Driving assistance method and device
A driving assistance method includes extracting an interference traffic line that is a route along which another vehicle can move and that interferes with a planned travel route of a subject vehicle. The method also includes determining a necessary length of the extracted interference traffic line of the other vehicle, which length is necessary for determining a driving action of the subject vehicle, on the basis of at least one of a shape of a road, a traffic rule, and a traffic situation. The method further includes determining the driving action of the subject vehicle to respond to the other vehicle moving along the interference traffic line using a range of the determined necessary length of the interference traffic line as a determination object.
1. A driving assistance method comprising:
extracting an interference traffic line interfering with a planned travel route of a subject vehicle, the interference traffic line being a route along which another vehicle can move;
determining a necessary length of the extracted interference traffic line on a basis of at least one of a shape of a road, a traffic rule, and a traffic situation, the necessary length being necessary for determining a driving action of the subject vehicle;
detecting whether other vehicles moving along the interference traffic line exist within the necessary length of the interference traffic line;
determining the driving action of the subject vehicle to avoid contact with the detected other vehicles; and
controlling one or both of a drive device and a steering device based on the determined driving action.
2. The driving assistance method according to claim 1 , comprising:
estimating a moving speed of the other vehicle moving along the interference traffic line on the basis of the shape of the road; and
determining the necessary length of the interference traffic line on a basis of the estimated moving speed.
3. The driving assistance method according to claim 2 , comprising estimating the moving speed on a basis of a curvature of the road.
4. The driving assistance method according to claim 2 , comprising estimating the moving speed on a basis of a gradient of the road.
5. The driving assistance method according to claim 2 , comprising estimating the moving speed on a basis of existence of irregularities on a road surface of the road.
6. The driving assistance method according to claim 2 , comprising:
extracting a merging point of a plurality of the interference traffic lines merging into one another on the basis of the shape of the road; and
estimating the moving speed at the merging point on the basis of at least one of the shape of the road and the traffic rule.
7. The driving assistance method according to claim 6 , comprising estimating the moving speed at the merging point on a basis of priority levels under the traffic rule at the merging point of a plurality of other vehicles moving along the plurality of interference traffic lines merging into one another.
8. The driving assistance method according to claim 2 , comprising estimating the moving speed on a basis of deceleration of the other vehicle turning right or left at an intersection.
9. The driving assistance method according to claim 2 , comprising determining the necessary length of the interference traffic line on a basis of a state of a traffic signal corresponding to the interference traffic line.
10. The driving assistance method according to claim 2 , comprising:
acquiring information regarding a traffic situation including a position and a moving direction of a traveling vehicle traveling around the subject vehicle; and
determining the necessary length of the interference traffic line on a basis of the position and moving direction of the traveling vehicle.
11. The driving assistance method according to claim 10 , comprising:
extracting a planned travel route of the traveling vehicle traveling parallel to the subject vehicle;
extracting the interference traffic line interfering with the extracted planned travel route of the traveling vehicle;
obtaining priority levels under the traffic rule of the other vehicle moving along the interference traffic line and the traveling vehicle;
when the priority level of the other vehicle moving along the interference traffic line is lower than the priority level of the traveling vehicle, determining a length from a point of intersection on the interference traffic line with the planned travel route of the traveling vehicle to a point of intersection on the interference traffic line with the planned travel route of the subject vehicle as the necessary length.
12. A driving assistance apparatus comprising a processor configured to determine a driving action of a subject vehicle traveling along a planned travel route, the processor being configured to:
extract an interference traffic line interfering with a planned travel route of a subject vehicle, the interference traffic line being a route along which another vehicle can move;
determine a necessary length of the extracted interference traffic line on a basis of at least one of a shape of a road, a traffic rule, and a traffic situation, the necessary length being necessary for determining the driving action of the subject vehicle; and
detect whether other vehicles moving along the interference traffic line exist within the necessary length of the interference traffic line;
plan the driving action of the subject vehicle to avoid contact with the detected other vehicles; and
control one or both of a drive device and a steering device based on the planned driving action.