JP-7857141-B2 - Vehicle driving assistance systems

JP7857141B2JP 7857141 B2JP7857141 B2JP 7857141B2JP-7857141-B2

Inventors

堀口陽宣

Assignees

株式会社SUBARU

Dates

Publication Date: 20260512
Application Date: 20220405

Claims (4)

A turn signal drive unit that causes the turn signal lamps installed on the vehicle to flash at a predetermined interval, The aforementioned environmental information acquisition unit acquires information about the surrounding environment of the vehicle, If the pre-set target route is set to the direction of the intersection that crosses the current vehicle's driving path at the intersection ahead, the control unit drives the turn signal drive unit from a pre-set flashing start distance before the intersection. In a vehicle driver assistance system equipped with, The control unit has a blinking period variable unit that drives the turn signal drive unit with drive signals of different blinking periods. The flashing period variable unit sets the flashing period to be shorter as the vehicle approaches the intersection. A vehicle driving assistance system, The variable flashing period unit is characterized in that, when the environmental information acquisition unit detects a following vehicle that is following the vehicle, and when it detects an intersecting vehicle at another intersection before the vehicle is about to make a turn at the intersection, it sets the flashing period of the rear turn lamp in the direction of the turn to be shorter as the vehicle approaches the intersection, and sets the flashing period of the front turn lamp in the direction of the turn to be longer until the vehicle passes the other intersection.
A turn signal drive unit that causes the turn signal lamps installed on the vehicle to flash at a predetermined interval, The aforementioned environmental information acquisition unit acquires information about the surrounding environment of the vehicle, If the pre-set target route is set to the direction of the intersection that crosses the current vehicle's driving path at the intersection ahead, the control unit drives the turn signal drive unit from a pre-set flashing start distance before the intersection. In a vehicle driver assistance system equipped with, The control unit has a blinking period variable unit that drives the turn signal drive unit with drive signals of different blinking periods. The flashing period variable unit sets the flashing period to be shorter as the vehicle approaches the intersection. A vehicle driving assistance system, The vehicle driving assistance device is characterized in that, when the variable flashing period unit detects a following vehicle that is following the vehicle , it sets the flashing period of at least the rear turn lamp among the turn lamps in the direction of a turn to be shorter as the vehicle approaches the intersection.
A turn signal drive unit that causes the turn signal lamps installed on the vehicle to flash at a predetermined interval, The aforementioned environmental information acquisition unit acquires information about the surrounding environment of the vehicle, If the pre-set target route is set to the direction of the intersection that crosses the current vehicle's driving path at the intersection ahead, the control unit drives the turn signal drive unit from a pre-set flashing start distance before the intersection. In a vehicle driver assistance system equipped with, The control unit has a blinking period variable unit that drives the turn signal drive unit with drive signals of different blinking periods. The flashing period variable unit sets the flashing period to be shorter as the vehicle approaches the intersection. A vehicle driving assistance system, The variable flashing period unit is characterized in that, when the environmental information acquisition unit detects an intersecting vehicle at another intersection before the vehicle makes a turn at the aforementioned intersection, it sets the flashing period of at least the front turn lamp among the turn lamps in the direction of the turn to bend to be longer until the vehicle passes the other intersection.
The control unit further comprises a deceleration limiting control unit, The vehicle driving assistance device according to claim 1 or 3, characterized in that the deceleration limit control unit , when the environmental information acquisition unit detects an intersecting vehicle at another intersection before the vehicle makes a turn at the intersection, limits the deceleration until the vehicle passes the other intersection.

Description

This invention relates to a vehicle driver assistance system that shortens the flashing cycle of the turn signal lamps as the vehicle approaches the intersection while autonomously turning. Traditionally, this type of driver assistance system has involved the driver (operator) setting a destination, then setting a route from the current location to the destination, and automatically driving all or part of that route on behalf of the driver. In autonomous driving on public roads, sensing devices such as cameras recognize the driving environment around the vehicle and constantly monitor for the presence of preceding and following vehicles. Furthermore, if the driving route is set to proceed towards an intersection requiring a right or left turn, the turn signal on the side of the turn should be activated before reaching the intersection to signal the intention to change lanes to other vehicles and following vehicles attempting to enter the lane from the intersection. Therefore, it is necessary to make the direction of travel of the vehicle known to surrounding vehicles and pedestrians in advance by flashing the turn signal. This also applies to lane changes during autonomous driving. For example, Patent Document 1 (Japanese Patent Publication No. 2020-166393) discloses a technology in which, when a vehicle changes lanes, it flashes the turn signal on the lane it will be changing into in advance to inform following vehicles and surrounding vehicles of the intention to change lanes. Japanese Patent Publication No. 2020-166393 Schematic diagram of the driver assistance systemFlowchart showing the driving control routine when turning left or right (Part 1)Flowchart showing the driving control routine when turning left or right (Part 2)Flowchart showing the driving control routine when turning left or right (Part 3)Flowchart showing the turn signal control I subroutineFlowchart showing the turn signal control II subroutineFlowchart showing the turn signal control III subroutineFlowchart showing the avoidance action I subroutineFlowchart showing the pre-pass deceleration limit control subroutineFlowchart showing the Avoidance Action II subroutineFlowchart showing the Avoidance Action III subroutineAn overhead view showing the status of the turn signal lights when the vehicle is attempting to make a left turn using autonomous driving.An overhead view showing the status of the turn signal lights when the vehicle is attempting to make a right turn using autonomous driving.Diagram illustrating the flashing cycle of turn signals. The following describes one embodiment of the present invention based on the drawings. For convenience, this embodiment assumes a road where left-hand traffic is permitted. Therefore, on roads where right-hand traffic is permitted, the left and right lanes should be reversed. In Figure 1, the driver assistance system 1 installed in the vehicle M has a driver assistance control unit 11 that performs necessary driving assistance such as vehicle speed control and steering control during autonomous driving. This driver assistance control unit 11 is composed of a microcontroller equipped with a CPU, RAM, ROM, rewritable non-volatile memory (flash memory or EEPROM), and peripheral devices. The ROM stores programs and fixed data necessary for the CPU to execute various processes. The RAM is provided as the CPU's work area, where various data from the CPU is temporarily stored. The CPU is also called an MPU (Microprocessor) or processor. Alternatively, a GPU (Graphics Processing Unit) or GSP (Graph Streaming Processor) may be used instead of the CPU. Alternatively, a selective combination of CPU, GPU, and GSP may be used. The input side of this driver assistance control unit 11 is connected to a navigation system 21, a vehicle information receiving unit 22, a camera unit 23, a rear detection unit 24, and a vehicle speed sensor 25 for detecting the vehicle speed (own vehicle speed), as means for acquiring parameters necessary for autonomous driving. The camera unit 23 and the rear detection unit 24 correspond to the environmental information acquisition unit that acquires surrounding environmental information according to the present invention. Here, the navigation system 21 has a positioning radio wave receiving unit. Based on the position signals received by this unit from positioning satellites such as GNSS (Global Navigation Satellite System), it acquires position information (coordinates such as latitude and longitude), displays the driving route to the destination set by the driver on the high-precision road map information (dynamic map) stored in the high-precision road map database 21a, and overlays the current position of the vehicle M onto the acquired vehicle position coordinates. This road map information includes static and dynamic map information necessary for autonomous driving of the vehicle M. Static map information includes the shapes of roads and structures, lane information, etc. Dyn