JP2018169945A - Driving support apparatus, driving support method, and driving support program - Google Patents

Abstract

Provided are a driving support device, a driving support method, and a driving support program capable of supporting safe driving by predicting a course change of another vehicle in advance and presenting a prediction result as driving support information related to traveling of the other vehicle. To do. A driving support device is provided for specifying a route to a destination by inter-vehicle communication between an image acquisition unit that acquires a camera image of a front view of a vehicle imaged by an in-vehicle camera and a communication target vehicle. Based on the information acquisition unit for acquiring destination information and vehicle specification information for specifying the communication target vehicle, the vehicle specification unit for specifying the communication target vehicle in the camera image based on the vehicle specification information, and the destination information The communication target vehicle includes a route prediction unit that predicts the direction of the next route change performed by the communication target vehicle, and prediction information indicating a prediction result of the route prediction unit in the camera image or the actual scene that the user is viewing. A display control unit that displays the image in a superimposed manner. [Selection] Figure 1

Description

  The present invention relates to a driving support device, a driving support method, and a driving support program that support safe driving by predicting a traveling state of another vehicle in advance.

  Conventionally, the surrounding environment of a vehicle (for example, the driving situation of other vehicles) is monitored with an in-vehicle camera or the like, and information for assisting safe driving (hereinafter referred to as “driving support information”) is provided to the driver. Driving assistance devices have been proposed (for example, Patent Documents 1 to 3).

  In Patent Document 1, the traveling status (for example, the traveling position, the lighting status of a turn indicator, the lighting status of a brake lamp, etc.) of another vehicle that is traveling in a region that is difficult to visually recognize from the host vehicle is displayed. Driving assistance information for driving safely (for example, voice guidance for guiding lane changes) obtained by communicating with the preceding vehicle of the host vehicle) and grasping the surrounding environment of the host vehicle including the difficult-to-view region An apparatus for providing is disclosed.

  Patent Document 2 discloses an apparatus that obtains driving conditions of surrounding vehicles by sensors, predicts future driving conditions of surrounding vehicles, and provides driving assistance information for the host vehicle to safely change lanes. ing.

  In Patent Document 3, driving support information (for monitoring a surrounding environment of a host vehicle by an in-vehicle camera, predicting a movement of a surrounding moving body (for example, a pedestrian or a bicycle), and avoiding a collision with the moving body ( For example, an apparatus for providing a warning message) is disclosed.

JP 2007-164328 A Japanese Patent Laying-Open No. 2015-215873 JP 2009-175814 A

  Usually, the driver of the vehicle senses that the preceding vehicle (including vehicles having different traveling lanes) changes the course by a pre-operation for changing the course (for example, lighting of a direction indicator or a deceleration operation). In this specification, lane change, overtaking, right / left turn, and the like are collectively referred to as “route change”. Since the course change of the preceding vehicle affects the traveling of the host vehicle, it is preferable that it can be predicted in advance.

  However, the technologies disclosed in Patent Documents 1 to 3 predict driving conditions of other vehicles and provide driving support information. However, the route of the other vehicle is detected until a pre-operation for changing the route is detected. Unable to predict changes. Therefore, there is a possibility that the response to a sudden lane change or deceleration of another vehicle may be delayed.

  An object of the present invention is to provide a driving support apparatus, a driving support method, and a driving support that can support safe driving by predicting a course change of another vehicle in advance and presenting a prediction result as driving support information related to traveling of the other vehicle. Is to provide a program.

The driving support apparatus according to the present invention is
An image acquisition unit for acquiring a camera image of a front view of the vehicle imaged by the in-vehicle camera;
An information acquisition unit for acquiring destination information for specifying a route to the destination and vehicle specifying information for specifying the communication target vehicle by inter-vehicle communication with the communication target vehicle;
Based on the vehicle identification information, a vehicle identification unit that identifies the communication target vehicle in the camera image;
Based on the destination information, a route prediction unit that predicts the direction of the next route change performed by the communication target vehicle;
A display control unit that superimposes and displays prediction information indicating a prediction result of the course prediction unit in association with the communication target vehicle included in the camera image or a real scene visually recognized by the user;
It is characterized by providing.

The driving support method according to the present invention includes:
Obtaining a camera image of the front view of the vehicle imaged by the in-vehicle camera;
A step of acquiring destination information for specifying a route to the destination and vehicle specifying information for specifying the communication target vehicle by inter-vehicle communication with the communication target vehicle;
Identifying the communication target vehicle in the camera image based on the vehicle identification information;
Based on the destination information, predicting the direction of the next course change performed by the communication target vehicle;
Predicting and displaying prediction information indicating a prediction result in association with the communication target vehicle included in the camera scene or the actual scene being visually recognized by the user;
It is characterized by including.

The driving support program according to the present invention includes:
On the computer,
Processing to obtain a camera image of the front view of the vehicle imaged by the in-vehicle camera;
Processing for acquiring destination information for specifying a route to a destination and vehicle specifying information for specifying the communication target vehicle by inter-vehicle communication with the communication target vehicle;
Based on the vehicle identification information, a process of identifying the communication target vehicle in the camera image;
Based on the destination information, a process for predicting the direction of the next route change performed by the communication target vehicle;
A process of displaying prediction information indicating a prediction result in a superimposed manner in association with the communication target vehicle included in the camera image or a real scene that the user is viewing;
Is executed.

  According to the present invention, the course change of the other vehicle is predicted in advance, and the prediction result is presented as the driving support information related to the traveling of the other vehicle, so that safe driving can be supported.

It is a figure which shows the structural example of the driving assistance device which concerns on embodiment. It is a flowchart which shows an example of a driving assistance process. It is a figure for demonstrating course direction prediction. It is a figure which shows the example of a display of prediction information.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram illustrating a configuration example of a driving support device 1 according to the embodiment. The driving assistance device 1 is mounted on a vehicle traveling on a road, and presents driving assistance information regarding traveling of another vehicle to a vehicle occupant. The driving support device 1 performs inter-vehicle communication with the vehicle-mounted device 2 mounted on another vehicle, and generates and presents driving support information based on information from the vehicle-mounted device 2. Hereinafter, the other vehicle that is equipped with the vehicle-mounted device 2 and performs inter-vehicle communication with the host vehicle is referred to as a “communication target vehicle”.

  As illustrated in FIG. 1, the driving support device 1 includes a processing unit 11, a display unit 12, an operation unit 13, a communication unit 14, an in-vehicle camera 20, and the like. The driving support device 1 is, for example, a car navigation interlocking type or a smart phone interlocking type on-board device compatible with ETC2.0.

  The in-vehicle camera 20 is, for example, a front camera installed at the front part (for example, a front grill) of the vehicle. The in-vehicle camera 20 includes an image sensor such as a charge-coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. An electrical signal indicating an image of the forward field of view photoelectrically converted by the image sensor is transmitted to the processing unit 11 by wireless communication or wired communication. In addition, the vehicle-mounted camera 20 can utilize the existing equipment in the vehicle.

  The display unit 12 is a display such as a liquid crystal display or an organic EL display, for example. The display part 12 is arrange | positioned at the instrument panel of a vehicle, for example. A camera image captured by the in-vehicle camera 20 is displayed on the display unit 12. The display unit 12 can be a car navigation system or a smartphone display.

  The operation unit 13 is an input device that can input characters and numbers, for example. The display unit 12 and the operation unit 13 may be configured by a flat panel display with a touch panel. The operation unit 13 is not essential and may not be provided.

  The processing unit 11 includes a CPU (Central Processing Unit) as an arithmetic / control device, a ROM (Read Only Memory) and a RAM (Random Access Memory) as a main storage device (all not shown). The ROM stores a basic program called BIOS (Basic Input Output System) and basic setting data. The CPU centrally controls the operation of each block of the driving support device 1 by reading out a program corresponding to the processing content from the ROM, developing it in the RAM, and executing the expanded program, for example.

  Although illustration is omitted, the driving support apparatus 1 may include a storage unit that stores map data and the like. The storage unit is an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage unit may be a disk drive that reads and writes information by driving an optical disk such as a CD (Compact Disc) and DVD (Digital Versatile Disc) and a magneto-optical disk such as an MO (Magneto-Optical disk). For example, the storage unit may be a memory card such as a USB memory or an SD card.

  The communication unit 14 is, for example, a communication interface for vehicle-to-vehicle communication. The processing unit 11 receives information transmitted from the vehicle-mounted device 2 of the communication target vehicle via the communication unit 14 by inter-vehicle communication. For example, the communication unit 14 transmits a radio wave requesting destination information to the surroundings, and receives information (destination information and vehicle identification information) transmitted from the communication target vehicle in response to the request.

  The processing unit 11 functions as an image acquisition unit 111, an information acquisition unit 112, a vehicle identification unit 113, a course prediction unit 114, and a display control unit 115 by executing the driving support program. These functions will be described in detail according to the flowchart of FIG. The driving support program is stored in the ROM of the processing unit 11, for example. The driving support program is provided via, for example, a computer-readable portable storage medium (including an optical disc, a magneto-optical disc, and a memory card) in which the program is stored. Further, for example, the driving support program may be provided by downloading from a server having the program via a network.

  FIG. 2 is a flowchart illustrating an example of the driving support process executed by the processing unit 11. This process is realized, for example, when the driving support device 1 is activated with the start of the power source (engine or motor) of the vehicle, and the CPU calls and executes the driving support program stored in the ROM.

  Note that the processing unit 11 continuously acquires camera images in units of one frame from the in-vehicle camera 20 and displays the camera images on the display unit 12 (as the image acquisition unit 111 and the display control unit 115). processing).

  In step S101 in FIG. 2, the processing unit 11 transmits a radio wave requesting destination information toward the periphery of the host vehicle (processing as the information acquisition unit 112). When another vehicle that is permitted to transmit destination information is traveling around the host vehicle, a confirmation response to the request is transmitted from the other vehicle (communication target vehicle) to the host vehicle.

  In step S102, the processing unit 11 determines whether or not a confirmation response from a surrounding vehicle has been received (processing as the information acquisition unit 112). When the confirmation response is received (“YES” in step S102), the process proceeds to step S103. When the confirmation response is not received (“NO” in step S102), that is, when another vehicle that can be a communication target vehicle is not traveling around, the driving support process is terminated.

  In step S103, the processing unit 11 establishes inter-vehicle communication with the communication target vehicle, and acquires destination information and vehicle specifying information (processing as the information acquisition unit 112).

  The destination information may be route information indicating a route to the destination, or position information (latitude, longitude) indicating the position of the destination. The route information is, for example, a recommended route generated by a car navigation system mounted on a communication target vehicle, and includes position information of a turning point where a right or left turn is performed and direction information indicating a traveling direction at the turning point.

  Vehicle specific information will not be specifically limited if it is information which can specify a communication object vehicle from the other vehicles contained in a camera image. For example, the vehicle specifying information is travel position information indicating the travel position of the communication target vehicle. Further, for example, the vehicle specifying information may be information unique to the vehicle (vehicle specific information) that can be recognized from a camera image such as a vehicle type or a vehicle number of the communication target vehicle.

  In step S104, the processing unit 11 specifies a communication target vehicle from other vehicles included in the camera image based on the vehicle specifying information (processing as the vehicle specifying unit 113). If the communication target vehicle is not included in the camera image, such as when the communication target vehicle is a subsequent vehicle, the driving support process is terminated.

  For example, when the vehicle identification information is travel position information, the communication target vehicle is estimated by estimating the position (coordinates) and size of the communication target vehicle in the camera image from the relative positional relationship with the travel position of the host vehicle. Can be specified. Further, for example, when the vehicle identification information is vehicle specific information, the camera image is analyzed, the vehicle type and vehicle number of other vehicles included in the camera image are recognized, and compared with the vehicle specific information acquired from the communication target vehicle. Thus, the communication target vehicle can be specified.

  In step S105, the processing unit 11 predicts the next course change direction of the communication target vehicle based on the acquired destination information (process as the course prediction unit 114). For example, as shown in FIG. 3, when the communication target vehicle V2 is traveling along the recommended route R toward the destination D in front of the host vehicle V1, the communication target vehicle V2 turns right at the turning point P1. Is expected to. In this case, the processing unit 11 predicts that the next course change direction of the communication target vehicle V2 is “right”.

  In addition, when the acquired destination information is the position information of the destination, the processing unit 11 (the course prediction unit 114) calculates a route toward the destination, and next to the communication target vehicle based on the calculated route. Predict the direction of the course change. That is, the processing unit 11 also functions as a route calculation unit that calculates a route based on the position information of the destination.

  Moreover, it is preferable that the process part 11 (route prediction part 114) estimates the next route change direction of a communication object vehicle based on the road information which shows the road condition while drive | working with destination information. The road information can be acquired from, for example, a car navigation system (not shown) mounted on the host vehicle.

  For example, even if the communication target vehicle makes a right turn at the next turning point, if the turning point is a three-dimensional intersection, the lane is changed to the left side and the vehicle is driven on a side road and then turned to the right. In this case, the next course change direction of the communication target vehicle can be predicted to be “left” by considering the road information that the direction change point is a three-dimensional intersection. Therefore, the driving support device 1 can present an appropriate prediction result corresponding to the road condition to the occupant. Further, it is possible to effectively cope with the case where the traveling lane is restricted due to road construction or the like.

  In step S <b> 106, the processing unit 11 displays the prediction information indicating the prediction result in a superimposed manner in association with the communication target vehicle included in the camera image (processing as the display control unit 115). As long as the prediction result is an area in which the associated communication target vehicle can be identified, the prediction result may be displayed so as to overlap the prediction target vehicle itself, or may be displayed near the prediction target vehicle. In the display example shown in FIG. 4, the figure of arrow I1 which shows that the communication object vehicle V2 ahead changes lane to the left is displayed as prediction information.

  In this way, the prediction result of the course change direction of the communication target vehicle is presented in association with the communication target vehicle. The driver of the own vehicle can accurately grasp the traveling state of the communication target vehicle from the prediction information superimposed on the camera image, so that it can cope without sudden lane change or deceleration. .

  Here, the processing unit 11 (display control unit 115) may change the display mode of the prediction information based on the position of the next turning point of the communication target vehicle and the current traveling position. For example, the processing unit 11 changes the display color of the prediction information from blue to yellow to red as the turning point approaches. Thereby, since the driver of the own vehicle can grasp not only the course change direction but also the time when the course change is performed, the safety is further improved.

  Further, the processing unit 11 (display control unit 115) replaces the prediction information (first prediction information) predicted based on the destination information with the lighting of the direction indicator of the communication target vehicle, and the direction indicator. Prediction information (second prediction information) predicted based on the lighting state of may be displayed. That is, the processing unit 11 has a function as a direction indicator information acquisition unit that acquires the lighting state of the direction indicator of the communication target vehicle. When the direction indicator lights up, the processing unit 11 is instructed by the direction indicator. Direction is predicted as the course change direction and displayed preferentially. In this case, the accuracy of the prediction result may be notified by making the display mode of the first prediction information different from the display mode of the second prediction information. In addition to the first prediction information, the second prediction information may be displayed.

  As a result, even if the course change direction predicted based on the destination information is erroneous as a result, the actual driving situation of the communication target vehicle is reflected as the prediction information in the end. Risk can be avoided.

  In addition, the lighting condition of the direction indicator of a communication object vehicle can be acquired by vehicle-to-vehicle communication, for example. For example, the lighting state of the direction indicator of the communication target vehicle can also be acquired by analyzing the camera image.

  In step S107, the processing unit 11 determines whether there is a communication target vehicle. Specifically, when a communication target vehicle is included in the camera image, it is determined that there is a communication target vehicle. When there is a communication target vehicle (“YES” in step S107), the process proceeds to step S105. When there is no communication target vehicle (“NO” in step S107), the driving support process is terminated.

  That is, the communication target vehicle in the camera image is tracked until the communication target vehicle disappears from the camera image, for example, when the communication target vehicle changes its course, and the prediction information is continuously displayed. The destination information may be updated as appropriate in case the destination information is changed in the communication target vehicle.

  As described above, the driving support device 1 specifies the route to the destination by the inter-vehicle communication between the image acquisition unit 111 that acquires the camera image of the front view of the vehicle captured by the in-vehicle camera 20 and the communication target vehicle. An information acquisition unit 112 for acquiring destination information for specifying the vehicle and vehicle specification information for specifying the communication target vehicle, a vehicle specification unit 113 for specifying a communication target vehicle in the camera image based on the vehicle specification information, Based on the destination information, the route prediction unit 114 that predicts the direction of the next route change performed by the communication target vehicle, and the prediction information indicating the prediction result of the route prediction unit 114 are associated with the communication target vehicle included in the camera image. And a display control unit 115 for superimposing display.

  The driving support method according to the present embodiment specifies a route to the destination by acquiring a camera image of the front view of the vehicle imaged by the in-vehicle camera 20 and inter-vehicle communication with the communication target vehicle. Acquiring the destination information and vehicle specifying information for specifying the communication target vehicle (step S103 in FIG. 2), and specifying the communication target vehicle in the camera image based on the vehicle specifying information (step S104) ) And a step of predicting the direction of the next route change performed by the communication target vehicle based on the destination information (step S105) and the prediction information indicating the prediction result are associated with the communication target vehicle included in the camera image. And a step of superimposing and displaying (step S106).

  The driving support program according to the present embodiment has a purpose of performing, in the processing unit 11 (computer), acquiring a camera image of the front field of view of the vehicle captured by the in-vehicle camera 20 and inter-vehicle communication with the communication target vehicle. Processing for acquiring destination information for specifying a route to the ground and vehicle specifying information for specifying the communication target vehicle (step S103 in FIG. 2), and a communication target in the camera image based on the vehicle specifying information A process for identifying a vehicle (step S104), a process for predicting the direction of the next route change performed by the communication target vehicle based on the destination information (step S105), and prediction information indicating a prediction result are included in the camera image. A process of superimposing and displaying in association with the communication target vehicle included (step S106) is executed.

  According to the driving support apparatus 1, the course change of the communication target vehicle is predicted in advance, and the prediction result is presented as the driving support information related to the travel of the communication target vehicle. Therefore, safe driving can be supported. That is, the driver can predict the future driving situation (lane change or deceleration) of the communication target vehicle with reference to the prediction result before the direction indicator is turned on in the communication target vehicle and the intention to change the course is indicated. Thus, the driving operation of the host vehicle can be performed more safely.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the above embodiment, and can be changed without departing from the gist thereof.

  For example, the destination information may be transmitted from the communication target vehicle as needed, and the destination information may be received when the own vehicle enters the communicable region of the communication target vehicle.

  For example, when there are a plurality of communication target vehicles, prediction results may be superimposed and displayed corresponding to each vehicle. In addition, when the superimposed display of prediction information is scattered and it becomes difficult to recognize the traveling status of other vehicles, the superimposed display of the prediction information is not performed from the lower priority order (for example, the one far from the host vehicle). Also good.

  In the embodiment, the prediction information is superimposed on the camera image. However, the prediction information may be directly superimposed on the user's field of view (real scene) using a head-up display (HUD). Good.

  In the embodiment, the processing unit 11 (computer) functions as the image acquisition unit 111, the information acquisition unit 112, the vehicle identification unit 113, the course prediction unit 114, and the display control unit 115, thereby realizing the present invention. However, some or all of these functions can be configured by an electronic circuit such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or a PLD (Programmable Logic Device).

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The present invention is suitable for driving support technology that supports safe driving by predicting the traveling state of other vehicles in advance.

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 11 Processing part 111 Image acquisition part 112 Information acquisition part 113 Vehicle specific part 114 Course prediction part 115 Display control part 12 Display part 13 Operation part 14 Communication part 20 Car-mounted camera

Claims (8)

An image acquisition unit for acquiring a camera image of a front view of the vehicle imaged by the in-vehicle camera;
An information acquisition unit for acquiring destination information for specifying a route to the destination and vehicle specifying information for specifying the communication target vehicle by inter-vehicle communication with the communication target vehicle;
Based on the vehicle identification information, a vehicle identification unit that identifies the communication target vehicle in the camera image;
Based on the destination information, a route prediction unit that predicts the direction of the next route change performed by the communication target vehicle;
A display control unit that superimposes and displays prediction information indicating a prediction result of the course prediction unit in association with the communication target vehicle included in the camera image or a real scene visually recognized by the user;
A driving support apparatus comprising: The destination information includes route information to the destination of the communication target vehicle,
The driving assistance apparatus according to claim 1, wherein the course prediction unit predicts a direction of the course change based on direction change information included in the route information. The destination information includes destination information indicating a location of a destination of the communication target vehicle,
The driving according to claim 1, wherein the route prediction unit calculates a route to the destination of the communication target vehicle based on the destination information and predicts a direction of the route change. Support device.   The said course prediction part predicts the direction of the said course change based on the road information which shows the road condition while driving | running | working with the said destination information, The any one of Claim 1 to 3 characterized by the above-mentioned. Driving assistance device.   The said display control part changes the display mode of the said prediction information based on the position of the next turning point of the said communication object vehicle, and the present driving | running | working position, Any one of Claim 1 to 4 characterized by the above-mentioned. The driving support device according to item. A direction indication information acquisition unit for acquiring a lighting state of a direction indicator of the communication target vehicle;
The said display control part displays the 2nd prediction information estimated based on the lighting condition of the said direction indicator with the lighting of the said direction indicator, Any one of Claim 1 to 5 characterized by the above-mentioned. The driving support device according to item. Obtaining a camera image of the front view of the vehicle imaged by the in-vehicle camera;
A step of acquiring destination information for specifying a route to the destination and vehicle specifying information for specifying the communication target vehicle by inter-vehicle communication with the communication target vehicle;
Identifying the communication target vehicle in the camera image based on the vehicle identification information;
Based on the destination information, predicting the direction of the next course change performed by the communication target vehicle;
Predicting and displaying prediction information indicating a prediction result in association with the communication target vehicle included in the camera scene or the actual scene being visually recognized by the user;
A driving support method comprising: On the computer,
Processing to obtain a camera image of the front view of the vehicle imaged by the in-vehicle camera;
Processing for acquiring destination information for specifying a route to a destination and vehicle specifying information for specifying the communication target vehicle by inter-vehicle communication with the communication target vehicle;
Based on the vehicle identification information, a process of identifying the communication target vehicle in the camera image;
Based on the destination information, a process for predicting the direction of the next route change performed by the communication target vehicle;
A process of displaying prediction information indicating a prediction result in a superimposed manner in association with the communication target vehicle included in the camera image or a real scene that the user is viewing;
A driving support program that executes

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