Driving assistance device and driving assistance method
A driving assistance device acquires peripheral vehicle information from a peripheral vehicle and predicts a collision possibility based on self-vehicle information and the peripheral vehicle information. In a case where the peripheral vehicle exists within a first range in front of the self-vehicle, a first determination region is set using a position where the self-vehicle accelerates after decelerating to a threshold value or less or a position where the self-vehicle temporarily stops, and a collision possibility in the first determination region is predicted. In a case where the peripheral vehicle exists within a second range on a side of the self-vehicle, a second determination region is set using an intersection between a predicted course of the self-vehicle and a predicted course of the peripheral vehicle, and a collision possibility in the second determination region is predicted.
1 . A driving assistance device comprising:
an acquisition unit configured to acquire, from a peripheral vehicle existing around a self-vehicle on which the driving assistance device is mounted, peripheral vehicle information indicating a vehicle speed, a position, and a traveling track of the peripheral vehicle through vehicle-to-vehicle communication;
a prediction unit configured to predict a collision possibility between the self-vehicle and the peripheral vehicle based on self-vehicle information indicating a vehicle speed, a position, and a traveling track of the self-vehicle and the peripheral vehicle information; and
a notification unit configured to notify an occupant of the self-vehicle based on a prediction result by the prediction unit,
wherein the prediction unit is configured to:
in a case where the peripheral vehicle exists within a first angular range in front of the self-vehicle, set a first determination region of a road to be offset to an opposite lane side with respect to the self-vehicle in a direction orthogonal to a predicted course of the self-vehicle and to include a first reference position where the self-vehicle accelerates after decelerating to a threshold value or less or where the self-vehicle temporarily stops as a first reference position, and predict a collision possibility between the self-vehicle and the peripheral vehicle in the first determination region; and
in a case where the peripheral vehicle exists within a second angular range on a side of the self-vehicle, set a second determination region of the road using an intersection between a predicted course of the self-vehicle and a predicted course of the peripheral vehicle as a second reference position, and predict a collision possibility between the self-vehicle and the peripheral vehicle in the second determination region.
2 . The driving assistance device according to claim 1 , wherein in a case where the peripheral vehicle exists within the first angular range, the prediction unit predicts that there is a possibility that the self-vehicle and the peripheral vehicle collide with each other based on an intersection between a predicted turning track preset for the self-vehicle and a predicted course of the peripheral vehicle being included in the first determination region.
3 . The driving assistance device according to claim 2 , wherein the prediction unit updates the predicted turning track based on a change in a steering angle of the self-vehicle.
4 . The driving assistance device according to claim 2 , wherein the prediction unit selects the predicted turning track from a plurality of candidates of the predicted turning track based on a steering angle of the self-vehicle at the first reference position.
5 . The driving assistance device according to claim 1 , wherein
the prediction unit sets the second determination region having different shape between a case where the peripheral vehicle existing within the second angular range is on an opposite lane side with respect to the self-vehicle and a case where the peripheral vehicle existing within the second angular range is on an opposite side of an opposite lane side with respect to the self-vehicle, and
a length of a part located closer to the self-vehicle than the second reference position in the second determination region in a case where the peripheral vehicle is on an opposite side of an opposite lane side with respect to the self-vehicle is longer than a length of a part located closer to the self-vehicle than the second reference position in the second determination region in a case where the peripheral vehicle is on an opposite lane side with respect to the self-vehicle.
6 . The driving assistance device according to claim 1 , wherein in a case where the peripheral vehicle exists within the second angular range, and a first predicted time until the peripheral vehicle reaches the second reference position is smaller than a first time threshold value,
the prediction unit predicts that there is a possibility that the self-vehicle and the peripheral vehicle collide with each other if a difference between a second predicted time until the self-vehicle reaches the second reference position and the first predicted time is smaller than a second time threshold value, and
the prediction unit predicts that there is no possibility that the self-vehicle and the peripheral vehicle collide with each other if the difference between the second predicted time and the first predicted time is larger than the second time threshold value.
7 . A method for assisting driving, the method performed by a self-vehicle, the method comprising:
acquiring, from a peripheral vehicle existing around the self-vehicle, peripheral vehicle information indicating a vehicle speed, a position, and a traveling track of the peripheral vehicle through vehicle-to-vehicle communication;
predicting a collision possibility between the self-vehicle and the peripheral vehicle based on self-vehicle information indicating a vehicle speed, a position, and a traveling track of the self-vehicle and the peripheral vehicle information; and
notifying an occupant of the self-vehicle based on a prediction result by the prediction,
wherein the predicting comprises:
in a case where the peripheral vehicle exists within a first angular range in front of the self-vehicle, setting a first determination region of a road to be offset to an opposite lane side with respect to the self-vehicle in a direction orthogonal to a predicted course of the self-vehicle and to include a first reference position where the self-vehicle accelerates after decelerating to a threshold value or less or where the self-vehicle temporarily stops as a first reference position, and predicting a collision possibility between the self-vehicle and the peripheral vehicle in the first determination region; and
in a case where the peripheral vehicle exists within a second angular range on a side of the self-vehicle, setting a second determination region of the road using an intersection between a predicted course of the self-vehicle and a predicted course of the peripheral vehicle as a second reference position, and predicting a collision possibility between the self-vehicle and the peripheral vehicle in the second determination region.
8 . A non-transitory storage medium configured to store a program which causes a computer mounted on a self-vehicle to:
acquire, from a peripheral vehicle existing around the self-vehicle, peripheral vehicle information indicating a vehicle speed, a position, and a traveling track of the peripheral vehicle through vehicle-to-vehicle communication;
predict a collision possibility between the self-vehicle and the peripheral vehicle based on self-vehicle information indicating a vehicle speed, a position, and a traveling track of the self-vehicle and the peripheral vehicle information; and
notify an occupant of the self-vehicle based on a prediction result by the prediction,
wherein the predicting comprises:
in a case where the peripheral vehicle exists within a first angular range in front of the self-vehicle, setting a first determination region of a road to be offset to an opposite lane side with respect to the self-vehicle in a direction orthogonal to a predicted course of the self-vehicle and to include a first reference position where the self-vehicle accelerates after decelerating to a threshold value or less or where the self-vehicle temporarily stops as a first reference position, and predicting a collision possibility between the self-vehicle and the peripheral vehicle in the first determination region; and
in a case where the peripheral vehicle exists within a second angular range on a side of the self-vehicle, setting a second determination region of the road using an intersection between a predicted course of the self-vehicle and a predicted course of the peripheral vehicle as a second reference position, and predicting a collision possibility between the self-vehicle and the peripheral vehicle in the second determination region.