US-20260125052-A1 - DRIVE SUPPORT SYSTEM AND DRIVE SUPPORT METHOD

US20260125052A1US 20260125052 A1US20260125052 A1US 20260125052A1US-20260125052-A1

Abstract

A drive support system includes: a time prediction unit of an arrival time; a position prediction unit of front end and rear end passing-through positions; a margin distance setting unit of a margin distance; a determination position setting unit of front end and rear end determination positions and front end and rear end crossing positions; and a determination unit for determining that the drive support is not necessary when the front end determination position is located behind the rear end crossing position or the rear end determination position is located ahead of the front end crossing position in a traveling direction of the crossing mobile object and for determining that the drive support is necessary when the front end determination position is located ahead of the rear end crossing position, and the rear end determination position is located behind the front end crossing position.

Inventors

Shogo MATSUNAGA
Tsuyoshi INO
NORIYASU NOTO

Assignees

DENSO CORPORATION
J-QuAD DYNAMICS INC.

Dates

Publication Date: 20260507
Application Date: 20251027
Priority Date: 20241101

Claims (14)

1 . A drive support system comprising: at least one of (i) a circuit and (ii) a processor with a memory storing computer program code executable by the processor, wherein: the at least one of the circuit and the processor is configured to cause the drive support system device to execute: detecting a surrounding object; predicting a subject vehicle trajectory which is a movement trajectory of a subject vehicle; predicting an object trajectory which is a movement trajectory of a crossing mobile object detected in the detecting of the surrounding object; predicting an arrival time which is a time required for the subject vehicle to arrive at a crossing area where the subject vehicle trajectory and the object trajectory cross each other; predicting a front end passing-through position which is a position of a front end of the crossing mobile object at a time when the arrival time has elapsed, and a rear end passing-through position which is a position of a rear end of the crossing mobile object at the time when the arrival time has elapsed; setting a margin distance required between the subject vehicle and the crossing mobile object at the time when the arrival time has elapsed; setting a front end determination position which is a position calculated by adding the margin distance to the front end passing-through position in a travelling direction of the crossing mobile object, and a rear end determination position which is a position calculated by adding the margin distance to the rear end passing-through position of in a direction opposite to the travelling direction of the crossing mobile object, setting a front end crossing position which is an end position located ahead of the crossing mobile object in the travelling direction of the crossing mobile object in an crossing area, and a rear end crossing position which is an end position located behind the crossing mobile object in the travelling direction of the crossing mobile object in the crossing area; determining that a drive support is not necessary when the front end determination position is located behind the rear end crossing position in the traveling direction of the crossing mobile object, or when the rear end determination position is located ahead of the front end crossing position in the traveling direction of the crossing mobile object; determining that the drive support is necessary when the front end determination position is located ahead of the rear end crossing position in the traveling direction of the crossing mobile object, and the rear end determination position is located behind the front end crossing position in the traveling direction of the crossing mobile object; providing the drive support using a drive support device when it is determined in the determining that the drive support is necessary; and stopping the drive support when it is determined in the determining that the drive support is not necessary.
2 . The drive support system according to claim 1 , wherein: the at least one of the circuit and the processor is configured to cause the drive support system device to further execute: setting the margin distance to a larger value as a speed of the subject vehicle increases.
3 . The drive support system according to claim 1 , wherein: the at least one of the circuit and the processor is configured to cause the drive support system device to further execute: setting the margin distance to a larger value as an object speed, which is a speed of the crossing mobile object, increases.
4 . The drive support system according to claim 1 , wherein: the at least one of the circuit and the processor is configured to cause the drive support system device to further execute: setting the margin distance to a larger value as a position of the crossing mobile object becomes farther from the subject vehicle.
5 . The drive support system according to claim 1 , wherein: the at least one of the circuit and the processor is configured to cause the drive support system device to further execute: setting a pre-passing-through margin distance which is the margin distance when a position of the crossing mobile object at the time when the arrival time has elapsed is a position before the crossing mobile object passes through the crossing area; setting a post-passing-through margin distance which is the margin distance when the position of the crossing mobile object at the time when the arrival time has elapsed is a position after the crossing mobile object has passed through the crossing area; setting a position acquired by adding the front end passing-through position and the pre-passing-through margin distance in the travelling direction of the crossing mobile object as the front end determination position; and setting a position acquired by adding the rear end passing-through position and the post-passing-through margin distance in the direction opposite to the travelling direction of the crossing mobile object as the rear end determination position.
6 . The drive support system according to claim 5 , wherein: the at least one of the circuit and the processor is configured to cause the drive support system device to further execute: setting the pre-passing-through margin distance to be larger than the post-passing-through margin distance.
7 . The drive support system according to claim 1 , wherein: the at least one of the circuit and the processor is configured to cause the drive support system device to further execute: stopping the drive support being executed when it is determined in the determining that the drive support is not necessary while the drive support is being executed.
8 . The drive support system according to claim 7 , wherein: the at least one of the circuit and the processor is configured to cause the drive support system device to further execute: determining that the drive support is not necessary when a rear end current position, which is a rear end position of the crossing mobile object at a current time, is located ahead of the front end crossing position in the travelling direction of the crossing mobile object, even when the front end determination position is located ahead of the rear end crossing position in the travelling direction of the crossing mobile object and the rear end determination position is located behind the front end crossing position in the travelling direction of the crossing mobile object.
9 . The drive support system according to claim 8 , wherein: the at least one of the circuit and the processor is configured to cause the drive support system device to further execute: determining that the drive support is not necessary when the rear end current position is located behind the front end crossing position in the travelling direction of the crossing mobile object, a front end current position, which is a front end position of the crossing mobile object at the current time, is located ahead of the rear end crossing position in the travelling direction of the crossing mobile object, and the rear end passing-through position is located ahead of the front end crossing position in the travelling direction of the crossing mobile object, even when the front end determination position is located ahead of the rear end crossing position in the travelling direction of the crossing mobile object and the rear end determination position is located behind the front end crossing position in the travelling direction of the crossing mobile object.
10 . The drive support system according to claim 1 , wherein: the drive support device provides the drive support which includes at least one of a braking support, a steering support, an acceleration support and a collision warning support; the brake support is executed to reduce a speed of the subject vehicle and delay the arrival time; the steering support is executed to create a state in which a larger distance can be maintained between the subject vehicle and the crossing mobile object at a crossing situation with the crossing mobile object; the acceleration support is executed to increase the speed of the subject vehicle and accelerate the arrival time; and the collision warning support is executed to prompt a driver of the subject vehicle to execute a driving operation so as to maintain a large distance from the crossing mobile object at the crossing situation with the crossing mobile object.
11 . A drive support system comprising: a detection device that detects a surrounding object; a subject vehicle trajectory prediction unit that predicts a subject vehicle trajectory which is a movement trajectory of a subject vehicle; an object trajectory prediction unit that predicts an object trajectory which is a movement trajectory of a crossing mobile object detected by the detection device; a time prediction unit that predicts an arrival time which is a time required for the subject vehicle to arrive at a crossing area where the subject vehicle trajectory and the object trajectory cross each other; a position prediction unit that predicts a front end passing-through position which is a position of a front end of the crossing mobile object at a time when the arrival time has elapsed, and a rear end passing-through position which is a position of a rear end of the crossing mobile object at the time when the arrival time has elapsed; a margin distance setting unit that sets a margin distance required between the subject vehicle and the crossing mobile object at the time when the arrival time has elapsed; a determination position setting unit that sets a front end determination position which is a position calculated by adding the margin distance to the front end passing-through position in a travelling direction of the crossing mobile object, and a rear end determination position which is a position calculated by adding the margin distance to the rear end passing-through position of in a direction opposite to the travelling direction of the crossing mobile object, and that sets a front end crossing position which is an end position located ahead of the crossing mobile object in the travelling direction of the crossing mobile object in an crossing area, and a rear end crossing position which is an end position located behind the crossing mobile object in the travelling direction of the crossing mobile object in the crossing area; a determination unit that determines that a drive support is not necessary when the front end determination position is located behind the rear end crossing position in the traveling direction of the crossing mobile object, or when the rear end determination position is located ahead of the front end crossing position in the traveling direction of the crossing mobile object, and determines that the drive support is necessary when the front end determination position is located ahead of the rear end crossing position in the traveling direction of the crossing mobile object, and the rear end determination position is located behind the front end crossing position in the traveling direction of the crossing mobile object; and a drive support control unit that provides the drive support using a drive support device when the determination unit determines that the drive support is necessary, and stops the drive support when the determination unit determines that the drive support is not necessary.
12 . The drive support system according to claim 11 , wherein: the drive support device provides the drive support which includes at least one of a braking support, a steering support, an acceleration support and a collision warning support; the brake support is executed to reduce a speed of the subject vehicle and delay the arrival time; the steering support is executed to create a state in which a larger distance can be maintained between the subject vehicle and the crossing mobile object at a crossing situation with the crossing mobile object; the acceleration support is executed to increase the speed of the subject vehicle and accelerate the arrival time; and the collision warning support is executed to prompt a driver of the subject vehicle to execute a driving operation so as to maintain a large distance from the crossing mobile object at the crossing situation with the crossing mobile object.
13 . A drive support method comprising: detecting a surrounding object; predicting a subject vehicle trajectory which is a movement trajectory of a subject vehicle; predicting an object trajectory which is a movement trajectory of a crossing mobile object detected in the detecting of the surrounding object; predicting an arrival time which is a time required for the subject vehicle to arrive at a crossing area where the subject vehicle trajectory and the object trajectory cross each other; predicting a front end passing-through position which is a position of a front end of the crossing mobile object at a time when the arrival time has elapsed, and a rear end passing-through position which is a position of a rear end of the crossing mobile object at the time when the arrival time has elapsed; setting a margin distance required between the subject vehicle and the crossing mobile object at the time when the arrival time has elapsed; setting a front end determination position which is a position calculated by adding the margin distance to the front end passing-through position in a travelling direction of the crossing mobile object, and a rear end determination position which is a position calculated by adding the margin distance to the rear end passing-through position of in a direction opposite to the travelling direction of the crossing mobile object; setting a front end crossing position which is an end position located ahead of the crossing mobile object in the travelling direction of the crossing mobile object in an crossing area, and a rear end crossing position which is an end position located behind the crossing mobile object in the travelling direction of the crossing mobile object in the crossing area; determining that a drive support is not necessary when the front end determination position is located behind the rear end crossing position in the traveling direction of the crossing mobile object, or when the rear end determination position is located ahead of the front end crossing position in the traveling direction of the crossing mobile object; determining that the drive support is necessary when the front end determination position is located ahead of the rear end crossing position in the traveling direction of the crossing mobile object, and the rear end determination position is located behind the front end crossing position in the traveling direction of the crossing mobile object; providing the drive support using a drive support device when it is determined in the determining that the drive support is necessary; and stopping the drive support when it is determined in the determining that the drive support is not necessary.
14 . The drive support method according to claim 13 , wherein: the drive support device provides the drive support which includes at least one of a braking support, a steering support, an acceleration support and a collision warning support; the brake support is executed to reduce a speed of the subject vehicle and delay the arrival time; the steering support is executed to create a state in which a larger distance can be maintained between the subject vehicle and the crossing mobile object at a crossing situation with the crossing mobile object; the acceleration support is executed to increase the speed of the subject vehicle and accelerate the arrival time; and the collision warning support is executed to prompt a driver of the subject vehicle to execute a driving operation so as to maintain a large distance from the crossing mobile object at the crossing situation with the crossing mobile object.

Description

CROSS REFERENCE TO RELATED APPLICATION The present application claims the benefit of priority from Japanese Patent Application No. 2024-193086 filed on Nov. 1, 2024. The entire disclosure of the above application is incorporated herein by reference. TECHNICAL FIELD The present disclosure of this specification relates to a drive support system and a drive support method. BACKGROUND ART JP 2020-8288 A teaches a collision determination device that determines whether a collision occurs between a vehicle and an object based on whether the vehicle body crosses a moving path of the object. The disclosure of JP 2020-8288 A is incorporated herein by reference as an explanation of technical elements in the present disclosure. SUMMARY OF INVENTION According to an example, a drive support system may include: a detection device that detects a surrounding object; a subject vehicle trajectory prediction unit that predicts a subject vehicle trajectory which is a movement trajectory of a subject vehicle; an object trajectory prediction unit that predicts an object trajectory which is a movement trajectory of a crossing mobile object detected by the detection device; a time prediction unit that predicts an arrival time which is a time required for the subject vehicle to arrive at a crossing area where the subject vehicle trajectory and the object trajectory cross each other; a position prediction unit that predicts a front end passing-through position which is a position of a front end of the crossing mobile object at a time when the arrival time has elapsed, and a rear end passing-through position which is a position of a rear end of the crossing mobile object at the time when the arrival time has elapsed; a margin distance setting unit that sets a margin distance required between the subject vehicle and the crossing mobile object at the time when the arrival time has elapsed; a determination position setting unit that sets a front end determination position which is a position calculated by adding the margin distance to the front end passing-through position in a travelling direction of the crossing mobile object, and a rear end determination position which is a position calculated by adding the margin distance to the rear end passing-through position of in a direction opposite to the travelling direction of the crossing mobile object, and that sets a front end crossing position which is an end position located ahead of the crossing mobile object in the travelling direction of the crossing mobile object in an crossing area, and a rear end crossing position which is an end position located behind the crossing mobile object in the travelling direction of the crossing mobile object in the crossing area; a determination unit that determines that a drive support is not necessary when the front end determination position is located behind the rear end crossing position in the traveling direction of the crossing mobile object, or when the rear end determination position is located ahead of the front end crossing position in the traveling direction of the crossing mobile object, and determines that the drive support is necessary when the front end determination position is located ahead of the rear end crossing position in the traveling direction of the crossing mobile object, and the rear end determination position is located behind the front end crossing position in the traveling direction of the crossing mobile object; and a drive support control unit that provides the drive support using a drive support device when the determination unit determines that the drive support is necessary, and stops the drive support when the determination unit determines that the drive support is not necessary. BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description made with reference to the accompanying drawings. In the drawings: FIG. 1 is a block diagram showing a configuration of a drive support system; FIG. 2 is a diagram showing the current positions of a subject vehicle and a crossing mobile object; FIG. 3 is a diagram showing the positional relationship between the subject vehicle and a crossing mobile object at the time when the arrival time has elapsed; FIG. 4 is a flowchart relating to crossing drive support control; FIG. 5 is a flowchart relating to step S130 in FIG. 4; FIG. 6 is a diagram showing a characteristic map of the relationship between the subject vehicle speed and the additional distance; FIG. 7 is an explanatory diagram for explaining a front end determination position and a rear end determination position; FIG. 8 is a diagram showing a case where the front end determination position is located behind the crossing area; FIG. 9 is a diagram showing a case where the front end determination position is located in the crossing area; FIG. 10 is a diagram showing a case where a crossing mobile object is locat