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CN-122009228-A - Vehicle driving support device

CN122009228ACN 122009228 ACN122009228 ACN 122009228ACN-122009228-A

Abstract

Provided is a vehicle driving support device capable of appropriately notifying the operator of a vehicle of the presence of a mobile body. A vehicle driving support device (10) notifies an operator of a host vehicle of the presence of a mobile body (200) that moves toward an intersection (401) ahead of the traveling direction of the host vehicle (100) and that satisfies a predetermined movement state condition when the presence of the mobile body is recognized on the basis of wireless communication information on the intersection (400T) that intersects with the traveling road (402) of the host vehicle. The predetermined movement state conditions include a 1 st movement state condition that a movement speed of a moving body is 1 st speed or less and a delay time until the moving body reaches the intersection, that is, a range of an intersection arrival delay time being 1 st time or less and 2 nd time or more shorter than the 1 st time. The vehicle driving support apparatus notifies the presence of the moving body when the presence of the moving body satisfying the 1 st moving state condition is recognized.

Inventors

  • Qiu Benguang

Assignees

  • 丰田自动车株式会社

Dates

Publication Date
20260512
Application Date
20251029
Priority Date
20241111

Claims (11)

  1. 1. A vehicle driving support device is provided with a control device, The control device, when recognizing, based on the wireless communication information, the presence of a mobile body that moves toward an intersection ahead of the own vehicle in the traveling direction and that intersects with the traveling road of the own vehicle on the road, and that satisfies a predetermined movement state condition, notifies an operator of the own vehicle of the presence of the mobile body, The predetermined moving state conditions include a1 st moving state condition that the moving speed of the moving body is equal to or lower than a1 st speed, and that a delay time until the moving body reaches the intersection, that is, an intersection arrival delay time is equal to or lower than a1 st time and equal to or longer than a 2 nd time shorter than the 1 st time, The control device is configured to notify the presence of a moving body that satisfies the 1 st moving state condition when the presence of the moving body is recognized.
  2. 2. The driving assistance device for vehicle according to claim 1, The control device is configured to change the notification mode when the mobile object is directly detected by the vehicle-mounted device of the host vehicle during the notification period.
  3. 3. The driving assistance device for vehicle according to claim 1, The wireless communication information is information provided from a wireless communication terminal held by the mobile body to the vehicle driving support apparatus via a communication network.
  4. 4. The driving assistance device for vehicle according to claim 3, The 2 nd time is longer than a time required from when the wireless communication terminal held by the mobile body transmits the wireless communication information until the wireless communication information is supplied to the vehicle driving support apparatus.
  5. 5. The driving assistance device for vehicle according to claim 1, The 1 st speed is a speed around the maximum value of the moving speed that is generally achieved by the bicycle.
  6. 6. The driving assistance device for vehicle according to claim 1, The predetermined movement state condition includes a2 nd movement state condition, and the 2 nd movement state condition is a condition that a movement speed of the moving body is a speed of 2 nd or lower than the 1 st speed. The control device is configured to notify the presence of a moving body when the presence of the moving body satisfying the 1 st moving state condition or the 2 nd moving state condition is recognized.
  7. 7. The driving assistance device for vehicle according to claim 6, The 1 st speed is a speed around the maximum value of the moving speed that is generally achieved by the bicycle, The 2 nd speed is a speed around the maximum value of the moving speed normally achieved by the pedestrian.
  8. 8. The driving assistance device for vehicle according to claim 2, The in-vehicle apparatus is an image sensor or an electromagnetic wave sensor.
  9. 9. The driving assistance device for vehicle according to claim 1, The wireless communication information is position information of the mobile body or movement direction information and movement speed information of the mobile body.
  10. 10. The driving assistance device for vehicle according to claim 1, The control device is configured not to perform the notification when the mobile body does not satisfy the 1 st movement state condition even when the mobile body is recognized to move toward the intersection on a road intersecting the travel road of the own vehicle at the intersection based on the wireless communication information.
  11. 11. The driving assistance device for vehicle according to claim 6, The control device is configured not to perform the notification when neither the 1 st movement state condition nor the 2 nd movement state condition is satisfied even when a moving body that moves toward the intersection on a road intersecting the travel road of the own vehicle at the intersection is identified based on the wireless communication information.

Description

Vehicle driving support device Technical Field The present invention relates to a vehicle driving support device. Background There is known a vehicle driving support device that recognizes the presence of a mobile object that is likely to collide with a host vehicle based on wireless communication information, and notifies an operator of the host vehicle of the presence of the mobile object (for example, refer to patent document 1). The wireless communication information is information transmitted from a wireless communication terminal held by the mobile unit. The wireless communication information includes, for example, position information indicating the position of the mobile body. Prior art literature Patent literature Patent document 1 Japanese patent laid-open No. 2009-86839 Disclosure of Invention The error of the movement information of the mobile body identified based on the wireless communication information becomes smaller as the movement speed of the mobile body becomes faster. However, a certain time is required from the transmission of the wireless communication information by the wireless communication terminal until the presence of the mobile body is recognized. That is, a certain delay occurs in the identification of the presence of the moving object. Also, the faster the moving speed of the moving body, the longer the distance the moving body moves during the delay time. Therefore, even if the error of the movement information of the moving body is small, if the movement speed of the moving body is high, the error has a large influence on the recognition accuracy of the moving body. Therefore, even if the mobile object has a small error in the movement information, if the movement speed of the mobile object is high when the mobile object is recognized based on the wireless communication information, the presence of the mobile object may not be properly notified to the operator of the vehicle. The present invention aims to provide a vehicle driving support device capable of properly notifying an operator of a vehicle of the presence of a moving body. The vehicle driving support device according to the present invention includes a control device that, when it is recognized based on wireless communication information that a mobile body that moves toward an intersection ahead of a traveling direction of a host vehicle on a road intersecting a traveling road of the host vehicle and that satisfies a predetermined movement state condition exists, notifies an operator of the host vehicle of the presence of the mobile body. The predetermined movement state condition includes a1 st movement state condition, and the 1 st movement state condition is a condition in which a movement speed of the moving body is a speed equal to or lower than a1 st speed, and a delay time until the moving body reaches the intersection, that is, an intersection arrival delay time is a range of equal to or lower than a1 st time and equal to or longer than a2 nd time shorter than the 1 st time. The control device is configured to notify the presence of a moving body that satisfies the 1 st moving state condition when the presence of the moving body is recognized. According to the vehicle driving support device of the present invention, the mobile body that is notified to the operator of the vehicle based on the wireless communication information is a mobile body whose moving speed is 1 st speed or less and whose intersection arrival delay time is in the range of 1 st time or less and 2 nd time or more. In this way, since the notified intersection arrival delay time of the mobile body is 2 nd or more, it is possible to suppress the notification based on the wireless communication information of the mobile body that has passed through the intersection during the delay time from being made at the point of time when the vehicle driving support apparatus recognizes the mobile body from the wireless communication information, as compared with the case where the intersection arrival delay time is not present. Further, by setting the notified intersection arrival delay time of the mobile body to 1 st time or less, it is possible to suppress the operator of the own vehicle from feeling tired by notifying the operator at a premature timing. Therefore, the operator of the host vehicle can be appropriately notified of the presence of the mobile body. In the vehicle driving support device according to the present invention, the control device may change the mode of the notification when the mobile object is directly detected by the onboard device of the host vehicle during the notification. According to the vehicle driving support device of the present invention, when the mobile object is directly detected by the in-vehicle device, the notification mode is changed. That is, the notification for notifying the operator of the vehicle of the presence of the mobile body is changed from the notification based on the wireless communication inf