JP-7857495-B2 - Driving assistance device, driving assistance method, and recording medium

Inventors

• 齋藤 貴太

Assignees

• 株式会社SUBARU

Dates

Publication Date

20260512

Application Date

20230322

Claims (5)

1. In a driver assistance system that assists in the operation of a vehicle, It comprises one or more processors and one or more memories connected to the one or more processors in a communicative manner, The aforementioned one or more processors are A process for acquiring at least recognition area information and measurement result information from at least one environmental recognition device outside the vehicle, When a moving object is detected by the environmental recognition device within the overlapping area between the blind spot region (which is a blind spot from the vehicle's perspective) and the recognition region of the environmental recognition device, the process involves overlaying the recognition region information and the moving object information onto map data, real space, or an image of real space . If no moving object is detected within the overlapping area by the environmental recognition device, the process determines whether a moving object assumed to be on the second travel path may enter the merging point from outside the overlapping area at the time the vehicle reaches the merging point of the first travel path on which the vehicle is traveling and the second travel path that merges with the first travel path. If it is determined that a moving object may enter the second movement path, the recognition area information is not displayed on the map data, in real space, or on the captured image of real space. A driver assistance system that performs this function.
2. The aforementioned one or more processors are If the environmental recognition device does not detect a moving object within the overlapping area, A process to determine whether, at the time the vehicle reaches the aforementioned merging point, a moving object on the second travel path may enter the merging point from outside the overlapping area; The driving assistance device according to claim 1, which, when it is determined that there is a low probability that a moving object on the second travel path will enter the merging point, performs the process of displaying the recognition area information superimposed on map data, real space, or an image captured in real space.
3. The aforementioned one or more processors are The driving support device according to claim 1, which determines whether a moving object on the second travel path may enter the merging point from outside the overlapping area at the time the vehicle reaches the merging point, based on a multiplicative value obtained by multiplying the time required for the vehicle to reach the merging point by a predetermined travel speed, and the distance between the outermost edge of the overlapping area with the environment recognition device as the starting point and the merging point .
4. One or more processors, The steps include acquiring at least recognition area information and measurement result information from at least one environmental recognition device outside the vehicle, When a moving object is detected by the environmental recognition device within the overlapping area between the blind spot region (which is a blind spot from the vehicle's perspective) and the recognition region of the environmental recognition device, the steps include displaying the recognition region information and the moving object information superimposed on map data, real space, or an image captured in real space ; If no moving object is detected within the overlapping area by the environmental recognition device, the step of determining whether a moving object assumed to be on the second travel path may enter the merging point from outside the overlapping area at the time the vehicle reaches the merging point of the first travel path on which the vehicle is traveling and the second travel path that merges with the first travel path, If it is determined that a moving object may enter the second movement path, the recognition area information is not displayed on the map data, in real space, or on the captured image of real space. A driving assistance method that performs this task .
5. Acquire at least recognition area information and measurement result information from at least one environmental recognition device outside the vehicle, When a moving object is detected by the environmental recognition device within the overlapping area between the blind spot region (a blind spot from the vehicle's perspective) and the recognition region of the environmental recognition device, the recognition region information and the moving object information are displayed superimposed on map data, real space, or captured images of real space. If no moving object is detected within the overlapping area by the environmental recognition device, it is determined whether, at the time the vehicle reaches the junction of the first travel path on which the vehicle is traveling and the second travel path that merges with the first travel path, a moving object assumed to be on the second travel path may enter the junction from outside the overlapping area. If it is determined that a moving object may enter the second movement path, the recognition area information shall not be displayed on the map data, in real space, or on the captured image of real space. A non-temporary, tangible recording medium that stores a computer program that causes a processor to perform a process including [a specific type of processing].

Description

This disclosure relates to a driver assistance device, a driver assistance method, and a recording medium. As a technology to prevent traffic accidents such as head-on collisions at intersections, there is a known technology that uses vehicle-to-vehicle communication or vehicle-to-infrastructure communication to allow the supported vehicle to acquire information detected by sensors, cameras, etc., of vehicles other than the supported vehicle, and to issue warnings to the driver. For example, Patent Document 1 proposes an image display device that uses vehicle-to-vehicle communication to compensate for blind spots generated by the vehicle in front. Specifically, the image display device described in Patent Document 1 receives images captured by the camera of the vehicle in front via a communication device, converts the received images into images that would be displayed if the camera's set position were changed to the driver's viewpoint, and displays this viewpoint-converted image data on the windshield using a head-up display. The image display device then displays a marker on the windshield, and when the driver focuses on the marker, an eye-capturing camera detects the marker image formed on the cornea, and displays the viewpoint-converted image data when this marker image is detected. Furthermore, Patent Document 2 proposes a proximity moving object display that detects and displays information about approaching moving objects in the blind spot of the vehicle to the driver. Specifically, Patent Document 2 discloses a technology that repeatedly captures images of road traffic conditions with a camera, recognizes moving objects on the road based on the image information captured by the camera, calculates a virtual display position of the recognized moving object on the screen from its position information, displays the calculated virtual display position of the moving object on a screen inside the vehicle, and adjusts the displayed virtual display position of the moving object to be closer to the actual display position of the moving object on the screen. Furthermore, Patent Document 3 proposes a display device that can reduce the unnatural appearance of the display when visualizing blind spots. Specifically, Patent Document 3 discloses a display device comprising: object information acquisition means for acquiring object information that is information about objects present in the forward view and at least indicates the position of the object; identification means for identifying a blind spot object that is a blind spot for the driver and a forward object that is the cause of the blind spot based on the object information; and display control means for controlling the display of an overlaid image. The display control means controls the display position so that, when a blind spot object is identified, display content including a blind spot object image indicating the blind spot object is visible at the position of the blind spot object. Japanese Patent Publication No. 2004-114709Japanese Patent Publication No. 2008-046744Japanese Patent Publication No. 2019-202589 Public Relations This figure shows an example configuration of a driver assistance system according to the present disclosure.This is a schematic diagram showing an example of the configuration of a vehicle eligible for support.This block diagram shows an example configuration of a street camera according to the above embodiment.The flowchart shows an example of the processing operation of the above-mentioned street camera.This is a block diagram showing an example configuration of the driver assistance device according to the above embodiment.This flowchart shows an example of a driver assistance method disclosed herein.This is an explanatory diagram illustrating one example in which the above-mentioned driver assistance method is applied.This flowchart shows an example of display control for the processing apparatus according to the above embodiment.This is an explanatory diagram illustrating one example of a display mode of the display device according to the above embodiment.This is an explanatory diagram illustrating one example of a display mode of the display device according to the above embodiment.This is an explanatory diagram illustrating one example of a display mode of the display device according to the above embodiment. A. Embodiments Hereinafter, preferred embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the dimensions and scale of parts in the drawings may differ from those of the actual parts as appropriate. Also, the drawings may be schematic for the sake of ease of understanding. Furthermore, the scope of the present disclosure is not limited to the embodiments exemplified below unless otherwise stated to specifically limit the present disclosure. In addition, in this specification and drawings, elements having substantially the same functional configuration will be