JP6657731B2 - Driving support system and driving support method - Google Patents

Description

  The present invention relates to a driving support system and a driving support method.

  With respect to this type of device, a technology is known in which one device transmits detection information of its own device or an obstacle to another terminal, thereby notifying the position of the one device or the obstacle to another device ( Patent Document 1).

JP-A-10-79100

  In the related art, another device can recognize the presence of the obstacle based on the detection information of the obstacle detected by one device, but conversely, one device uses the detection information of the other device. There is a problem that you can not.

  The problem to be solved by the present invention is that detection information detected by one device is used for driving support of another device, and detection information detected by another device is used for driving support of one device. Is to be able to do that.

  The present invention identifies a second vehicle detected using an image captured by a camera of a first device, and outputs target information in which identification information of the second vehicle is associated with behavior of the second vehicle to a server. Then, the server transmits the behavior of the second vehicle to the second vehicle, and the second device supports the traveling of the second vehicle by using the behavior of the second vehicle, thereby solving the above problem.

  According to the present invention, not only detection information detected by one device is used for driving support of another device, but detection information detected by another device can also be used for driving support of one device. . As a result, it is possible to provide a driving support system that can use detection information detected by a plurality of devices with each other.

It is a block configuration diagram of a driving support system according to the embodiment. It is a figure showing an example of object information of this embodiment. It is a 1st figure for explaining operation of the run support system of this embodiment. It is a 1st figure for explaining operation of the run support system of this embodiment. It is a flowchart for explaining the control procedure of the driving support system according to the present embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the present invention is applied to a driving support system 1 will be described as an example.

FIG. 1 is a diagram illustrating a block configuration of a driving support system 1 according to the present embodiment.
The driving support system 1 of the present embodiment includes a first device 100 and a second device 200. The driving support system 1 may include the server 300. The first device 100 is mounted on a first vehicle. The second device 200 is mounted on a second vehicle different from the first vehicle. The server 300 exchanges information with the first device 100 and the second device 200. The first device 100 includes a communication device 120, and the second device 200 includes a communication device 220. The communication device 120 of the first device 100 and the communication device 220 of the second device 200 can directly exchange information by vehicle-to-vehicle communication. The first device 100 and the second device 200 may exchange information via the server 300.

  Hereinafter, each device will be described. First, the first device 100 will be described. The first device 100 of the present embodiment includes at least an information acquisition function of acquiring information on a second vehicle around the first vehicle. The first device 100 includes a control device 110, a communication device 120, a detection device 130, and a navigation device 160. When the first vehicle is the own vehicle, the second vehicle is another vehicle.

  The control device 110 generates target information in which the behavior of the second vehicle is associated with the identification information of the second vehicle, a ROM (Read Only Memory) 112 storing a program to be output, and a program stored in the ROM. Is a computer including a CPU (Central Processing Unit) 111 as an operation circuit functioning as the first device 100 and a RAM (Random Access Memory) 113 functioning as an accessible storage device.

  The control device 110 of the present embodiment is mounted on a first vehicle. Control device 110 outputs an identification function for identifying an object including another vehicle, an extraction function for extracting the behavior of the object, and object information in which the behavior of the second vehicle is associated with the identification information of the second vehicle. Output function. The first device 100 of the present embodiment may have the same configuration as a second device 200 described later.

The control device 110 of the present embodiment detects an object using the detection device 130.
The detection device 130 includes a camera 131, and detects an object using an image captured by the camera 131. The place where the camera 131 is installed is not limited, and the camera 131 may be located in front of the vehicle or behind. The camera 131 may image the front or left and right front sides of the own vehicle (first vehicle), or may image the rear or front left and right sides of the own vehicle (first vehicle). The left and right sides of the own vehicle (first vehicle) may be imaged.

  The “target” in the present embodiment includes objects such as other vehicles, pedestrians, two-wheeled vehicles, and road structures such as traffic signs. The detection device 130 of the present embodiment identifies a detected object using a captured image, and extracts the behavior of the identified object.

  The detection device 130 extracts features such as edges from the captured image, refers to information that associates the features of the image with the attributes of the target object, and captures images based on the direction, length, and position of the extracted edges. Detect objects included in the image. The detection device 130 identifies the attribute of the detected object using the captured image. The detecting device 130 identifies the attribute of the target object from the detected appearance characteristics of the target object. The detecting device 130 identifies the attributes of the other vehicle such as an ambulance, a fire engine, a police car, a truck, a trailer, a bus, and a construction vehicle based on the appearance, color, and size of the vehicle.

  Further, the control device 110 of the embodiment identifies the target object detected using the detection device 130. When the object is a stationary object, the detection device 130 identifies each object based on the position information of the object. When the target is a moving object such as another vehicle, the detection device 130 recognizes a symbol written on a license plate attached to the other vehicle, and identifies the other vehicle based on the recognized symbol. Since the symbol written on the license plate attached to the vehicle is a value unique to each vehicle, the vehicle can be specified by the symbol of the license plate.

  The control device 110 of the present embodiment extracts the behavior of the target using the detection device 130. The detection device 130 extracts the behavior of the identified target object using the captured image. The detection device 130 extracts a speed, an acceleration, and a moving direction of the target object as a behavior of the target object using a temporal change of the captured image. The detection device 130 according to the present embodiment extracts the speed, acceleration, and moving direction (right or left turn) of the other vehicle as the behavior of the other vehicle using the temporal change of the captured image. The detection device 130 extracts the operation of the side mirror of another vehicle, the lighting of the brake lamp, the lighting of the blinker lamp, and the lighting of the headlight as the behavior of the other vehicle using the temporal change of the captured image. It is predicted that the other vehicle that turns on the blinker lamp will make a right or left turn. It is expected that another vehicle that performs the operation of folding the side mirror will pass through a narrow passage. It is predicted that the other vehicle that performs the operation of turning on the brake lamp will temporarily stop and slow down.

  The control device 110 of the present embodiment detects the current position of the first vehicle (own vehicle) using the position detection device 161 provided in the navigation device 160. Control device 110 calculates the position of the second vehicle detected using the current position of the first vehicle. The position of the other vehicle with respect to the first vehicle is calculated based on the position of the first vehicle that is the host vehicle and the position of the image of the second vehicle in the captured image. The method of calculating the position of the other vehicle with respect to the own vehicle using the captured image is not particularly limited, and a method known at the time of filing can be used.

The control device 110 of the present embodiment acquires the identification result of the target object and the extraction result of the identified target object from the detection device 130. The control device 110 acquires the position information of the target object from the navigation device 160.
The control device 110 outputs to the server 300 target information in which the behavior of the target is associated with the identification information. When the target object is another vehicle (second vehicle), the target information in which the behavior of the second vehicle is associated with the identification information of the second vehicle is output to server 300.

FIG. 2 is a diagram illustrating an example of the target information.
As shown in FIG. 2, the identification information is associated with the behavior information. In this example, the position information is further associated with the identification information and the behavior information.

  The identification information includes an identifier for identifying an object (including another vehicle / second vehicle), attribute information indicating an attribute of the object, and identification information for identifying the object. The attribute information includes other vehicles (second vehicle), pedestrians, obstacles, and the like as attributes of the object. The specific information is information for specifically specifying the attribute of the target object. The specific information when the object is another vehicle is registration information of the vehicle displayed on the license plate of the other vehicle. The specific information when the object is a pedestrian is information that limits pedestrians, such as a pedestrian being a child. Whether a person is a pedestrian is determined based on the size (height) of the image corresponding to the pedestrian. The specific information in the case where the target is an obstacle is information for limiting the obstacle such as the obstacle being a construction site.

  The behavior information is information indicating an operation of the target. When the target object is another vehicle, the behavior information includes “the other vehicle performs a deceleration operation”, “the other vehicle performs an operation of avoiding an obstacle to the right or left”, and “the other vehicle "The vehicle travels unchanged," "the other vehicle folds the side mirror," "the other vehicle turns back," "the other vehicle pauses," "the other vehicle stops and retreats." In addition, the behavior information includes a moving amount of another vehicle, a moving speed of another vehicle, and a moving acceleration of another vehicle. The behavior information includes the position of the other vehicle with respect to the lane marker (exceeding the lane marker), the position of the other vehicle with respect to the oncoming vehicle, and the like. The behavior information includes a positional relationship between an obstacle passing by another vehicle and the other vehicle. A camera that captures an image of the front of the vehicle can capture an obstacle in front of the vehicle, but cannot capture an image when obstacle avoidance is started. On the other hand, a camera of another vehicle behind the vehicle can capture an image of a state in which the preceding vehicle avoids an obstacle.

  These pieces of behavior information are extracted from temporal changes in imaging information that is continuously captured. A plurality of pieces of behavior information may be associated with one object. The behavior information may combine these pieces of information. Different behavior information may be defined by the combined behavior information. For example, by combining the behavior information “the object slows down” and “fold the side mirror”, new behavior information “the other vehicle passes on a narrow road” is derived, and this is associated with the identification information. Good. Similarly, by combining the behavior information “stop / reverse” and “avoidance / progress”, new behavior information “pass the traffic path after the traffic path is narrow and another vehicle has passed the oncoming vehicle” is obtained. It may be associated with identification information.

  The “other vehicle” that is the object is not limited to the second vehicle. The second device of the second vehicle uses the behavior information of another vehicle other than the second vehicle for driving support of the second vehicle. For example, in a situation where another vehicle other than the second vehicle performs an operation to fold the side mirror, it can be predicted that the same operation is required for the second vehicle. Therefore, the operation to fold the side mirror without waiting for the driver's operation is performed. To support the operation of the driver.

  These pieces of behavior information are associated with the location information of the location where the behavior information was extracted. By associating the behavior information with the position information, it is possible to obtain information about where and what kind of action the object has taken. According to such target information, it is possible to predict where and what action the identified other vehicle will take. For this reason, traveling of the other vehicle can be efficiently supported. Incidentally, when the behavior information is transmitted from the first vehicle to the second vehicle (other vehicle) in real time using a short-range communication network such as inter-vehicle communication, the second vehicle immediately transmits the behavior information. May be available. As described above, even when the position information is not included in the target information, the driving support can be realized.

  The behavior information when the target is a pedestrian is "popping out", "crossing", and the like. These pieces of behavior information are extracted from temporal changes in imaging information that is continuously captured. From the detection result that the pedestrian suddenly appears and its speed is high, “popping out” is extracted as behavior information. When the jumping behavior information is acquired, the second device 200 of the own vehicle can execute control to decelerate the own vehicle using the vehicle controller 270.

  The control device 110 of the first device 100 uses the communication device 120 to send the target information to the second device 200 of the second vehicle. The control device 110 of the first device 100 of the present embodiment transmits the target information to the server 300, and sends the target information to the second device 200 of the second vehicle via the server. The target information is information that associates the behavior of the second vehicle with the identification information of the second vehicle. The target information may be information in which the behavior of the second vehicle, the identification information of the second vehicle, and the position of the second vehicle are associated with each other.

  Next, the server 300 will be described. The server 300 includes an information acquisition device 310 and a database 320. The information acquisition device 310 includes a communication device 311. The information acquisition device 310 acquires target information from the first device 100 using the communication device 311. The database 320 stores the acquired target information. As shown in FIG. 2, the database 320 stores target information that associates the behavior of the second vehicle with the identification information of the second vehicle. The database 320 may store target information that associates the behavior of the second vehicle with the identification information and the position information of the second vehicle.

  Using the communication device 311, the information acquisition device 310 of the server 300 transmits the behavior of the second vehicle associated with the identification information of the second vehicle to the second vehicle. The information acquisition device 310 stores the addresses of the first device 100 and the second device 200 in association with each piece of identification information. The information acquisition device 310 transmits the behavior of the second vehicle to the address of the second device 200.

Next, the second device 200 will be described.
The second device 200 of the present embodiment has at least a driving support function for supporting the driving of the second vehicle. The second device 200 supports traveling of the second vehicle using the target information acquired from the first device 100. When the second vehicle is the own vehicle, the first vehicle is another vehicle.

  The second device 200 includes a control device 210, a communication device 220, a detection device 230, a driving assistance device 240, an output device 250, a navigation device 260, a vehicle controller 270, a vehicle sensor 280, and vehicle accessories. 290.

  The communication device 220, the detection device 230, and the navigation device 260 have the same functions as the communication device 120 and the detection device 130 included in the above-described first device 100, and thus the descriptions thereof will be referred to.

  The control device 210 includes a ROM (Read Only Memory) 212 storing a program for supporting the traveling of the second vehicle using the target information in which the behavior of the second vehicle is associated with the identification information of the second vehicle, A central processing unit (CPU) 211 serving as an operation circuit functioning as the second device 200 by executing a program stored in the second device 200, and a random access memory (RAM) 213 serving as an accessible storage device. It is a computer.

  The control device 210 of the present embodiment is mounted on a second vehicle. The control device 210 includes an acquisition function of acquiring the behavior of the second vehicle from the server 300, and a traveling support function of supporting traveling of the second vehicle using the acquired behavior of the second vehicle.

  Control device 210 supports traveling of the second vehicle using traveling support device 240, vehicle controller 270, vehicle sensor 280, vehicle accessories 290, and navigation device 260.

The content of the driving support of the second vehicle is not particularly limited.
Although it is an example, the following traveling control can be performed.
(1) When the target information including the behavior “the second vehicle performs a deceleration operation” is acquired, at a point associated with the target information, the deceleration operation is suggested to the second vehicle or the vehicle is decelerated. Can be automatically executed. To suggest a deceleration operation to the second vehicle is a control to display on the display 251 of the output device 250 that deceleration control is to be performed, or to announce that deceleration control is to be performed via the speaker 252. Similarly, in the following (2) and thereafter, "suggesting" means that the control to be performed is transmitted to the driver via visual or auditory sense in advance.
(2) When the target information including the behavior of “the second vehicle avoids an obstacle and performs a right or left avoidance operation” is acquired, at a point associated with the target information, Control that suggests an avoidance operation to the two vehicles or automatically executes the avoidance traveling can be executed.
(3) When target information including a behavior “the second vehicle moves without changing direction” is acquired, suggesting a straight-forward operation to the second vehicle at a point associated with the target information. Alternatively, control for automatically executing a straight-ahead operation can be performed.
(4) When the target information including the behavior “the second vehicle folds the side mirror” is acquired, it is suggested that the side mirror is folded or the side mirror is folded at a point associated with the target information. Control of automatically executing the operation of folding can be performed. Since the driving support using the behavior of the vehicle accessories of the own vehicle acquired by the other vehicle is executed, the driver of the own vehicle can concentrate on driving without paying attention to the operation of the vehicle accessories. Even if the vehicle is not damaged, it is possible to prevent an accident that the side mirror is damaged.
(5) When the target information including the behavior “the second vehicle makes a return” is acquired, an operation of suggesting or performing a return at a point associated with the target information. Can be automatically executed.
(6) When the target information including the behavior “the second vehicle is temporarily stopped” is acquired, it is suggested that the vehicle be temporarily stopped or stopped at a point associated with the target information. Is automatically executed.
(7) When the target information including the behavior of “the second vehicle stops and retreats” is acquired, suggests stopping or retreating at the point associated with the target information or stopping. And a control of automatically executing an operation of retreating.
(8) When the target information including the behavior “the speed of the second vehicle is equal to or higher than a predetermined value” is obtained, control is performed to indicate that the vehicle is to be decelerated or to automatically execute the deceleration operation. it can.
(9) When the target information including the behavior “the second vehicle is out of the lane marker” is acquired, it is suggested that the vehicle be steered in the own lane direction or the vehicle automatically travels in the own lane. Control for steering can be performed.

These traveling controls may be executed at the timing when the target information is generated, or may be executed when traveling again at the position where the target information is generated.
As described above, since the behavior of the second vehicle generated by the first vehicle is used, information that cannot be obtained by the second vehicle alone can be complemented. As a result, traveling support of the second vehicle can be accurately performed.

  The vehicle sensor 280 of the present embodiment has a steering angle sensor 281, a vehicle speed sensor 282, and a posture sensor 283. The steering angle detected by the steering angle sensor 281, the speed or acceleration detected by the vehicle speed sensor 282, and the posture of the vehicle detected by the posture sensor 283 are used for driving support of the second vehicle. The travel support device 240 controls the travel of the second vehicle using the behavior of the second vehicle detected by the vehicle sensor 280 and the behavior of the second vehicle acquired from the server 300.

  The vehicle accessory 290 of this embodiment includes a door mirror 291 and a light 292. The control device 210 acquires the open / closed state of the door mirror 291. The control device 210 acquires the lighting state of the light 292. The vehicle controller 270 can set the door mirror 291 in the open state to the closed state, and can set the door mirror 291 in the closed state to the open state. The light 292 includes a blinker lamp and a brake lamp. The vehicle controller 270 can turn off the light 292 that is in the lighted state. The vehicle controller 270 can set the light 292 in the light-off state to the light-on state.

  The vehicle controller 270 of the present embodiment is a vehicle-mounted computer such as an engine control unit (ECU), and electronically controls the driving state of the vehicle. Examples of the vehicle of the present embodiment include an electric vehicle having an electric motor as a traveling drive source, an engine vehicle having an internal combustion engine as a traveling drive source, and a hybrid vehicle having both an electric motor and an internal combustion engine as a traveling drive source. Note that electric vehicles and hybrid vehicles that use an electric motor as a driving source include those that use a secondary battery as a power source for the electric motor and those that use a fuel cell as a power source for the electric motor.

  The drive device 271 of the present embodiment includes a drive mechanism of the host vehicle. The driving mechanism includes an electric motor and / or an internal combustion engine, which is the above-described traveling drive source, a power transmission device including a drive shaft and an automatic transmission for transmitting an output from the traveling drive source to driving wheels, and brakes wheels. A braking device 272 is included. The drive device 271 generates control signals for these drive mechanisms based on input signals from an accelerator operation and a brake operation, and control signals acquired from the vehicle controller 270 or the travel support device 240, and performs travel control including acceleration and deceleration of the vehicle. Execute. By transmitting the control information to the driving device 271, traveling control including acceleration and deceleration of the vehicle can be automatically performed. In the case of a hybrid vehicle, the distribution of torque to be output to each of the electric motor and the internal combustion engine according to the running state of the vehicle is also transmitted to the drive device 271.

  The steering device 273 of the present embodiment includes a steering actuator. The steering actuator includes a motor and the like attached to a column shaft of the steering. The steering device 273 executes a change control of the traveling direction of the vehicle based on a control signal acquired from the vehicle controller 270 or an input signal by a steering operation. The vehicle controller 270 executes control for changing the traveling direction by transmitting control information including the steering amount to the steering device 273. Further, the vehicle controller 270 may execute the control of changing the traveling direction of the vehicle by controlling the braking amount of each wheel of the vehicle. In this case, the vehicle controller 270 executes control for changing the traveling direction of the vehicle by transmitting control information including the braking amount of each wheel to the braking device 272. Note that the control of the driving device 271, the control of the braking device 272, and the control of the steering device 273 may be performed completely automatically, or may be performed in a manner that supports the driving operation (progressing operation) of the driver. . The control of the driving device 271, the control of the braking device 272, and the control of the steering device 273 can be interrupted / stopped by the driver's intervention operation. The vehicle controller 270 controls or assists the operation of the host vehicle according to a command from the control device 210. The control device 210 may control the vehicle controller 270 via the driving support device 240.

  In the present example, the driving assistance system 1 in which the first device 100 includes the control device 110 having the information acquisition function and the second device 200 includes the control device 210 having the traveling assistance function has been described. The two devices 200 may be the same device. That is, the first device 100 may include the control device 110 having both the information acquisition function and the travel support function, and the second device 200 may include the control device 210 having both the information acquisition function and the travel support function.

  The content of the driving support of the second vehicle may be displayed on the display 251 of the output device 250, or may be read aloud by the speaker 252.

  The driving support method according to the present embodiment will be described with reference to FIGS. 3A and 3B. In the situation shown in FIGS. 3A and 3B, the first vehicle V1 and the second vehicle V2 move along a narrow road in the direction of arrow B. An obstacle Q exists on the shoulder of this narrow road. FIG. 3A is a diagram illustrating a state at a timing T1, and FIG. 3B is a diagram illustrating a state at a timing T2 after the timing T1.

  As shown in FIG. 3A, the first vehicle V1 acquires information on a second vehicle V2 existing around. The first device 100 of the first vehicle V1 uses the camera 131 to acquire a captured image in front of the first vehicle V1. In this example, the captured image includes the other vehicle (V2) as the second vehicle V2 and the obstacle Q. The obstacle is a road defect, a construction site, a parked vehicle, or the like.

The second device 200 of the second vehicle V2 uses the camera 231 to acquire a front image of the second vehicle V2 . The second device 200 detects the obstacle Q ahead and transmits target information in which the identification information and the behavior information are associated with each other to the first vehicle V1, which is another vehicle behind. The traveling directions of the first vehicle V1 and the second vehicle V2 are the same. The second vehicle V2 acquires information on the obstacle Q, which is the obstacle in front, and transmits the information to the first vehicle V1 behind. The first vehicle V1 uses the acquired information for driving support.

On the other hand, even if the first vehicle behind obtains information on the obstacle Q, the information is not useful for the second vehicle V2. This is because the information on the obstacle Q can be acquired more quickly and accurately by the preceding second vehicle V2 than by the rearward first vehicle V1.
That is, even though the information on the front obstacle Q obtained by the preceding second vehicle V2 is useful for the rear first vehicle V1, the obstacle Q information obtained by the rear first vehicle V1 is It is not useful for the second vehicle V2. In other words, the preceding second vehicle V2 cannot use the information acquired by the rear first vehicle V1 for driving support.

Next, the situation at timing T2 after timing T1 is shown in FIG. 3B.
As shown in FIG. 3B, the second vehicle V2 moves forward avoiding the obstacle Q. The second vehicle V2 decelerates in front of the obstacle Q, performs an operation of folding the side mirror to avoid contact with the obstacle Q and / or the roadside, and performs a steering operation to turn right.

  The first device 100 of the first vehicle V1 detects the location of the second vehicle V2 from the captured image and identifies the sign of the license plate of the second vehicle V2. The first device 100 extracts the behavior of the second vehicle V2 traveling while avoiding the obstacle Q. Specifically, the first device 100 extracts behavior information that the second vehicle V2 decelerates, folds the side mirror, and steers to the right. The first device 100 transmits, to the server 300, target information in which the behavior information and the identification information are associated with each other. The target information may include position information of the second vehicle V2. The first device 100 calculates the position information of the second vehicle V2 based on the position of the first vehicle V1 detected by the position detection device 161 and the position of the second vehicle V2 in the captured image.

  The second device 200 of the second vehicle V2 acquires the behavior information of the second vehicle V2 from the target information generated by the first device 100 via the server 300. The server 300 stores the target information generated by the first device 100 in a database, and receives a request from the second device 200 or a position of the second vehicle V2 and a position associated with the target information. May match, the behavior information of the second vehicle V2 may be transmitted. Of course, the second device 200 of the second vehicle V2 may directly acquire the target information from the first device 100 using the inter-vehicle communication. When the first device 100 and the second device 200 use the short-range communication, the target information generated by the first device 100 may be used as real-time information for driving support. As a result, although the second vehicle V2 cannot be recognized, the information recognized by the first vehicle V1 can be used for driving support of the second vehicle V2.

  The second device 200 of the second vehicle V2 supports the traveling of the second vehicle V2 using the target information generated by the first device 100 of the first vehicle V1.

  Note that, in the present embodiment, an example in which the first device 100 for acquiring target information is mounted on the first vehicle V1, and the second device 200 for performing driving support using the target information is mounted on the second vehicle V2. Will be described, but the reverse is also possible. In the present embodiment, an example in which the first device 100 of the rear first vehicle V1 generates target information of the front second vehicle V2 will be described. That is, the second device 200 of the second vehicle V2 traveling in front generates the target information of the second vehicle V2 in front by the first device 100 of the first vehicle V1 behind using the camera for imaging the rear. You may.

  Subsequently, a control procedure of the driving support system 1 of the present embodiment will be described based on a flowchart of FIG.

  First, a control procedure of the first device 100 will be described. In step S110, the control device 110 of the first device 100 uses the camera 131 to capture an image around the first vehicle.

  In step S120, control device 110 identifies the second vehicle using the image captured by camera 131. When the object is a vehicle (second vehicle), another vehicle (object) is specified by the registration number of the vehicle.

  In step S130, control device 110 detects the position of the first vehicle using position detection device 161.

  In step S140, control device 110 calculates the position of the second vehicle using the position of the first vehicle.

  In step S150, control device 110 uses the image captured by camera 131 to extract the behavior of the second vehicle.

  In step S160, control device 110 outputs target information in which the behavior of the second vehicle is associated with the identification information of the second vehicle. Control device 110 may include the position information of the second vehicle in the target information. The control device 110 may send the target information to the server 300 or may send the target information to the second device 200.

The control procedure of the server 300 will be described.
In step S210, the information acquisition device 310 of the server 300 acquires target information from the first device 100.

  In step S220, the server 300 stores the acquired target information 321 in the database 320.

  In step S230, server 300 determines whether it is time to transmit the target information. The transmission timing may be defined by a timing of a predetermined cycle, may be defined by a timing at which an information provision request is issued from the second device 200, or may be defined by a position where the position of the second device 200 is stored in the target information. May be defined based on the timing when the distance becomes less than the predetermined distance. When the transmission timing comes, the process proceeds to step S240.

  In step S240, the server 300 transmits the behavior information of the target information to the second device 200 at the transmission timing.

A control procedure of the second device 200 will be described.
In step S310, the second device 200 acquires target information. The second device 200 may obtain the target information via the server 300, or may obtain the target information directly from the first device 100.

  In step S310, the second device 200 supports the traveling of the second vehicle using the behavior of the second vehicle included in the target information.

  According to the driving support system 1 of the present embodiment, the following effects can be obtained.

  [1] According to the driving support system 1 of the present embodiment, the first device 100 outputs the target information in which the behavior of the second vehicle is associated with the identification information of the second vehicle, and the second device 200 outputs the target information. The traveling of the second vehicle is supported using the behavior of the second vehicle output by the one device 100. As described above, since the behavior of the second vehicle generated by the first device 100 of the first vehicle is used, information that cannot be obtained only by the second vehicle can be complemented. As a result, traveling support of the second vehicle can be accurately performed.

  [2] According to the driving support system 1 of the present embodiment, by including the position information of the second device 200 in the target information, the driving control based on the position can be executed. Specifically, the traveling at the position A can be controlled by the behavior performed at the position A, so that appropriate traveling support based on the past behavior can be executed.

  [3] According to the driving support system 1 of the present embodiment, since the target information is stored in the database 320 of the server 300 and the server 300 transmits the target information to the second device 200, the same effect as the above effect is obtained. be able to.

  [4] According to the driving support system 1 of the present embodiment, since the detection result of the vehicle sensor mounted on the second vehicle is used, accurate driving support using the detection results of the own vehicle and other vehicles can be executed.

  [5] According to the driving support system 1 of the present embodiment, since the target information on the object other than the other vehicle is also used, it is possible to execute accurate driving support in consideration of obstacles such as road signs and construction sites.

  [6] According to the driving support method using the driving support system of the present embodiment, the above operation and effect can be obtained.

  The embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in the present specification, the driving support system of the present invention will be described using the driving support system 1 including the first device 100, the second device 200, and the server 300 as an example, but the present invention is not limited thereto. Not something. The driving support system of the present invention can be configured as the driving support system 1 including the first device 100 and the second device 200 without providing the server 300.

  In the present specification, the first device 100 including the control device 110, the communication device 120, the detection device 130, and the navigation device 160 will be described as an example of the first device according to the present invention, but is not limited thereto. Not something.

  In the present specification, as a second device according to the present invention, a control device 210, a communication device 220, a detection device 230, a driving assistance device 240, an output device 250, a navigation device 260, a vehicle controller 270, The second device 200 including the vehicle sensor 280 and the vehicle accessory 290 will be described as an example, but is not limited thereto.

  In the present specification, the server 300 including the information acquisition device 310 and the database 320 will be described as an example of the server according to the present invention, but the server is not limited to this.

In the present specification, as an example of a first device including an identification unit, an extraction unit, and an output unit, a first device 100 including a control device 110 that performs an identification function, an extraction function, and an output function will be described. However, the present invention is not limited to this.
In the present specification, as an example of the second device including the driving support means, the second device 200 including the control device 210 that executes the information acquisition function and the driving support function will be described. However, the present invention is not limited to this. Absent.
In this specification, the server 300 including the information acquisition device 310 and the database 320 will be described as an example of the server including the database and the transmission unit. However, the present invention is not limited to this.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance system 100 ... 1st apparatus 110 ... Control apparatus 111 ... CPU
112 ... ROM
113 ... RAM
Reference Signs List 120 communication device 130 detection device 131 camera 160 navigation device 161 position detection device 162 map information 200 second device 210 control device 211 CPU
212… ROM
213 ... RAM
220 Communication device 230 Detection device 231 Camera 240 Driving support device 250 Output device 260 Navigation device 261 Position detection device 262 Map information 270 Vehicle controller 271 Drive device 271 Brake device 273 Steering device 280 … Vehicle sensor 281… steering angle sensor 282… vehicle speed sensor 283… attitude sensor 290… vehicle accessories 291… door mirror 292… light

Claims (5)

A first device for acquiring information on a second vehicle around the first vehicle;
A second device that supports the travel of the second vehicle;
A driving support system with
The first device comprises:
Camera and
Position detecting means for detecting a current position of the first vehicle;
Identifying means for identifying the second vehicle detected using the captured image of the camera, and calculating the detected position of the second vehicle using a current position of the first vehicle ;
Using the captured image, extracting means for extracting the identified behavior of the second vehicle,
Generating target information that associates the behavior of the second vehicle with the identification information of the second vehicle, and the position of the second vehicle, and generates the target information based on the generated identification information based on the identification information. Output means for outputting to
The second device includes:
The first device receives the object information on the second vehicle output, the at the location of the second vehicle associated with the target information, the second vehicle position of the second vehicle is associated using said object information, the driving support system comprising driving assistance means for assisting travel of the second vehicle. The driving support system includes:
A server that exchanges information with the first device and the second device;
The server is
A database for storing the target information;
Transmitting means for transmitting the target information to the second vehicle,
The second device includes:
The driving support system according to claim 1 , further comprising a driving support unit that supports driving of the second vehicle using the target information acquired via the server. The second device includes:
A vehicle sensor for detecting a behavior of the second vehicle;
3. The driving support system according to claim 1 , wherein the driving support unit supports the driving of the second vehicle using the behavior of the second vehicle detected by the vehicle sensor and the target information. 4. . In the first device,
It said identifying means identifies the detected object using the captured image of the camera,
The extracting means extracts the behavior of the identified object using the captured image,
And the output means, the driving support system according to any one of claims 1 to 3 outputting the behavior of the object, the object information associated with said identification information of said object. A driving support method used in a driving support system including a first device that acquires information on a second vehicle around a first vehicle and a second device that supports driving of the second vehicle,
Detecting a current position of the first vehicle,
Identifying the second vehicle detected using the captured image of the camera of the first device,
Calculating the detected position of the second vehicle using the current position of the first vehicle;
Using the captured image, extracting the behavior of the identified second vehicle,
Generating target information that associates the behavior of the second vehicle with the identification information of the second vehicle, and the position of the second vehicle ,
Outputting the generated target information to the second device based on the identification information ;
Using the second device, receiving the target information about the second vehicle output by the first device, at the position of the second vehicle associated with the target information, the position of the second vehicle is using the target information of the correspondence was the second vehicle, the driving support method of supporting the travel of the second vehicle.

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