JP6913602B2 - Information processing equipment and programs - Google Patents

Description

The present disclosure relates to information processing devices and programs mounted on vehicles.

The visibility of the following vehicle of a large vehicle such as a bus is obstructed by the large vehicle and the visibility ahead is poor, and it is difficult for the driver of the following vehicle to grasp the situation in front of the stopped large vehicle. Therefore, when the large vehicle is stopped and a pedestrian is crossing the road in front of the large vehicle, when the following vehicle overtakes the large vehicle, the driver of the following vehicle can see the pedestrian. You will overtake without it. Therefore, there is a risk that the following vehicle will collide with a pedestrian.

On the other hand, for example, Patent Document 1 proposes a traveling support device that detects a traveling region that reduces a blind spot region of a vehicle and causes the vehicle to travel in the traveling region. Specifically, the vehicle in the lateral direction with respect to the traveling direction is moved by the movement margin width from the object that causes the blind spot. It is stated that this can reduce the blind spot of the vehicle.

Japanese Unexamined Patent Publication No. 2011-108016

However, with the technique described in Patent Document 1, it may be difficult to safely overtake the vehicle. For example, in the device disclosed in Patent Document 1, the timing at which a pedestrian in a blind spot enters the view of the overtaking vehicle is earlier than before, but the overtaking vehicle performs an avoidance operation after finding the pedestrian. Avoidance may not be in time. As a result, the overtaking vehicle may collide with a pedestrian.

The present disclosure has been made in view of the above circumstances, and an object of the present invention is to provide an information processing device capable of overtaking a vehicle more safely and a program for operating the information processing device.

In order to achieve the above object, the information processing device according to one aspect of the present disclosure is an information processing device mounted on the first vehicle and is obtained from a sensor mounted around the first vehicle. A recognition unit that recognizes a second vehicle existing in the traveling direction of the first vehicle based on sensing information, a determination unit that determines whether to execute a control for overtaking the recognized second vehicle, and the above. Depending on the determination to execute the overtaking control, the road edge in the direction opposite to the first direction, which is the moving direction of the first vehicle for the first vehicle to overtake the second vehicle. It includes a generation unit that generates first information for moving the first vehicle in a second direction toward the vehicle, and an output unit that outputs the generated first information.

It should be noted that these general or specific embodiments may be implemented in a system, method, integrated circuit, computer program or computer-readable recording medium such as a CD-ROM, system, method, integrated circuit, computer. It may be realized by any combination of a program and a recording medium.

According to the present disclosure, an information processing device capable of overtaking a vehicle more safely and a program for operating the information processing device are provided.

It is a figure which shows an example of the sensing function mounted on the own vehicle in Embodiment 1. FIG. It is a figure which shows an example of the structure of the information processing apparatus in Embodiment 1. FIG. It is a figure which shows the sensing in front of the own vehicle in Embodiment 1. FIG. It is a figure which shows the turning of the own vehicle in the 2nd direction in Embodiment 1. FIG. It is a flowchart which shows the processing method of the overtaking determination performed by the information processing apparatus in Embodiment 1. FIG. It is a figure for demonstrating the effect in Embodiment 1. FIG. It is a figure which shows the sensing of the left rear of the own vehicle in the modification of Embodiment 1. FIG. It is a flowchart which shows the processing method of the overtaking determination performed by the information processing apparatus in the modification of Embodiment 1. It is a figure which shows an example of the structure of the information processing apparatus in Embodiment 2. It is a figure which shows the sensing in front of the own vehicle in Embodiment 2. FIG. It is a figure which shows the sensing around the own vehicle in Embodiment 2. FIG. It is a flowchart which shows the processing method of the overtaking determination performed by the information processing apparatus in Embodiment 2. It is a figure for demonstrating the effect in Embodiment 2. FIG. It is a figure for demonstrating the effect in Embodiment 2. FIG. It is a figure for demonstrating the effect in Embodiment 2. FIG. It is a figure which shows an example of the sensing in front of the own vehicle in another embodiment.

The information processing device according to one aspect of the present disclosure is an information processing device mounted on the first vehicle, and the first information processing device is based on sensing information obtained from sensors mounted around the first vehicle. A recognition unit that recognizes a second vehicle existing in the traveling direction of the vehicle, a determination unit that determines whether to execute the recognized control for overtaking the second vehicle, and a determination unit that executes the overtaking control. Depending on what has been done, the first vehicle is directed in a second direction toward the road end in a direction opposite to the first direction, which is the movement direction of the first vehicle for overtaking the second vehicle. It includes a generation unit that generates first information for moving the first vehicle, and an output unit that outputs the generated first information.

With this configuration, the first vehicle, which is the following vehicle, determines the presence or absence of moving objects such as pedestrians in front of the second vehicle being overtaken before passing by the side of the second vehicle for overtaking. Since it can be confirmed, the vehicle can be overtaken more safely.

Here, for example, the determination unit further determines whether to continue executing the overtaking control based on the sensing information obtained after the movement of the first vehicle in the second direction. In response to the determination in the first continuation determination that the execution of the overtaking control is to be continued, the generation unit generates the second information for overtaking the second vehicle, and outputs the output. The unit may output the generated second information. As a result, the overtaking of the vehicle can be stopped before the overtaking based on the moving object in front of the second vehicle being overtaken. Therefore, the safety can be further improved.

Further, for example, the recognition unit further recognizes a person existing in the traveling direction based on the sensing information obtained after the movement, and the determination unit recognizes the person and the first person recognized by the recognition unit. The first continuation determination may be performed based on the positional relationship with the vehicle of 2. Thereby, it is possible to determine the possibility that the person jumps out into the overtaking lane from the positional relationship. Therefore, it is possible to achieve both safety during overtaking and driving efficiency.

Further, for example, the determination unit may further perform the first continuation determination based on the behavior or state of the person recognized by the recognition unit. This makes it possible to more accurately determine the possibility that the person concerned will jump out into the overtaking lane.

Further, for example, the second generation unit corresponds to the behavior or state of the person recognized by the recognition unit in response to the determination in the first continuation determination to continue the overtaking control. The behavior of the first vehicle in overtaking the vehicle may be determined, and the determined behavior of the first vehicle may generate the second information for overtaking the second vehicle. Thereby, the mode of overtaking can be determined according to the behavior or state of the person concerned. Therefore, it is possible to achieve both safety during overtaking and driving efficiency.

Further, for example, the behavior of the first vehicle may include a vehicle speed or a traveling route. Thereby, when overtaking, the degree of slowing or detouring can be determined according to the behavior or condition of the person concerned.

Further, for example, the determination unit further executes the overtaking control according to the determination result of the presence or absence of an oncoming vehicle in the traveling direction based on the sensing information obtained after the output unit outputs the second information. A second continuation determination may be made as to whether or not to continue. As a result, it is possible to overtake the second vehicle in consideration of the presence or absence of an oncoming vehicle as well as the jumping out of the moving object. Therefore, the safety of overtaking can be further improved.

Further, for example, the sensing information includes information obtained by imaging with a camera, and the recognition unit can further image the source of the sensing information and the traveling direction after outputting the first information. Even if the front camera is switched to a side camera capable of capturing a direction intersecting the traveling direction and the person existing in the traveling direction is recognized based on the sensing information which is an image obtained by the side camera. good. As a result, it is possible to more reliably recognize the person existing in the vicinity of the second vehicle.

Further, for example, the side camera may be a fisheye camera. As a result, the recognition range can be expanded as compared with a normal camera.

Further, for example, the recognition unit further recognizes a moving object in the second direction based on the sensing information, and the determination unit is determined to execute the overtaking control. Further, the recognition unit may determine whether or not the moving object has been recognized, and the generation unit may generate the first information according to the fact that the moving object has not been recognized. Thereby, when the first vehicle moves in the second direction, it is possible to avoid contacting or colliding with a moving object existing in the second direction.

Further, for example, a presentation control unit that controls the presentation of the determination result of the determination unit may be further provided. This makes it possible to notify the occupants of the first vehicle in advance that they will move in the second direction.

Further, for example, the determination unit may further determine whether to execute the overtaking control based on the map information and the position information of the first vehicle or the second vehicle. As a result, overtaking control can be executed in a situation where a person jumps out from the front of the second vehicle, and the processing load can be reduced.

Further, for example, the first information and the second information may include vehicle control information for controlling the traveling of the first vehicle. As a result, when the first vehicle is an autonomous driving vehicle, the above-mentioned overtaking control can be automatically executed.

Further, for example, the first information and the second information may include information presented to the driver of the first vehicle. As a result, when the first vehicle is a manually driven vehicle, the driver of the first vehicle can be alerted.

Further, for example, the first direction may be right toward the traveling direction of the first vehicle, and the second direction may be left toward the traveling direction of the first vehicle. .. As a result, the overtaking control described above can be executed in the area where the traffic rule is left-hand traffic.

Further, for example, the first direction may be left toward the traveling direction of the first vehicle, and the second direction may be right toward the traveling direction of the first vehicle. .. As a result, the overtaking control described above can be executed in the area where the traffic rule is right-hand traffic.

Further, for example, the acquisition unit further includes an acquisition unit for acquiring the traffic rule of the area where the first vehicle travels, and the generation unit obtains the first direction and the second direction based on the acquired traffic rule. You may decide. As a result, the overtaking control described above can be executed in any of a plurality of areas having different traffic rules.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

Each of the embodiments described below is a specific example of the present disclosure. The numerical values, shapes, components, steps, order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present disclosure. Further, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept are described as arbitrary components. Moreover, in all the embodiments, each content can be combined.

(Embodiment 1)
Hereinafter, the information processing apparatus 10 according to the first embodiment will be described.

[Vehicle 1]
FIG. 1 is a diagram showing an example of a sensing device mounted on the vehicle 1 according to the first embodiment.

The vehicle 1 is an example of the first vehicle, and is, for example, a vehicle such as an automobile. The information processing device 10 according to the first embodiment is mounted on the vehicle 1.

The vehicle 1 shown in FIG. 1 includes, for example, a front camera 11, a side camera 12, and a rear camera 13 as sensing devices.

The front camera 11 is a front camera capable of capturing the traveling direction of the vehicle 1. The front camera 11 is, for example, a camera having an angle of view of 60 degrees or more, and is installed in or around the front bumper of the vehicle 1 and senses an image obtained by photographing a predetermined area in the traveling direction of the vehicle 1 (hereinafter, also referred to as the front). Output as information. The rear camera 13 is, for example, a camera having an angle of view of 60 degrees or more, is installed in or around the rear bumper of the vehicle 1, and photographs a predetermined area in a direction opposite to the traveling direction of the vehicle 1 (hereinafter, also referred to as rearward). The obtained image is output as sensing information. That is, the sensing information includes information obtained by imaging with a camera.

The sensing device is not limited to the camera as long as it can sense moving objects such as other vehicles and pedestrians around the vehicle 1. For example, a radar may be mounted instead of the front camera 11 and the rear camera 13. When a radar is mounted, the radar outputs measurement results of the distance and direction of the moving object, which is a measurement target in front or behind, as sensing information.

The side camera 12 is a side camera capable of capturing a direction intersecting the traveling direction of the vehicle 1. The side camera 12 is, for example, a fisheye camera having an angle of view of 180 degrees, and is installed in or around the side mirror of the vehicle 1 to photograph the side, front, and rear of the vehicle 1. The side camera 12 may be, for example, a camera having an angle of view of 60 degrees or more. In this case, the side camera 12 is installed on the side mirror of the vehicle 1 so that the shooting direction is the traveling direction, and the side camera 12 is installed on the side and front of the vehicle 1. Just take a picture.

[Information processing device 10]
Next, the configuration of the information processing device 10 will be described.

FIG. 2 is a diagram showing an example of the configuration of the information processing apparatus 10 according to the first embodiment.

The information processing device 10 is mounted on the vehicle 1 and includes a recognition unit 101, a determination unit 102, a generation unit 103, an output unit 104, and a presentation unit 105, as shown in FIG. The information processing device 10 may not include the presentation unit 105.

<Recognition unit 101>
The recognition unit 101 recognizes the vehicle 30 existing in the traveling direction of the vehicle 1 based on the sensing information. Here, the sensing information is obtained from a sensor mounted around the first vehicle. For example, the sensing information is information acquired by a sensing function mounted on the vehicle 1, and is information used for measuring or determining the presence or absence of an object in the traveling direction of the vehicle 1.

Hereinafter, it is assumed that the road is on the left side. FIG. 3 is a diagram showing front sensing of the vehicle 1 in the present embodiment. FIG. 3 shows an example of a road 41 having a sidewalk 40, and the road 41 includes a traveling lane 43 through which vehicles such as automobiles and motorcycles can pass, and a shoulder 42 separated from the traveling lane 43 by a white line. have. The vehicle 30 shown in FIG. 3 is an example of a second vehicle, for example, a bus. The vehicle 30 may be a car, a truck, or a tram such as a tram. The road 41 shown in FIG. 3 is on the left side, but may be on the right side. In this case, the vehicle 1 and the vehicle 30 shown in FIG. 3 are located on opposite sides (right side) of the center line of the road 41.

In the present embodiment, the recognition unit 101 recognizes the vehicle 30 existing in the traveling direction of the vehicle 1 based on the sensing information, and calculates the distance between the vehicle 30 and the vehicle 1. In the example shown in FIG. 3, the sensing information is an image obtained by, for example, the front camera 11 photographing the region 1a in front of the vehicle 1. Based on this sensing information, the recognition unit 101 can determine the presence or absence of the vehicle 30 and calculate the distance between the vehicle 1 and the vehicle 30. As a method of calculating the distance from the image, it is preferable to use a method such as homography and Structure From Motion. If the optical configuration of the front camera 11 and the size of the vehicle as an object are known, the recognition unit 101 calculates the distance between the vehicle 1 and the vehicle 30 based on the position of the vehicle 30 in the image. be able to.

Further, the recognition unit 101 may recognize that the vehicle 30 is stopped or is about to stop based on the sensing information. For example, when the sensing information is an image, the recognition unit 101 detects whether the brake lamp of the vehicle 30 is lit in the image, so that the vehicle 30 is stopped or is about to stop. Can be recognized. The recognition unit 101 may recognize that the vehicle 30 is stopped or is about to stop based on the sensing information and the map information indicating the road condition in the traveling direction. Here, the map information is, for example, information indicating the position information (GPS information) of the bus stop, whether or not the road is curved, or the presence or absence of a pedestrian crossing.

Further, the recognition unit 101 further determines, for example, a pedestrian, a bicycle, or a bicycle in front of the vehicle 1 based on an image obtained by the side camera 12 or the front camera 11 on the left side in the traveling direction taking a picture of the front of the vehicle 1. The presence or absence of a moving object such as a motorcycle may be recognized.

<Judgment unit 102>
The determination unit 102 determines whether to execute the control for overtaking the vehicle 30 recognized by the recognition unit 101. The determination unit 102 may determine whether to execute the control of overtaking the recognized vehicle 30 based on the map information and the position information of the vehicle 1 or the vehicle 30.

In the present embodiment, the determination unit 102 executes control for overtaking the vehicle 30 when the distance between the vehicle 30 existing in the traveling direction of the vehicle 1 recognized by the recognition unit 101 and the vehicle 1 is equal to or less than a predetermined distance. Determine to do. Further, the determination unit 102 determines that the control for overtaking the vehicle 30 is not executed when the distance between the vehicle 30 and the vehicle 1 existing in the traveling direction of the vehicle 1 recognized by the recognition unit 101 is larger than a predetermined distance. .. Here, determining whether to execute the overtaking control means determining whether or not the vehicle 1 following the vehicle 30 can actually overtake the vehicle 30 later, and making a decision to overtake the vehicle 30. It means the judgment of whether or not.

When the vehicle 30 is running (not completely stopped), the determination unit 102 determines the speed of the vehicle 1, the speed of the vehicle 30 (or the relative speed of the vehicle 30 with respect to the vehicle 1), and the vehicle 30. Based on whether the distance between the vehicle 1 and the vehicle 1 is equal to or less than a predetermined distance, it may be determined whether to execute the control for overtaking the vehicle 30. The speed or relative speed of the vehicle 30 can be estimated from the position change of the vehicle 30 in the time series image if the sensing information is an image, and can be estimated from the measurement result if the sensing information is the measurement result of the radar.

<Generator 103>
When it is determined by the determination unit 102 that the generation unit 103 executes the overtaking control, the road in the direction orthogonal to the traveling direction and in the direction opposite to the first direction in which the vehicle 1 is turned when the vehicle 30 is overtaken. The first information for turning the vehicle 1 in the second direction toward the end, that is, the traveling support information is generated. The vehicle 1 may be moved by a control other than turning. For example, the vehicle 1 may be slid.

Here, the traveling support information may be referred to as the first information or the second information. Further, the traveling support information includes vehicle control information for controlling the traveling of the vehicle 1. The vehicle control information may include information for instructing the vehicle 1 to turn in the second direction, or may include information presented to the driver of the vehicle 1. The presented information is, for example, information instructing the driver of the vehicle 1 to turn the vehicle 1 in the second direction.

When the vehicle 1 is automatically controlled, the generation unit 103 may generate travel support information including vehicle control information instructing the vehicle 1 to turn in the second direction. On the other hand, when the vehicle 1 is manually controlled by the driver, the generation unit 103 generates travel support information including presentation information indicating information indicating the driver to turn the vehicle 1 in the second direction. do it. Note that turning the vehicle 1 means turning the vehicle body of the vehicle 1 to the left or right when viewed from directly above (in a horizontal plane centered on the top and bottom), and rotation in the turning direction or yawing. Also called. The first direction is the moving direction of the vehicle 1 for the vehicle 1 to overtake the vehicle 30. For example, when the road is traveling on the left side, the first direction corresponds to the right side in the traveling direction of the vehicle 1, and when the road is traveling on the right side, it corresponds to the left side in the traveling direction of the vehicle 1. For example, when the road is traveling on the left side, the second direction corresponds to the left side in the traveling direction of the vehicle 1, and when the road is traveling on the right side, it corresponds to the right side in the traveling direction of the vehicle 1. Turning vehicle 1 in the second direction corresponds to moving to the left side of the driving lane of the road when the road is on the left side, and moving to the right side of the driving lane of the road when the road is traveling on the right side. Corresponds to.

FIG. 4 is a diagram showing the turning of the vehicle 1 in the second direction in the present embodiment. The same elements as those in FIG. 3 are designated by the same reference numerals, and detailed description thereof will be omitted. FIG. 4 shows an example in which the road 41 is on the left side and the vehicle 1 is turned in the second direction according to the travel support information generated by the generation unit 103.

In the present embodiment, when it is determined by the determination unit 102 that the generation unit 103 executes the control to overtake the vehicle 30, the generation unit 103 moves the vehicle 1 to the left side in the traveling direction, for example, as in the vehicle 1 shown in FIG. Generate driving support information for. Here, the second direction corresponds to the left side in the traveling direction in the example shown in FIG. 4, and turning the vehicle 1 in the second direction is a white line that separates the road 41 from the shoulder 42 in the traveling lane 43. Corresponds to moving to the left side in the traveling lane 43 so as not to exceed.

More specifically, when the distance between the vehicle 30 and the vehicle 1 existing in the traveling direction of the vehicle 1 recognized by the recognition unit 101 is equal to or less than the second distance, the generation unit 103 is on the left side of the traveling direction. Generate driving support information for gathering 1. Further, when the distance between the vehicle 30 and the vehicle 1 existing in the traveling direction of the vehicle 1 recognized by the recognition unit 101 is larger than the second distance, the generation unit 103 has a second distance between the vehicle 30 and the vehicle 1. The driving support information for moving the vehicle 1 to the left side in the traveling direction is not generated until the distance becomes less than or equal to. Here, if the distance between the overtaking vehicle 30 and the vehicle 1 is long, there is a possibility that pedestrians and the like cannot be confirmed. However, when the generation unit 103 operates as described above, the vehicle 1 can be moved in the second direction after approaching the overtaking vehicle 30, and the periphery of the vehicle 30 can be sensed. As a result, pedestrians and the like existing around the vehicle 30 can be confirmed more reliably. The second distance is a distance shorter than the above-mentioned predetermined distance.

In FIG. 4, when the road 41 is traveling on the right side, the second direction corresponds to the right side in the traveling direction, and turning the vehicle 1 in the second direction separates the road from the shoulder in the traveling lane. It corresponds to moving to the right side in the driving lane so as not to cross the white line.

<Output unit 104>
The output unit 104 outputs the first information generated by the generation unit 103. Specifically, the output unit 104 outputs the running support information generated by the generation unit 103.

In the present embodiment, for example, the output unit 104 provides driving support information including vehicle control information instructing the vehicle 1 to be automatically driven and the generation unit 103 to turn the vehicle 1 in the second direction. When it is generated, this travel support information may be output to a control unit or the like that automatically controls the vehicle 1. Further, for example, the output unit 104 includes presentation information indicating information in which the vehicle 1 is manually controlled by the driver and the generation unit 103 instructs the driver to turn the vehicle 1 in the second direction. When the support information is generated, the driving support information may be output to the presentation unit 105.

<Presentation unit 105>
The presentation unit 105 presents the determination result of the determination unit 102. In the present embodiment, the presentation unit 105 presents the information output by the output unit 104. For example, when the presentation unit 105 outputs the travel support information including the presentation information indicating the information instructing the driver to turn the vehicle 1 in the second direction by the output unit 104, the presentation unit 105 outputs the driving support information to the driver. An instruction indicating that the vehicle 1 is to be turned in the second direction is presented.

If the information processing device 10 does not include the presentation unit 105, it may include a presentation control unit that controls the presentation of the determination result of the determination unit 102.

[Operation of information processing device 10]
Next, the processing method of the information processing apparatus 10 configured as described above will be described.

FIG. 5 is a flowchart showing a processing method of overtaking determination performed by the information processing apparatus 10 according to the first embodiment.

First, as shown in FIG. 5, the information processing device 10 recognizes a vehicle existing in the traveling direction of the own vehicle based on the sensing information (S1). In the present embodiment, the recognition unit 101 of the information processing device 10 travels in the traveling direction of the vehicle 1 which is the own vehicle, based on the image of the vehicle 30 or the sensing information such as the measurement result of the distance and the direction to the vehicle 30. Recognizes the vehicle 30 existing in.

Next, the information processing device 10 determines whether the vehicle recognized in S1 exists within a predetermined distance from the own vehicle (S2). In the present embodiment, as a method of determining whether the information processing device 10 executes the control for overtaking the vehicle 30 recognized in S1, the distance between the vehicle 30 recognized in S1 and the vehicle 1 is equal to or less than a predetermined distance. Is determined.

In S2, when the information processing device 10 determines that the vehicle exists within a predetermined distance from the own vehicle (Yes in S2), the information processing device 10 turns the own vehicle in the second direction (S3). In the present embodiment, when the information processing device 10 determines that the distance between the vehicle 30 and the vehicle 1 is equal to or less than a predetermined distance, the information processing device 10 is opposite to the first direction in which the vehicle 1 is turned when overtaking the vehicle 30. The traveling support information for turning the vehicle 1 in the second direction, which is the direction, is generated and output to the control unit or the presentation unit 105 of the vehicle 1. As a result, when the vehicle 1 is automatically controlled for driving, the control unit of the vehicle 1 can turn the vehicle 1 in the second direction according to the travel support information. When the vehicle 1 is driven and controlled by the driver, the driver is required to turn the vehicle 1 in the second direction in accordance with the instruction to turn the vehicle 1 presented in the presentation unit 105 in the second direction. Can be done.

On the other hand, in S2, when the information processing device 10 determines that the vehicle does not exist within a predetermined distance from the own vehicle (No in S2), the information processing device 10 ends this process. In the present embodiment, the information processing apparatus 10 determines that the control for overtaking the vehicle 30 recognized in S1 is not executed, and ends this process.

[Effects of Embodiment 1 and the like]
FIG. 6 is a diagram for explaining the effect in the first embodiment. The same elements as those in FIGS. 3 and 4 are designated by the same reference numerals, and detailed description thereof will be omitted. FIG. 6 shows an example in which the vehicle 1 turns in the left direction (left side in the traveling direction), which is the second direction, according to the traveling support information generated by the generation unit 103. Further, FIG. 6 shows an area 1b in front of the vehicle 1 that can be photographed by the side camera 12 and an area 1c in front of the vehicle 1 that can be photographed by the front camera 11 when the vehicle 1 is turned in the second direction. Has been done. Further, in the example shown in FIG. 6, the vehicle 30 is a large bus or the like, and the pedestrian 50 and the pedestrian 51 are present on the sidewalk 40 around the vehicle 30 that is stopped or is about to stop.

As shown in FIG. 6, the information processing device 10 according to the first embodiment is obtained by turning the vehicle 1 in the second direction and further photographing the regions 1b and 1c which are the sensing information of the vehicle 1. Pedestrians 50 and 51 existing on the left side of the vehicle 30 can be recognized from the image. That is, the information processing device 10 can recognize the pedestrians 50 and 51 existing on the left side of the vehicle 30 before the vehicle 1 passes the right side of the vehicle 30 for overtaking.

In this way, the information processing device 10 can estimate the possibility that the pedestrian 50 or the like may jump out from the front of the vehicle 30 when the vehicle 1 passes the right side of the vehicle 30 for overtaking. Therefore, it is possible to determine in advance the necessity of slowing down or stopping the vehicle 1 when passing the right side.

As a result, the information processing device 10 can reduce the risk of the vehicle 1 colliding with the pedestrian 50 or the like when passing on the right side of the vehicle 30 for overtaking, and the vehicle 1 can be safely used. The vehicle 30 can be overtaken.

As described above, according to the information processing device 10 according to the first embodiment, before the own vehicle, which is the following vehicle of the vehicle, passes by the side of the vehicle in order to overtake the vehicle, in front of the overtaking vehicle. Since it is possible to confirm the presence or absence of moving objects such as pedestrians, it is possible to make the own vehicle overtake the vehicle more safely.

Further, when the information processing device 10 according to the first embodiment includes the presentation control unit, it is possible to notify the occupants of the own vehicle in advance that the information processing device 10 will move in the second direction.

Further, according to the information processing device 10 according to the first embodiment, when determining whether to execute the overtaking control based on the map information and the position information of the own vehicle or the vehicle, a situation in which a person jumps out from the front of the vehicle. It is possible to execute overtaking control and reduce the processing load.

When the travel support information includes vehicle control information for controlling the travel of the vehicle, the above-mentioned overtaking control can be automatically executed when the own vehicle is an autonomous driving vehicle. Further, when the traveling support information includes the information presented to the driver of the vehicle, it is possible to alert the driver of the own vehicle when the own vehicle is a manually driven vehicle.

Further, according to the information processing apparatus 10 according to the first embodiment, the overtaking control described above can be executed in an area where the traffic rule is left-hand traffic or right-hand traffic.

(Modification example)
Even when the information processing device 10 determines that the overtaking control is to be executed, the information processing device 10 further confirms the presence or absence of a moving object in the rearward and second directions opposite to the traveling direction, and then moves the vehicle. It may be swiveled in the second direction. Hereinafter, this case will be described as a modification. In the following, the differences from the first embodiment will be mainly described.

[Constitution]
FIG. 7 is a diagram showing sensing on the left rear side of the vehicle 1 in the modified example of the first embodiment. The same elements as those in FIGS. 3, 4, and 6 are designated by the same reference numerals, and detailed description thereof will be omitted. FIG. 7 shows a left rear region 1d of the vehicle 1 that can be photographed by the left side camera 12 before the vehicle 1 is turned to the left in the second direction, that is, to the left in the traveling direction.

In this modification, the recognition unit 101 may further recognize the presence or absence of a moving object in the rearward and second directions opposite to the traveling direction of the vehicle 1 based on the sensing information. Here, the moving object is, for example, a bicycle or a motorcycle, but may be a bicycle or a pedestrian. In the example shown in FIG. 7, the recognition unit 101 is on the left side of the vehicle 1 based on the sensing information of the vehicle 1 which is an image obtained by photographing the area 1d by the side camera 12 (not shown) on the left side in the traveling direction. It recognizes the presence or absence of moving objects in the rear.

Further, in this modification, when the determination unit 102 determines that the overtaking control is to be executed, and when there is no moving object in the rearward and second direction recognized by the recognition unit 101, the overtaking control is performed. The result of determining that the above is executed may be output to the generation unit 103. In the example shown in FIG. 7, when the determination unit 102 determines that the overtaking control is to be executed and then confirms that the moving object does not exist behind the vehicle 1 recognized by the recognition unit 101, The result of determining that the overtaking control is to be executed may be output to the generation unit 103.

[motion]
Next, the processing method of the information processing apparatus 10 in the present modification configured as described above will be described.

FIG. 8 is a flowchart showing a processing method of overtaking determination performed by the information processing apparatus 10 in the modified example of the first embodiment. The same elements as those in FIG. 5 are designated by the same reference numerals, and detailed description thereof will be omitted.

In S2, when the information processing device 10 in the present modification determines that the vehicle exists within a predetermined distance from the own vehicle (Yes in S2), the information processing device 10 is rearward and second, which is opposite to the traveling direction of the own vehicle. Check the direction of (S21). More specifically, when the information processing device 10 determines that the distance between the vehicle 30 and the vehicle 1 is equal to or less than a predetermined distance, for example, as shown in FIG. 7, the region on the left rear side of the moving vehicle 1 Based on the sensing information of the vehicle 1 which is an image obtained by photographing 1d, the presence or absence of a moving object in the left rear of the vehicle 1 is recognized.

Next, the information processing apparatus 10 in this modification confirms whether or not there is a moving object in the rearward and second directions confirmed in S21 (S22). More specifically, as shown in FIG. 7, for example, the information processing device 10 confirms whether or not a moving object such as a bicycle or a motorcycle exists in the area 1d on the left rear side of the moving vehicle 1.

In S22, when it is confirmed that the moving object does not exist in the rearward and second direction (Yes in S22), the information processing apparatus 10 in the present modification proceeds to the process of S3. More specifically, when it is confirmed that the information processing device 10 does not have a moving object such as a bicycle or a motorcycle in the area 1d on the left rear side of the moving vehicle 1, for example, as shown in FIG. The vehicle 1 is turned to the left, which is the second direction.

[Effects of Modification 1]
As described above, according to the information processing apparatus 10 of the present modification 1, even when it is determined to execute the overtaking control, the presence or absence of a moving object in the rearward and second directions opposite to the traveling direction is further determined. After confirming, the vehicle 1 can be turned in the second direction. This makes it possible to prevent the vehicle 1 from colliding with a moving object such as a motorcycle or a bicycle existing behind the vehicle 1 in the second direction when the vehicle 1 is turned in the second direction.

As described above, according to the information processing device 10 of the present modification, when the own vehicle moves in the second direction, it is possible to avoid contacting or colliding with a moving object existing in the second direction, so that it is safe. The sex can be further improved.

As described above, according to the information processing device 10 of the first modification, it is possible to make the own vehicle more safely overtake the vehicle.

In the present modification 1, the vehicle 1 is turned in the second direction in response to the fact that the moving object in the rear and the second direction is not recognized, but the present invention is not limited to this. The vehicle 1 may be turned in the second direction in response to the fact that the moving object in the front and the second direction, which is the traveling direction of the own vehicle, is not recognized.

(Embodiment 2)
Next, the information processing device 20 according to the second embodiment will be described. In the following, the differences from the first embodiment will be mainly described.

[Information processing device 10A]
FIG. 9 is a diagram showing an example of the configuration of the information processing apparatus 10A according to the second embodiment.

The information processing device 10A is mounted on the vehicle 1 in the same manner as the information processing device 10 in the first embodiment. In the present embodiment, as shown in FIG. 9, the information processing apparatus 10A includes a recognition unit 101A, a determination unit 102A, a generation unit 103A, an output unit 104A, and a presentation unit 105A. The information processing device 10A may not include the presentation unit 105A, like the information processing device 10.

<Recognition unit 101A>
Similar to the recognition unit 101 in the first embodiment, the recognition unit 101A recognizes the vehicle 30 existing in the traveling direction of the vehicle 1 based on the sensing information. Further, the recognition unit 101A recognizes a person existing in the traveling direction of the vehicle 1 based on the sensing information obtained after the vehicle 1 moves in the second direction. The recognition unit 101A may recognize the behavior or state of the person based on the sensing information obtained after the vehicle 1 moves in the second direction. Further, the recognition unit 101A recognizes an oncoming vehicle existing in the traveling direction of the vehicle 1 based on the sensing information while the vehicle 1 is turning in the first direction. Here, the sensing information obtained after moving in the second direction is the sensing information after turning in the second direction or during turning in the first direction, and the front camera 11 mounted on the vehicle 1 It will be described below assuming that the image is taken by the side camera 12 or the rear camera 13.

In the present embodiment, the recognition unit 101A exists in the vicinity of the vehicle 30 based on the sensing information of the vehicle 1 after turning in the second direction or the sensing information of the vehicle 1 during turning in the first direction. Recognize who does. Then, the recognition unit 101A continues to recognize the person while the vehicle 1 is turning in the first direction, thereby tracking the person and continuing to recognize the positional relationship between the person and the vehicle 30. .. If the side camera 12 is a fisheye camera, the person is the vehicle in the fisheye image of the fisheye camera, which is sensing information while the vehicle 1 is turning in the second direction after turning in the first direction. It is reflected until it becomes a blind spot by 30. Therefore, the recognition unit 101A can continue to recognize the person and the position from the fisheye image of the fisheye camera, which is the sensing information, by using a technique such as homography and Structure From Motion. Further, the recognition unit 101A tracks the person by continuously recognizing the person while the vehicle 1 is turning in the first direction, thereby detecting the behavior or state of the person. You may recognize it.

After outputting the first information, that is, the traveling support information, the recognition unit 101A captures the source of the sensing information from the front camera 11 capable of capturing the traveling direction of the vehicle 1 in the direction intersecting the traveling direction of the vehicle 1. You may switch to a possible side camera 12 and recognize a person existing in the traveling direction based on the sensing information which is an image obtained by the side camera 12.

Further, the recognition unit 101A may switch the provider of the sensing information to the lower camera installed at the lower part of the vehicle. The lower camera images the front and the bottom of the vehicle 1. As a result, the lower camera can image the leg of a person who is ahead of the overtaking vehicle 30. The recognition unit 101A tracks the leg of the person in the image obtained from the lower camera. As a result, even after a person enters the blind spot of the front camera 11 or the side camera 12 by the vehicle 30, the person can be tracked.

The recognition result of the person reflected in the image obtained from the front camera 11 or the side camera 12 may be associated with the recognition result of the person reflected in the image obtained from the lower camera. In this case, the leg reflected in the image obtained from the lower camera can be associated with the person concerned, and the recognition accuracy of the person based on the image obtained from the lower camera can be improved. Further, the imaging by the lower camera may be started at the same time as the imaging by the front camera 11 or the side camera 12.

Further, the recognition unit 101A may recognize a vehicle such as an automobile or a motorcycle (hereinafter referred to as a surrounding vehicle) existing around the vehicle 1 based on the sensing information of the vehicle 1 while turning in the first direction. .. Hereinafter, these will be described in more detail with reference to the drawings.

FIG. 10 is a diagram showing front sensing of the vehicle 1 in the present embodiment. FIG. 11 is a diagram showing sensing around the vehicle 1 in the present embodiment. The same elements as those in FIGS. 3, 4, and 6 are designated by the same reference numerals, and detailed description thereof will be omitted. 10 and 11 are both examples of sensing after turning in the second direction in the vehicle 1. 10 and 11 show an example in which the vehicle 1 is turning in the second direction and then turning in the first direction in order to overtake the stopped vehicle 30.

As shown in FIG. 6, for example, the recognition unit 101A captures an image of the area 1b taken by the side camera 12 when the vehicle 1 turns to the left, which is the second direction, and approaches the left side (or the left end) of the traveling lane 43. And the pedestrians 50 and 51 existing in the second direction of the vehicle 30, that is, on the left side of the vehicle 30 can be recognized by the sensing information which is an image obtained by photographing the area 1c by the front camera 11.

The recognition unit 101A uses the image sensing information obtained by photographing the area 1e by the side camera 12 while the vehicle 1 is turning to the right, which is the first direction, in the second direction of the vehicle 30, that is, the left side of the vehicle 30. It keeps recognizing the pedestrians 50 and 51 existing in the direction and tracks the pedestrians 50 and 51. Then, the recognition unit 101A continues to recognize the positional relationship between the pedestrians 50 and 51 and the vehicle 30 or the behavior or state of the person while the vehicle 1 is turning to the right. When the vehicle 1 starts to turn to the right, which is the first direction, the recognition unit 101A may switch the camera used for sensing to the side camera 12, or may use all the cameras.

Further, as shown in FIG. 11, for example, when the vehicle 1 turns to the right and approaches the center line of the traveling lane 43, the recognition unit 101A further photographs the region 1h in front of the vehicle 1. It may be recognized whether or not a person is present in front of the vehicle 30 from the sensing information which is the image. The recognition unit 101A is an image obtained by capturing the region 1h, an image obtained by the side camera 12 capturing the lateral region 1g of the vehicle 1, and an image obtained by the rear camera 13 capturing the region 1f behind the vehicle 1. Based on the sensing information, the surrounding vehicles of the vehicle 1 such as the oncoming vehicle 60 existing in the traveling direction of the vehicle 1 are recognized. The recognition unit 101A starts recognizing surrounding vehicles when the vehicle 1 shown in FIG. 10 turns further to the right, advances in the traveling direction, and approaches the center line of the traveling lane 43 as shown in FIG. It doesn't have to be after that. The recognition unit 101A may start recognizing surrounding vehicles from the position of the vehicle 1 shown in FIG.

<Judgment unit 102A>
Similar to the determination unit 102 in the first embodiment, the determination unit 102A determines whether to execute the control of overtaking the vehicle 30 recognized by the recognition unit 101A. Since the details of this determination have been described above, the description thereof will be omitted.

Further, the determination unit 102A determines whether to continue the execution of the overtaking control (first continuation determination) based on the sensing information obtained after the vehicle 1 moves in the second direction. Here, the obtained sensing information is the recognition result of the recognition unit 101A, for example, the positional relationship between the person and the vehicle 30 recognized by the recognition unit 101A, or the behavior or state of the person. This sensing information may be the presence or absence of surrounding vehicles such as oncoming vehicles. More specifically, the determination unit 102A determines the continuation of overtaking (first continuation determination) based on the positional relationship between the person and the vehicle 30 recognized by the recognition unit 101A. Further, the overtaking continuation determination (first continuation determination) may be performed based on the behavior or state of the person recognized by the recognition unit 101A. The determination unit 102A further continues executing the overtaking control according to the determination result of the presence or absence of an oncoming vehicle in the traveling direction based on the sensing information obtained after the output unit 104A outputs the second information (that is, the driving support information). A determination of continuation of overtaking (second continuation determination) may be made.

When the determination unit 102A determines the continuation of overtaking (first continuation determination), the determination unit 102A determines the danger level based on the positional relationship between the person and the vehicle 30 recognized by the recognition unit 101A or the behavior or state of the person. You may.

In the present embodiment, the determination unit 102A uses the recognition result of the recognition unit 101A to determine whether the vehicle 1 can actually overtake the vehicle 30 (first continuation determination). Hereinafter, a more specific description will be given with reference to the drawings.

In the example shown in FIGS. 6 and 10, the determination unit 102A determines the continuation of overtaking based on the relationship between the pedestrians 50 and 51 and the vehicle 30 which are recognized and tracked by the recognition unit 101A. The determination unit 102A may determine the continuation of overtaking by using the behavior or state of the pedestrian 50 such as the position, body orientation, and movement direction of the pedestrian 50 being tracked. Regarding the orientation of the body of the pedestrian 50 in the image, the recognition unit 102A can obtain the recognition result by machine learning the recognition unit 101A.

More specifically, in the example shown in FIG. 10, the determination unit 102A determines the positional relationship between the pedestrian 50 and the vehicle 30 or the behavior or state of the pedestrian 50. As a result, the determination unit 102A may collide with the pedestrian 50 when the pedestrian 50 existing on the sidewalk 40 moves to the position of the pedestrian 50a and jumps out from the front of the vehicle 30 and the vehicle 1 overtakes the vehicle 30. It can be predicted that there is a risk of doing so. In the example shown in FIG. 10, the determination unit 102A can predict that there is a risk of collision with the pedestrian 50 when the vehicle 1 overtakes the vehicle 30, and therefore determines that the overtaking control is not continued. do it.

Further, in the example shown in FIG. 11, the determination unit 102A indicates that a person recognized by the recognition unit 101A based on the sensing information which is an image of the area 1h in front of the vehicle 1 exists in front of the vehicle 30. Suppose that it is judged. In this case, the determination unit 102A can predict that there is a risk of collision with the person when the vehicle 1 overtakes the vehicle 30, and therefore may determine that the overtaking is not continued.

When determining the continuation of overtaking, the determination unit 102A predicts the risk of collision with the pedestrian when the vehicle 1 overtakes the vehicle 30 based on the pedestrian recognized by the recognition unit 101A. The risk level may be determined according to the predicted risk. More specifically, when the danger level 3 is determined based on the pedestrian recognized by the recognition unit 101A, the determination unit 102A may determine that the overtaking is not continued. Further, the determination unit 102A may determine that the overtaking continuation is performed when the danger level is 1 or 2 determined based on the pedestrian recognized by the recognition unit 101A.

Here, an example of the danger level will be described with reference to FIG. That is, for example, when the determination unit 102A determines that the pedestrian 50 is about to cross the front of the vehicle 30 based on the positional relationship between the pedestrian 50 and the vehicle 30, the determination unit 102A walks when the vehicle 1 overtakes the vehicle 30. It may be determined that there is a risk of collision with the person 50 and the risk level is 2. Further, when the determination unit 102A determines, for example, that the pedestrian 51 has come down from the stopped vehicle 30 based on the positional relationship between the pedestrian 51 and the vehicle 30, the vehicle 1 overtakes the vehicle 30. There is a risk of colliding with the pedestrian 51, but the risk may be predicted to be low and the risk may be determined to be level 1.

When the determination unit 102A determines, for example, that the pedestrian is facing the traveling lane 43 in front of the vehicle 30 based on the positional relationship between the pedestrian and the vehicle 30, the vehicle 1 is the vehicle. When overtaking 30, it may be predicted that there is a risk of colliding with the pedestrian, and the risk level 2 may be determined. Further, the determination unit 102A determines, for example, that the pedestrian has begun to cross the front of the vehicle 30 or has crossed the front of the vehicle 30 and hid in the vehicle 30 based on the positional relationship between the pedestrian and the vehicle 30. If it is determined, it may be determined that there is a high risk of collision with the pedestrian when the vehicle 1 overtakes the vehicle 30 and the risk level is 3.

Further, the determination unit 102A may determine whether to continue overtaking based on the presence or absence of an oncoming vehicle existing in the traveling direction based on the surrounding vehicle recognized by the recognition unit 101A while the vehicle 1 is turning in the first direction. In the example shown in FIG. 11, the determination unit 102A includes an oncoming vehicle 60 existing in the traveling direction in the surrounding vehicle recognized by the recognition unit 101A, and collides with the oncoming vehicle 60 when the vehicle 1 overtakes the vehicle 30. Since it can be predicted that there is a risk of overtaking, it is decided not to continue overtaking.

<Generator 103A>
When the determination unit 102A determines that the overtaking control is executed, the generation unit 103A generates the first information for turning the vehicle 1 in the second direction, that is, the traveling support information. Since the details of this generation have been described above, the description thereof will be omitted.

Further, the generation unit 103A receives the second information for overtaking the vehicle 1, that is, traveling, in response to the determination unit 102A that the determination unit 102A determines in the determination of overtaking continuation (first continuation determination) that the execution of the overtaking control is continued. Generate support information. Further, the generation unit 103A responds to the behavior or state of the person recognized by the recognition unit 101A in response to the determination by the determination unit 102A that the overtaking control is continued in the determination of continuation of overtaking (first continuation determination). The behavior of the vehicle 1 in overtaking the vehicle 30 may be determined, and the determined behavior of the vehicle 1 may generate a second information for overtaking the vehicle 30. Here, the behavior of the vehicle 1 includes the vehicle speed or the traveling route.

Specifically, when it is determined by the determination unit 102A that the execution of the overtaking control is continued, the generation unit 103A generates travel support information for turning the vehicle 1 in the first direction. Here, for example, when the vehicle 1 is automatically controlled, the generation unit 103A may generate travel support information including vehicle control information instructing the vehicle 1 to turn in the first direction. On the other hand, when the vehicle 1 is manually controlled by the driver, the generation unit 103A generates driving support information including presentation information indicating information indicating the driver to turn the vehicle 1 in the first direction. do it.

When the generation unit 103A determines that the determination unit 102A continues to execute the overtaking control, the generation unit 103A determines the behavior of the vehicle 1 according to the behavior or state of the person recognized by the recognition unit 101A, and determines the behavior of the vehicle 1 according to the behavior of the vehicle. You may generate driving support information to make one perform. Further, the generation unit 103A may generate driving support information in order to control the vehicle 1 according to the danger level determined by the determination unit 102A.

In the present embodiment, the generation unit 103A, for example, as shown in FIG. 6, after the vehicle 1 turns to the left in the second direction and approaches the left side (or the left end) of the traveling lane 43, the generation unit 103A is shown in FIGS. 10 and 11. As shown, the vehicle 1 is turned to the right, which is the first direction, and travel support information for directing the vehicle 1 toward the center line of the traveling lane 43 is generated. When the generation unit 103A determines that the overtaking control is executed by the determination unit 102A, the generation unit 103A turns the vehicle 1 in the second direction, and then turns the vehicle 1 in the right direction, which is the first direction. The traveling support information for causing the vehicle 1 to perform the traveling route may be generated.

Further, for example, when the determination unit 102A determines the danger level 1, the generation unit 103A turns the vehicle 1 in the right direction, which is the first direction, while driving slowly at a predetermined speed, and faces the center line of the traveling lane 43. You may generate driving support information for driving. In addition, when the determination unit 102A determines the danger level 1, the generation unit 103A includes the presentation information indicating to the driver that a pedestrian may appear from the front of the vehicle 30 and cautions the vehicle 1. Travel support information for turning to the right, which is the first direction, and heading toward the center line of the traveling lane 43 may be generated.

Further, for example, when the determination unit 102A determines the danger level 2, the generation unit 103A turns the vehicle 1 to the right, which is the first direction, while driving slowly slower than the predetermined speed to the center line of the traveling lane 43. It is advisable to generate driving support information for directing. For example, when the determination unit 102A determines the danger level 3, the generation unit 103A may generate travel support information for stopping the vehicle 1 without turning the vehicle 1 to the right, which is the first direction.

Further, when the determination unit 102A determines that the vehicle 1 actually overtakes the vehicle 30 and executes the overtaking control, the generation unit 103A may generate travel support information for the vehicle 1 to overtake the vehicle 30. Explaining with the example shown in FIG. 11, when the generation unit 103A determines that the determination unit 102A executes the overtaking control, the generation unit 103A turns the vehicle 1 to the right and crosses the vehicle 1 over the center line of the traveling lane 43. It is preferable to advance the traveling direction to the vehicle 1 (advance along the route indicated by the arrow in FIG. 11) to generate the traveling support information for overtaking the vehicle 30.

<Output unit 104A>
The output unit 104A outputs the first information or the second information generated by the generation unit 103A. Specifically, the output unit 104A outputs the running support information generated by the generation unit 103A.

In the present embodiment, for example, the output unit 104A instructs the vehicle 1 to be automatically operated and controlled, and the generation unit 103 instructs the vehicle 1 to turn the vehicle 1 in the first direction or stop the vehicle 1. When the driving support information including the vehicle control information is generated, the driving support information is output to the control unit or the like that automatically controls the vehicle 1. Further, for example, the output unit 104A provides information in which the vehicle 1 is manually operated and controlled by the driver, and the generation unit 103A instructs the driver to turn the vehicle 1 in the first direction or stop the vehicle 1. When the driving support information including the presentation information to be shown is generated, the driving support information is output to the presentation unit 105A.

<Presentation unit 105A>
The presentation unit 105A presents the information output by the output unit 104A. For example, the presentation unit 105 outputs travel support information including presentation information indicating information instructing the driver to turn the vehicle 1 in the first direction or stop the vehicle 1 by the output unit 104A. If so, the driver is instructed to turn the vehicle 1 in the first direction or to stop the vehicle 1.

[Operation of information processing device 20]
Next, the processing method of the information processing apparatus 20 configured as described above will be described.

FIG. 12 is a flowchart showing a processing method of overtaking determination performed by the information processing apparatus 10A according to the second embodiment. Since S101 to S105 shown in FIG. 12 are the same processes as S1 to S3 shown in FIG. 8, the description here will be omitted.

Following the process of S105, the information processing apparatus 20 recognizes a person existing in the second direction of the vehicle based on the sensing information as shown in FIG. 12 (S105). In the present embodiment, the information processing device 20 is a person who exists on the left side, which is the second direction of the vehicle 30, based on at least the sensing information which is an image obtained by the front camera 11 of the vehicle 1 which is the own vehicle. Recognize.

Next, the information processing device 20 determines whether overtaking can be continued based on the positional relationship between the person recognized in S106 and the vehicle recognized in S101 (S107). In the present embodiment, the information processing device 20 has a risk of colliding with the person when the vehicle 1 overtakes the vehicle 30 based on the positional relationship between the person recognized in 106 and the vehicle 30 recognized in S101. Predict whether there is a possibility, and determine whether it is possible to continue overtaking according to this prediction.

In S107, when the information processing apparatus 20 predicts that there is a high risk of collision with the person and determines that it is impossible to continue overtaking (No in S107), this process ends.

On the other hand, in S107, when the information processing device 20 predicts that the risk of collision with the person is low and determines that it is possible to continue overtaking (Yes in S107), the first vehicle is used for overtaking. Turn in the direction (S108). In the present embodiment, when the information processing device 20 determines that it is possible to continue overtaking, it generates running support information for turning the vehicle 1 to the right, which is the first direction, for overtaking. Output. As a result, the vehicle 1 can be turned to the right.

Next, the information processing device 20 determines whether or not a person is present in front of the vehicle (S109). In the present embodiment, the information processing device 20 determines whether or not a person is present in front of the vehicle 30 based on the sensing information output from the sensing device such as the front camera 11 of the vehicle 1.

In S109, when the information processing apparatus 20 determines that a person is present in front of the vehicle (Yes in S109), the information processing apparatus 20 ends this process. In the present embodiment, when the information processing device 20 determines that a person is present in front of the vehicle 30 based on the sensing information, there is a risk that the vehicle 1 will collide with the person when passing the vehicle 30. Since it can be predicted that there is, it is determined that it is impossible to continue overtaking, this process is terminated, and the vehicle 1 is stopped or slowed down.

On the other hand, in S109, when the information processing device 20 determines that no person is present in front of the vehicle (No in S109), the information processing device 20 further determines whether an oncoming vehicle is present (S110). In the present embodiment, when the information processing device 20 determines that no person is present in front of the vehicle 30 based on the sensing information, the information processing device 20 further outputs a sensing device such as the front camera 11 of the vehicle 1. Based on the sensing information, the presence or absence of the oncoming vehicle 60 is determined.

In S110, when it is determined that the oncoming vehicle does not exist (Yes in S110), the information processing device 20 executes overtaking control. In the present embodiment, when it is confirmed that there is no oncoming vehicle 60, the information processing device 20 generates and outputs travel support information for the vehicle 1 to overtake the vehicle 30. As a result, the information processing device 20 can execute the overtaking control in which the vehicle 1 actually overtakes the vehicle 30.

On the other hand, in S110, when the information processing apparatus 20 determines that an oncoming vehicle exists (No in S110), the information processing device 20 ends this process. In the present embodiment, when the information processing device 20 confirms that there is an oncoming vehicle 60, the information processing device 20 determines that it is impossible to continue overtaking because the oncoming vehicle 60 hinders the overtaking of the vehicle 30, and this process is performed. Is finished, and the vehicle 1 is stopped or slowed down.

[Effects of Embodiment 2 and the like]
13A to 13C are diagrams for explaining the effect in the second embodiment. 13A and 13B show the case of performing the overtaking control in the comparative example, and FIG. 13C shows the case of performing the overtaking control in the second embodiment. The same elements as those in FIGS. 3 and 4 are designated by the same reference numerals, and detailed description thereof will be omitted. The vehicle 70 and the vehicle 71 are vehicles in the comparative example, and correspond to the vehicle 1 of the first embodiment, but are not equipped with the information processing device 20 of the present embodiment. It is assumed that the vehicle 71 is equipped with the traveling support device disclosed in Patent Document 1.

In FIGS. 13A to 13C, a vehicle 30 larger than the vehicle 70, 71 or the vehicle 1 is stopped, and a pedestrian moving in front of the vehicle 30 when the vehicle 70, 71 or the vehicle 1 overtakes the vehicle 30. An example is shown when 53 is present.

As shown in FIG. 13A, when the vehicle 70 simply overtakes the vehicle 30, the vehicle 30 becomes a blind spot and the pedestrian 53 moving in front of the vehicle 30 cannot be found. Therefore, when the vehicle 1 simply overtakes the vehicle 30, there is a high possibility that the vehicle 1 will collide with the pedestrian 53. On the other hand, as shown in FIG. 13B, when the vehicle 71 overtakes the vehicle 30, it approaches the opposite lane side (on the right side of the traveling lane 43 in the figure). As a result, the field of view as shown in the area 71a in front of the vehicle 71 can be secured. However, in the comparative example shown in FIG. 13B, it is necessary to find the pedestrian 53 while the vehicle 71 is actually overtaking the vehicle 30, and the overtaking is immediately stopped by stopping the vehicle 71 at a point P1 or the like. Judgment is required. If the decision to stop the vehicle 71 is delayed at the point P1 or the like, the braking distance of the vehicle 71 may cause a collision with the pedestrian 53.

On the other hand, as shown in FIG. 13C, in the present embodiment, the vehicle 1 is shown in the region 1b in front of the vehicle 1 by moving the vehicle 1 to the left side of the traveling lane 43 before actually overtaking the vehicle 30. You can secure such a view. Therefore, the vehicle 1 can detect a pedestrian and determine whether the pedestrian crosses the front of the vehicle 30 based on the sensing information which is an image obtained by photographing the region 1b in front of the vehicle 1. , The determination to stop the vehicle 1 at the point P2 or the like can be made. As described above, the information processing device 20 of the present embodiment can make a determination to stop overtaking with a margin more than that of the comparative examples shown in FIGS. 13A and 13B, and thus collides with the pedestrian 53. The danger can be reduced and the vehicle 1 can be made to overtake the vehicle 30 more safely.

As described above, according to the information processing device 20 according to the second embodiment, the vehicle, which is the following vehicle of the vehicle, can safely reach the vehicle before passing by the side of the vehicle in order to overtake the vehicle. Can be overtaken.

Further, according to the information processing device 20 according to the second embodiment, the overtaking of the own vehicle can be stopped before the overtaking based on the moving object in front of the overtaking vehicle, so that the safety is further improved. be able to.

More specifically, according to the information processing device 20 according to the second embodiment, it is possible to determine the possibility that the person jumps out onto the overtaking lane from the positional relationship between the recognized person and the vehicle. It is possible to achieve both safety inside and driving efficiency.

Further, according to the information processing device 20 according to the second embodiment, the possibility that the person concerned jumps out into the overtaking lane can be determined more accurately, so that the safety can be further improved.

Further, according to the information processing apparatus 20 according to the second embodiment, the mode of overtaking can be determined according to the behavior or state of the person concerned, so that safety during overtaking and running efficiency can be achieved at the same time. ..

Further, according to the information processing apparatus 20 according to the second embodiment, the degree of slowing or detouring at the time of overtaking can be determined according to the behavior or state of the person concerned, so that the safety can be further improved. can.

Further, according to the information processing device 20 according to the second embodiment, the vehicle can be overtaken in consideration of not only the jumping out of the moving object but also the presence or absence of the oncoming vehicle, so that the safety of overtaking can be further improved. Can be done.

Further, according to the information processing device 20 according to the second embodiment, since the person existing in the vicinity of the second vehicle can be recognized more reliably, the safety of overtaking can be further improved.

Further, according to the information processing apparatus 20 according to the second embodiment, when a fisheye camera is used as the side camera, the recognition range can be expanded as compared with a normal camera.

(Other embodiments)
In the first embodiment and the second embodiment, the case where the vehicle 30 is about to stop or is stopped has been described with an example, but the present invention is not limited to this. The vehicle 30 may be running.

FIG. 14 is a diagram showing an example of sensing in front of the vehicle 1 in another embodiment. The same elements as those in FIG. 3 are designated by the same reference numerals, and detailed description thereof will be omitted. FIG. 14 shows an example in which the motorcycle 54 is present in front of the moving vehicle 30.

In the present embodiment, if the pedestrians 50 and 51 of the above-described first and second embodiments are motorcycles 54, the same can be said for the first and second embodiments. That is, as shown by the route (traveling route) of the vehicle 1 shown by the arrow in FIG. 14, the vehicle 1 is moved to the left side of the traveling lane 43 before the traveling vehicle 30 is actually overtaken, so that the vehicle 1 is in front of the vehicle 1. Based on the sensing information which is an image obtained by photographing the region 1b, it is possible to detect the motorcycle 54 and determine whether the motorcycle 54 crosses the front of the vehicle 30.

Therefore, the information processing device of the present embodiment can determine that the overtaking is stopped with a margin by moving the vehicle 1 to the left side of the traveling lane 43 before actually overtaking the traveling vehicle 30. Therefore, the risk of collision with the motorcycle 54 can be reduced, and the vehicle 1 can be made to overtake the vehicle 30 more safely.

The information processing apparatus and the like of the present disclosure have been described above based on the embodiment, but the present disclosure is not limited to this embodiment. As long as it does not deviate from the gist of the present disclosure, one or more of the present embodiments may be modified by those skilled in the art, or may be constructed by combining components in different embodiments. It may be included in the range of the aspect of. For example, the following cases are also included in the present disclosure.

(1) Each of the above devices is specifically a computer system including a microprocessor, a ROM, a RAM, a hard disk unit, a display unit, a keyboard, a mouse, and the like. A computer program is stored in the RAM or the hard disk unit. When the microprocessor operates according to the computer program, each device achieves its function. Here, a computer program is configured by combining a plurality of instruction codes indicating instructions to a computer in order to achieve a predetermined function.

(2) A part or all of the components constituting each of the above devices may include one system LSI (Large Scale Integration). The system LSI is an ultra-multifunctional LSI manufactured by integrating a plurality of components on one chip, and specifically, is a computer system including a microprocessor, a ROM, a RAM, and the like. .. A computer program is stored in the RAM. When the microprocessor operates according to the computer program, the system LSI achieves its function.

(3) Some or all of the components constituting each of the above devices may include a removable IC card or a single module in each device. The IC card or module is a computer system including a microprocessor, ROM, RAM, and the like. The IC card or the module may include the above-mentioned super multifunctional LSI. When the microprocessor operates according to a computer program, the IC card or the module achieves its function. This IC card or this module may have tamper resistance.

(4) One aspect of the present disclosure may be the method shown above. Further, it may be a computer program that realizes these methods by a computer, or it may be a digital signal composed of the computer program.

(5) Further, one aspect of the present disclosure is a recording medium in which the computer program or the digital signal can be read by a computer, for example, a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD-ROM, or a DVD-RAM. , BD (Blu-ray (registered trademark) Disc), may be recorded in a semiconductor memory or the like. Further, it may be the digital signal recorded on these recording media.

(6) Further, in one aspect of the present disclosure, the computer program or the digital signal may be transmitted via a telecommunication line, a wireless or wired communication line, a network typified by the Internet, data broadcasting, or the like. good.

(7) Further, one aspect of the present disclosure is a computer system including a microprocessor and a memory, in which the memory stores the computer program, and the microprocessor operates according to the computer program. May be.

(8) Further, another independent computer by recording and transferring the program or the digital signal on the recording medium, or by transferring the program or the digital signal via the network or the like. It may be implemented by the system.

(9) Further, in the above embodiment, an example of the information processing device 10 whose traffic rules correspond to either right-hand traffic or left-hand traffic has been described, but the information processing device 10 according to the present embodiment is not limited to this. .. Specifically, the information processing device 10 may acquire the traffic rules of the area in which the vehicle 1 is traveling, and determine the first direction and the second direction based on the acquired traffic rules. For example, the information processing device 10 further includes a position information acquisition unit and a communication unit. The position information acquisition unit acquires the position information (for example, GPS information) of the vehicle 1. The communication unit acquires the traffic rules of the area specified from the position information of the vehicle 1 from an external device (for example, a server) via communication. Then, the generation unit 103 determines the first direction and the second direction from the acquired traffic rule, and generates the traveling support information.

The information processing device of the present disclosure can be used to configure an ECU mounted on a vehicle that is automatically driven or manually driven.

1, 30, 70, 71 Vehicles 1a, 1b, 1c, 1d, 1e, 1f, 1h, 71a Area 10, 10A, 20 Information processing device 11 Front camera 12 Side camera 13 Rear camera 40 Sidewalk 41 Road 42 Shoulder 43 Driving lane 50, 50a, 51, 53 Pedestrian 54 Motorcycle 60 Oncoming vehicle 101, 101A Recognition unit 102, 102A Judgment unit 103, 103A Generation unit 104, 104A Output unit 105, 105A Presentation unit

Claims (18)

An information processing device mounted on the first vehicle.
A recognition unit that recognizes a second vehicle existing in the traveling direction of the first vehicle based on sensing information obtained from a sensor mounted around the first vehicle.
A determination unit that determines whether to execute the recognized control for overtaking the second vehicle, and
A road in a direction opposite to the first direction, which is the moving direction of the first vehicle for the first vehicle to overtake the second vehicle, in response to the determination to execute the overtaking control. A generator that generates first information for moving the first vehicle in a second direction toward the edge, and a generator.
An output unit for outputting the generated first information is provided.
Information processing device. The determination unit further makes a first continuation determination as to whether to continue the execution of the overtaking control based on the sensing information obtained after the movement of the first vehicle in the second direction.
The generation unit generates second information for overtaking the second vehicle in response to the determination in the first continuation determination that the execution of the overtaking control is continued.
The output unit outputs the generated second information.
The information processing device according to claim 1. The recognition unit further recognizes a person existing in the traveling direction based on the sensing information obtained after the movement.
The determination unit makes the first continuation determination based on the positional relationship between the person and the second vehicle recognized by the recognition unit.
The information processing device according to claim 2. The determination unit further makes the first continuation determination based on the behavior or state of the person recognized by the recognition unit.
The information processing device according to claim 3. In the overtaking of the second vehicle according to the behavior or state of the person recognized by the recognition unit, the generation unit is determined to continue the overtaking control in the first continuation determination. Determine the behavior of the first vehicle,
Generate the second information for overtaking the second vehicle in the determined behavior of the first vehicle.
The information processing device according to claim 4. The behavior of the first vehicle includes vehicle speed or travel route.
The information processing device according to claim 5. Whether the determination unit continues to execute the overtaking control according to the determination result of the presence or absence of an oncoming vehicle in the traveling direction based on the sensing information obtained after the output unit outputs the second information. Make the second continuation judgment of
The information processing device according to any one of claims 2 to 6. The sensing information includes information obtained by imaging with a camera.
After outputting the first information, the recognition unit further switches the provider of the sensing information from a front camera capable of capturing the traveling direction to a side camera capable of imaging a direction intersecting the traveling direction. Then, based on the sensing information which is an image obtained by the side camera, the person existing in the traveling direction is recognized.
The information processing device according to any one of claims 3 to 7. The side camera is a fisheye camera,
The information processing device according to claim 8. The recognition unit further recognizes the moving object in the second direction based on the sensing information.
The determination unit further determines whether the moving object has been recognized by the recognition unit in response to the determination to execute the overtaking control.
The generation unit generates the first information in response to the fact that the moving object is not recognized.
The information processing device according to any one of claims 1 to 9. Further, a presentation control unit for controlling the presentation of the determination result of the determination unit is provided.
The information processing device according to any one of claims 1 to 10. The determination unit further determines whether to execute the overtaking control based on the map information and the position information of the first vehicle or the second vehicle.
The information processing device according to any one of claims 1 to 11. The first information and the second information include vehicle control information for controlling the running of the first vehicle.
The information processing device according to any one of claims 2 to 9. The first information and the second information include information presented to the driver of the first vehicle.
The information processing device according to any one of claims 2 to 9. The first direction is to the right with respect to the traveling direction of the first vehicle.
The second direction is to the left with respect to the traveling direction of the first vehicle.
The information processing device according to any one of claims 1 to 14. The first direction is to the left with respect to the traveling direction of the first vehicle.
The second direction is to the right with respect to the traveling direction of the first vehicle.
The information processing device according to any one of claims 1 to 14. Further provided with an acquisition unit for acquiring the traffic rules of the area where the first vehicle travels,
The generator determines the first direction and the second direction based on the acquired traffic rules.
The information processing device according to any one of claims 1 to 16. The second vehicle existing in the traveling direction of the first vehicle is recognized based on the sensing information obtained from the sensors mounted around the first vehicle.
Determining whether to execute the recognized control to overtake the second vehicle,
A road edge in a direction opposite to the first direction, which is the moving direction of the first vehicle for the first vehicle to overtake the second vehicle in response to the determination to execute the overtaking control. Generates first information for moving the first vehicle in a second direction towards
A program for operating a computer to output the generated first information.

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