vehicle arrives at an intersection area (CA) where the host vehicle trajectory and the target trajectory intersect; A position prediction unit (72D) that predicts a passing front end position (SPf) that is a position of the front end of the traversing moving body at the time point when the arrival time has elapsed, and a passing rear end position (SPr) that is a position of the rear end of the traversing moving body at the time point when the arrival time has elapsed; A margin distance setting unit (73) that sets a required margin distance (ML) between the host vehicle and the traversing moving body at the point in time when the arrival time has elapsed; A judgment position setting unit (76) that sets a front end judgment position (HPf) and a rear end judgment position (HPr) that are positions obtained by adding a margin distance to the traveling direction across the moving body through the front end position, and that sets a crossing front end position (CAf) that is an end portion located in front of the traveling direction across the moving body in the crossing region and a crossing rear end position (CAr) that is an end portion located behind the traveling direction across the moving body in the crossing region, the crossing front end position being a position obtained by adding a margin distance to the traveling direction across the moving body through the rear end position; A judging unit (74) for judging that the auxiliary state is not required when the front end judging position is located behind the crossing rear end position in the traveling direction of the moving body or when the rear end judging position is located in front of the crossing front end position in the traveling direction of the moving body, and judging that the auxiliary state is required when the front end judging position is located in front of the crossing rear end position in the traveling direction of the moving body and the rear end judging position is located behind the crossing front end position in the traveling direction of the moving body, and An assist control unit (75) performs driving assist using the driving assist device (80) when the determination unit determines that the assist state is required, and stops driving assist when the determination unit determines that the assist state is not required. According to the disclosed driving assistance system, the driving assistance system includes a determination unit that determines that the assistance state is not required when the front end determination position is located behind the intersecting rear end position in the traveling direction of the moving body or when the rear end determination position is located in front of the intersecting front end position in the traveling direction of the moving body, and determines that the assistance state is required when the front end determination position is located in front of the intersecting rear end position in the traveling direction of the moving body and the rear end determination position is located be