Driving support system, driving support apparatus, and driving support method

1. A driving support system, comprising:

a server apparatus that includes

a server-side communication unit which communicates with one or more vehicles and acquires positional information from a specific vehicle of the one or more vehicles,

a generation unit which generates a traveling trajectory of the specific vehicle based on the positional information acquired by the server-side communication unit,

a determination unit which determines whether or not a predetermined spot is present in one or more lanes in which the specific vehicle has traveled, based on the traveling trajectory of the specific vehicle generated by the generation unit, and

a communication control unit which causes the server-side communication unit to transmit information related to the predetermined spot to the one or more vehicles when the determination unit determines that the predetermined spot is present; and

a driving support apparatus that includes

a vehicle side communication unit which receives the information related to the predetermined spot from the server apparatus,

a recognition unit which recognizes one or more objects present near a subject vehicle, and

an instrument operation control unit which determines whether or not the predetermined spot is present ahead of the subject vehicle in a subject vehicle lane in which the subject vehicle is present based on the information received by the vehicle side communication unit, causes an in-car instrument to perform a predetermined operation based on a relative distance between an object, of the one or more objects recognized by the recognition unit, present in an adjacent lane adjacent to the subject vehicle lane and the subject vehicle when it is determined that the predetermined spot is not present ahead of the subject vehicle, and restrains the in-car instrument from performing the predetermined operation when it is determined that the predetermined spot is present ahead of the subject vehicle,

wherein the in-car instrument includes an output unit which outputs information, and a steering control unit which controls a steering wheel, and

wherein the instrument operation control unit

causes the output unit to output predetermined information as the predetermined operation when a first condition including that the relative distance is equal to or smaller than a threshold value or a time obtained by dividing the relative distance by a relative speed between an object present in an adjacent lane adjacent to the subject vehicle lane and the subject vehicle is equal to or smaller than a threshold value is satisfied, and

causes the steering control unit to control the steering wheel as the predetermined operation when a second condition including that a distance between a demarcation line demarcating the subject vehicle lane and the subject vehicle is equal to or smaller than a threshold value or a time obtained by dividing the distance between the demarcation line demarcating the subject vehicle lane and the subject vehicle by a speed of the subject vehicle in a vehicle width direction is equal to or smaller than a threshold value is satisfied.

2. The driving support system according to claim 1 ,

wherein the determination unit determines that the predetermined spot is present in the one or more lanes in which the specific vehicle has traveled, when the one or more lanes in which the specific vehicle has traveled include a first lane having a section in which the traveling trajectory is not present.

3. The driving support system according to claim 2 ,

wherein the determination unit further determines that the predetermined spot is present in the one or more lanes in which the specific vehicle has traveled, when a plurality of traveling trajectories are present in a second lane adjacent to the first lane having the section in which the traveling trajectory is not present, in the one or more lanes in which the specific vehicle has traveled.

4. The driving support system according to claim 2 ,

wherein the determination unit further determines that the predetermined spot is present in the one or more lanes in which the specific vehicle has traveled when the specific vehicle is decelerating at a time of acquiring the positional information.

5. The driving support system according to claim 1 ,

wherein the server-side communication unit further communicates with another external device and acquires traffic information indicating a traffic situation of a road from the external device, and

wherein the determination unit determines whether or not the predetermined spot is present in the one or more lanes in which the specific vehicle has traveled, based on the traveling trajectory of the specific vehicle generated by the generation unit and the traffic information acquired by the server-side communication unit.

6. A driving support system, comprising:

a server apparatus that includes

a server-side communication unit which communicates with one or more vehicles and acquires positional information from a specific vehicle of the one or more vehicles,

a generation unit which generates a traveling trajectory of the specific vehicle based on the positional information acquired by the server-side communication unit, and

a communication control unit which causes information related to the traveling trajectory generated by the generation unit to be transmitted to the one or more vehicles; and

a driving support apparatus that includes

a vehicle side communication unit which receives the information related to the traveling trajectory from the server apparatus,

a recognition unit which recognizes an object present near a subject vehicle, and

an instrument operation control unit which determines whether or not a predetermined spot is present in one or more lanes in which the specific vehicle has traveled based on the information received by the vehicle side communication unit, causes an in-car instrument to perform a predetermined operation based on a relative distance between an object, of the one or more objects recognized by the recognition unit, present in an adjacent lane adjacent to a subject vehicle lane and the subject vehicle when a lane in which it is determined that the predetermined spot is present is not the subject vehicle lane in which the subject vehicle is present, and restrains the in-car instrument from performing the predetermined operation when the lane in which it is determined that the predetermined spot is present is the subject vehicle lane;

wherein the in-car instrument includes an output unit which outputs information, and a steering control unit which controls a steering wheel, and

wherein the instrument operation control unit

causes the output unit to output predetermined information as the predetermined operation when a first condition including that the relative distance is equal to or smaller than a threshold value or a time obtained by dividing the relative distance by a relative speed between an object present in an adjacent lane adjacent to the subject vehicle lane and the subject vehicle is equal to or smaller than a threshold value is satisfied, and

causes the steering control unit to control the steering wheel as the predetermined operation when a second condition including that a distance between a demarcation line demarcating the subject vehicle lane and the subject vehicle is equal to or smaller than a threshold value or a time obtained by dividing the distance between the demarcation line demarcating the subject vehicle lane and the subject vehicle by a speed of the subject vehicle in a vehicle width direction is equal to or smaller than a threshold value is satisfied.

7. A driving support apparatus, comprising:

a vehicle side communication unit which receives information related to a predetermined spot specified in a lane in which another vehicle has traveled, based on a traveling trajectory of the different vehicle;

a recognition unit which recognizes an object present near a subject vehicle; and

an instrument operation control unit which determines whether or not the predetermined spot is present ahead of the subject vehicle in a subject vehicle lane in which the subject vehicle is present based on the information received by the vehicle side communication unit, causes an in-car instrument to perform a predetermined operation based on a relative distance between an object, of one or more objects recognized by the recognition unit, present in an adjacent lane adjacent to the subject vehicle lane and the subject vehicle when it is determined that the predetermined spot is not present ahead of the subject vehicle, and restrains the in-car instrument from performing the predetermined operation when it is determined that the predetermined spot is present ahead of the subject vehicle,

wherein the in-car instrument includes an output unit which outputs information, and a steering control unit which controls a steering wheel, and

wherein the instrument operation control unit

causes the output unit to output predetermined information as the predetermined operation when a first condition including that the relative distance is equal to or smaller than a threshold value or a time obtained by dividing the relative distance by a relative speed between an object present in an adjacent lane adjacent to the subject vehicle lane and the subject vehicle is equal to or smaller than a threshold value is satisfied, and

causes the steering control unit to control the steering wheel as the predetermined operation when a second condition including that a distance between a demarcation line demarcating the subject vehicle lane and the subject vehicle is equal to or smaller than a threshold value or a time obtained by dividing the distance between the demarcation line demarcating the subject vehicle lane and the subject vehicle by a speed of the subject vehicle in a vehicle width direction is equal to or smaller than a threshold value is satisfied.

8. A driving support method, comprising:

causing a first computer

to communicate with one or more vehicles and acquire positional information from a specific vehicle of the one or more vehicles,

to generate a traveling trajectory of the specific vehicle based on the acquired positional information,

to determine whether or not a predetermined spot is present in a lane in which the specific vehicle has traveled, based on the generated traveling trajectory of the specific vehicle, and

to transmit information related to the predetermined spot to the one or more vehicles when it is determined that the predetermined spot is present in one or more lanes in which the specific vehicle has traveled; and

causing a second computer mounted in the one or more vehicles

to receive the information related to the predetermined spot from the first computer,

to recognize an object present near a subject vehicle,

to determine whether or not the predetermined spot is present ahead of the subject vehicle in a subject vehicle lane in which the subject vehicle is present, based on the received information,

to cause an in-car instrument to perform a predetermined operation based on a relative distance between an object, of one or more of the recognized objects, present in an adjacent lane adjacent to the subject vehicle lane and the subject vehicle when it is determined that the predetermined spot is not present ahead of the subject vehicle, and

to restrain the in-car instrument from performing the predetermined operation when it is determined that the predetermined spot is present ahead of the subject vehicle,

wherein the in-car instrument includes an output unit which outputs information, and a steering control unit which controls a steering wheel, and

wherein the instrument operation control unit

causes the output unit to output predetermined information as the predetermined operation when a first condition including that the relative distance is equal to or smaller than a threshold value or a time obtained by dividing the relative distance by a relative speed between an object present in an adjacent lane adjacent to the subject vehicle lane and the subject vehicle is equal to or smaller than a threshold value is satisfied, and

causes the steering control unit to control the steering wheel as the predetermined operation when a second condition including that a distance between a demarcation line demarcating the subject vehicle lane and the subject vehicle is equal to or smaller than a threshold value or a time obtained by dividing the distance between the demarcation line demarcating the subject vehicle lane and the subject vehicle by a speed of the subject vehicle in a vehicle width direction is equal to or smaller than a threshold value is satisfied.