JP-7856519-B2 - Driving assistance systems

JP7856519B2JP 7856519 B2JP7856519 B2JP 7856519B2JP-7856519-B2

Inventors

宮井康次

Assignees

トヨタ自動車株式会社
株式会社デンソー

Dates

Publication Date: 20260511
Application Date: 20220728

Claims (4)

The system includes a camera that captures images of other vehicles on roads with two or more lanes that intersect with the vehicle's path, and a recognition sensor that recognizes the surrounding conditions of the vehicle. A processor that performs driving assistance processing to help avoid collisions between the vehicle itself and other vehicles, Equipped with, The aforementioned processor, Based on the other vehicle driving information, which is the driving information of the other vehicle detected by the recognition sensor, a prediction is made as to whether the other vehicle will change lanes from the lane further away from the vehicle to the lane closer to it. The driving support process is executed in a manner corresponding to the results of the prediction , The aforementioned information on other vehicles includes information indicating whether or not the turn signals of the other vehicles are flashing. Driving assistance system.
The system includes a camera that captures images of other vehicles on roads with two or more lanes that intersect with the vehicle's path, and a recognition sensor that recognizes the surrounding conditions of the vehicle. A processor that performs driving assistance processing to help avoid collisions between the vehicle itself and other vehicles, Equipped with, The aforementioned processor, Based on the other vehicle driving information, which is the driving information of the other vehicle detected by the recognition sensor, a prediction is made as to whether the other vehicle will change lanes from the lane further away from the vehicle to the lane closer to it. The driving support process is executed in a manner corresponding to the results of the prediction , The aforementioned other vehicle driving information includes information indicating the distance of the other vehicle to the lane marking closest to the vehicle in question among the lane markings that demarcate the other vehicle's driving lane. Driving assistance system.
The system includes a camera that captures images of other vehicles on roads with two or more lanes that intersect with the vehicle's path, and a recognition sensor that recognizes the surrounding conditions of the vehicle. A processor that performs driving assistance processing to help avoid collisions between the vehicle itself and other vehicles, Equipped with, The aforementioned processor, Based on the other vehicle driving information, which is the driving information of the other vehicle detected by the recognition sensor, a prediction is made as to whether the other vehicle will change lanes from the lane further away from the vehicle to the lane closer to it. The driving support process is executed in a manner corresponding to the results of the prediction , The vehicle includes an actuator that controls at least one of the driving and braking of the vehicle, and an HMI device that provides notifications to the driver of the vehicle. The result of the above prediction is the lane change probability, which is the probability that the other vehicle is predicted to make the lane change. The aforementioned driver assistance process is: A first process of controlling the actuator to suppress the forward movement of the vehicle, A second process that controls the HMI device to provide notification regarding the warning for collision avoidance, Includes, The processor executes the first process if the probability of changing lanes is equal to or greater than a threshold, and executes the second process if the probability of changing lanes is less than the threshold. Driving assistance system.
The system includes a camera that captures images of other vehicles on roads with two or more lanes that intersect with the vehicle's path, and a recognition sensor that recognizes the surrounding conditions of the vehicle. A processor that performs driving assistance processing to help avoid collisions between the vehicle itself and other vehicles, Equipped with, The aforementioned processor, Based on the other vehicle driving information, which is the driving information of the other vehicle detected by the recognition sensor, a prediction is made as to whether the other vehicle will change lanes from the lane further away from the vehicle to the lane closer to it. The driver assistance process is executed in a manner corresponding to the results of the prediction , The processor performs the prediction under low-speed conditions where the vehicle's speed is below a predetermined speed, and executes the driving support process in a manner corresponding to the result of the prediction. Driving assistance system.

Description

This disclosure relates to a driver assistance system applicable to a vehicle. Patent Document 1 discloses a driver assistance system. This system calculates the trajectory of a moving object traveling on a road intersecting the vehicle's path. The system then compares the calculated trajectory with the vehicle's own trajectory to determine whether the moving object is likely to collide with the vehicle. Japanese Patent Publication No. 2019-191839 This diagram schematically shows an example of the configuration of a vehicle equipped with a driver assistance device according to an embodiment.This diagram illustrates the overview and challenges of FCTA.This figure shows an example of a scene in which the driving assistance process PR, based on the prediction of another vehicle's lane change LC according to the embodiment, is executed.This is a flowchart relating to the driver assistance process PR based on the prediction of lane change LC of other vehicles according to the embodiment. The embodiments of this disclosure will be described below with reference to the attached drawings. In each drawing, elements common to all figures are denoted by the same reference numerals, and redundant explanations are omitted or simplified. 1. Example of Vehicle Configuration Figure 1 is a schematic diagram showing an example of the configuration of a vehicle equipped with a driver assistance device according to an embodiment. The vehicle 1 shown in Figure 1 includes an electronic control unit (ECU) 10, a recognition sensor 20, an HMI (Human Machine Interface) device 30, a drive device 40, and a braking device 50. Note that the vehicle 1 may be an autonomous driving vehicle. The ECU 10 is a computer that controls the vehicle 1. The ECU 10 includes one or more processors (hereinafter simply referred to as "processors") 12 and one or more storage devices (hereinafter simply referred to as "storage devices") 14. The processors 12 execute various processes related to the control of the vehicle 1. The storage devices 14 store various information necessary for the processing performed by the processors 12. Examples of storage devices 14 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc. The processors 12 execute various computer programs, thereby realizing various processes performed by the processors 12. These computer programs are stored in the storage devices 14 or recorded on computer-readable recording media. The ECU 10 may be composed of multiple ECUs. The recognition sensor 20 recognizes the surrounding environment of the vehicle (vehicle 1). The recognition sensor 20 is electrically connected to the ECU 10. As an example, the recognition sensor 20 includes radars 22, 24, and 26, and a front camera 28. The radars 22, 24, and 26 are, for example, millimeter-wave radars. The central front radar 22 detects objects in the area in front of vehicle 1. The right front radar 24 detects objects in the right front area of vehicle 1. The left front radar 26 detects objects in the left front area of vehicle 1. The front camera 28 captures images of the area in front of vehicle 1. The HMI device 30 provides alerts to the driver of vehicle 1. The HMI device 30 includes, for example, a display for visual alerts. The display is, for example, a display mounted on the instrument panel of vehicle 1, or a head-up display (HUD) that displays information on the windshield 2 of vehicle 1. The HMI device 30 also includes, for example, at least one of a buzzer and a speaker for auditory alerts, along with the display. The HMI device 30 is controlled by the ECU 10 (processor 12). The drive unit 40 generates the driving force for the vehicle 1. The drive unit 40 includes, for example, an electric motor and an internal combustion engine for driving the vehicle 1. The braking unit 50 generates the braking force for the vehicle 1. The braking unit 50 includes a brake actuator for braking the vehicle 1. At least one of the electric motor and the internal combustion engine corresponds to an example of the "actuator" in this disclosure. Similarly, the brake actuator corresponds to another example of the "actuator" in this disclosure. In the example of vehicle 1 having the configuration described above, the "driving assistance system" according to this disclosure comprises an ECU 10 including the processor 12 described above, a recognition sensor 20, and an HMI device 30. 2. Driving assistance for collision avoidance 2-1. Challenges of FCTA One of the prior arts that assists the driver of a vehicle in avoiding collisions with moving objects such as other vehicles is FCTA (Front Cross Traffic Alert). FCTA is executed when predetermined operating conditions are met. These operating conditions include, for example, that the speed of the vehicle is below a predetermined speed (for example, 15 km/h). Figure 2(A) is a diagram illustrating the outline of FCTA. Figure 2(A) illustrates a single-lane road 104 intersect