JP7699470B2 - Vehicle detection device and vehicle detection program - Google Patents

Description

The present invention relates to a vehicle detection device and a vehicle detection program.

In the past, various technologies have been proposed for detecting when another vehicle traveling in an adjacent lane adjacent to the host vehicle's lane cuts into the host vehicle's lane (for example, see Patent Document 1).

JP 2003-016599 A

However, the conventional technology left room for improvement in terms of improving the accuracy of detecting cutting in by appropriately setting the detection range for detecting cutting in to the vehicle's lane.

The present invention has been made in consideration of the above, and aims to provide a vehicle detection device and a vehicle detection program that can appropriately set a detection range for detecting other vehicles cutting into the lane in which the vehicle is traveling, thereby improving the accuracy of cutting in detection.

In order to solve the above problems and achieve the object, the present invention provides a vehicle detection device that includes a setting unit and an acquisition unit. The setting unit sets a detection range for detecting an intrusion into the host vehicle lane of another vehicle traveling in an adjacent lane adjacent to the host vehicle lane in which the host vehicle is traveling. The acquisition unit acquires driving state information related to the driving state of the host vehicle. In addition, the setting unit changes the detection range in accordance with the driving state information acquired by the acquisition unit.

According to the present invention, the detection range for detecting when another vehicle cuts into the lane in which the vehicle is traveling can be appropriately set, thereby improving the accuracy of detecting cut-in.

FIG. 1 is a diagram showing an overview of a vehicle detection method according to an embodiment. FIG. 2 is a block diagram showing an example of the configuration of a vehicle detection system including a vehicle detection device. FIG. 3 is a diagram for explaining the change of the detection range in accordance with the speed of the host vehicle. FIG. 4 is a diagram illustrating the change of the detection range in accordance with the relative speed between the host vehicle and another vehicle. FIG. 5 is a diagram for explaining the change of the detection range in accordance with the curvature of the lane in which the host vehicle is traveling, etc. FIG. 6 is a diagram illustrating another example of changing the detection range. FIG. 7 is a diagram illustrating another example of changing the detection range. FIG. 8 is a diagram illustrating another example of changing the detection range. FIG. 9 is a diagram illustrating another example of changing the detection range. FIG. 10 is a diagram for explaining the change of the detection range in accordance with the curvature of the lane in which the host vehicle is traveling, etc. FIG. 11 is a diagram illustrating another example of changing the detection range. FIG. 12 is a diagram illustrating another example of changing the detection range. FIG. 13 is a diagram illustrating another example of changing the detection range. FIG. 14 is a diagram illustrating another example of changing the detection range. FIG. 15 is a diagram illustrating an interrupt determination process in the detection unit. FIG. 16 is a flowchart showing a processing procedure executed by the vehicle detection device.

Below, the vehicle detection device, vehicle detection method, and vehicle detection program disclosed in the present application will be described in detail with reference to the attached drawings. Note that the present invention is not limited to the embodiments described below.

<Outline of vehicle detection method using vehicle detection device>
First, an overview of a vehicle detection method using a vehicle detection device according to an embodiment will be described below with reference to Fig. 1. Fig. 1 is a diagram showing an overview of the vehicle detection method according to the embodiment.

The vehicle detection method according to the embodiment is executed, for example, by a vehicle detection device 10. Specifically, as shown in FIG. 1, the vehicle detection device 10 is mounted on a vehicle A such as an automobile.

Here, vehicle A is the host vehicle, and vehicle A may be referred to as "host vehicle A" below. Also, vehicle B in FIG. 1 is another vehicle different from host vehicle A, and vehicle B may be referred to as "other vehicle B" below. Also, host vehicle A travels in host vehicle driving lane La, and other vehicle B travels in adjacent lane Lb adjacent to host vehicle driving lane La. Note that adjacent lane Lb can also be said to be another vehicle driving lane.

However, another vehicle B traveling in the adjacent lane Lb may cut in to the host vehicle's lane La (see arrow G). More specifically, the other vehicle B may suddenly cut in to the host vehicle's lane La in front of the host vehicle A.

The vehicle detection device 10 according to this embodiment is configured to detect the above-mentioned other vehicle B cutting into the host vehicle's lane La, and to improve the accuracy of cutting in detection.

The following is a detailed description of this configuration. The vehicle detection device 10 sets a detection range C in the host vehicle lane La ahead of the host vehicle A (step S1). The detection range C is a virtual range for detecting an intrusion into the host vehicle lane La by another vehicle B traveling in an adjacent lane Lb. The shape of the detection range C shown in FIG. 1 is a preset shape (an initially set shape).

When vehicle B changes lanes and moves into detection range C, the vehicle detection device 10 detects the cutting in of vehicle B. More specifically, it determines that the lane change of vehicle B is a sudden cutting in that occurred relatively close to vehicle A, and detects the cutting in of vehicle B.

Here, if the detection range C described above is not set appropriately, it may not be possible to detect the cutting in of other vehicle B, which may result in a decrease in the accuracy of cutting in detection. Note that FIG. 1 shows an example in which the lane change of other vehicle B should be determined to be a sudden cutting in, but the vehicle detection device 10 cannot detect the cutting in of other vehicle B because other vehicle B has not moved into the detection range C.

Therefore, in the vehicle detection device 10 according to this embodiment, driving state information regarding the driving state of the host vehicle A is acquired (step S2). An example of the driving state information is the speed of the host vehicle A, etc.

Next, the vehicle detection device 10 changes the detection range C according to the acquired driving state information (step S3). In the example of FIG. 1, the changed detection range is indicated by the symbol Ca. For example, the vehicle detection device 10 changes the detection distance in the fore-and-aft direction of the vehicle A within the detection range C according to the speed of the vehicle A, which is the driving state information. More specifically, the vehicle detection device 10 changes the detection distance in the fore-and-aft direction of the vehicle A so that it becomes longer as the speed of the vehicle A increases. In other words, the vehicle detection device 10 changes the range (detection range C) within which a lane change by the other vehicle B is determined to be a sudden cut-in so that it becomes longer as the speed of the vehicle A increases.

In this way, in this embodiment, the detection range C can be appropriately changed and set; in other words, the detection range C can be set to a range (changed detection range Ca) that corresponds to the driving state of the vehicle A.

As a result, in this embodiment, it is possible to accurately detect the cutting in of the other vehicle B into the host vehicle's lane La, and improve the accuracy of cutting in detection. In the example of FIG. 1, the vehicle detection device 10 uses the changed detection range Ca, so that the other vehicle B that has changed lanes moves into the detection range Ca, making it possible to detect the cutting in of the other vehicle B.

In addition, when the vehicle detection device 10 detects the above-mentioned cutting in of the other vehicle B, it can notify the driver of the vehicle A, for example, and prompt the driver to prepare for an action to respond to the cutting in, such as preparing to apply the brakes.

In the above, an example was given in which the driving state information is the speed of the vehicle A, but this is not limited to this. In other words, the driving state information may include information on other types of driving states, such as the relative speed between the vehicle A and the other vehicle B, in addition to or instead of the speed of the vehicle A, which will be described later.

<Configuration of vehicle detection system>
Next, the configuration of a vehicle detection system including the vehicle detection device 10 according to the embodiment will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the configuration of a vehicle detection system 1 including the vehicle detection device 10. Note that in the block diagram of Fig. 2, only components necessary for explaining the features of this embodiment are shown as functional blocks, and descriptions of general components are omitted.

In other words, each component shown in the block diagram of FIG. 2 is a functional concept, and does not necessarily have to be physically configured as shown. For example, the specific form of distribution and integration of each functional block is not limited to that shown, and all or part of it can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc.

As shown in FIG. 2, the vehicle detection system 1 includes a vehicle detection device 10, a camera 11, a GPS (Global Positioning System) device 12, a vehicle speed sensor 13, a steering angle sensor 14, and an output unit 15, and is mounted on the host vehicle A.

The camera 11 is installed at an appropriate position on the vehicle A and captures images of the surroundings of the vehicle A, such as the area in front of the vehicle A. The camera 11 is, for example, a camera equipped with a lens and an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), but is not limited to this. The camera 11 outputs the captured image to the vehicle detection device 10.

The GPS device 12 determines the current location (e.g., the current driving position) of the vehicle A based on a positioning signal transmitted from a GPS satellite (not shown). The GPS device 12 outputs a signal indicating the current location of the vehicle A to the vehicle detection device 10.

The vehicle speed sensor 13 detects the speed of the host vehicle A and outputs a signal indicating the detected speed of the host vehicle A to the vehicle detection device 10. The steering angle sensor 14 detects the steering angle of the steering wheel (not shown) of the host vehicle A and outputs a signal indicating the detected steering angle to the vehicle detection device 10.

The output unit 15 outputs various information, such as a notification when it detects an intrusion by another vehicle B. For example, the output unit 15 includes an audio output unit such as a speaker and a display unit such as a display, and outputs various information such as notifications to the driver of the vehicle A.

The vehicle detection device 10 includes a control unit 20 and a memory unit 30. The control unit 20 includes an acquisition unit 21, a setting unit 22, and a detection unit 23. The memory unit 30 stores detection range information 31.

Here, the vehicle detection device 10 includes, for example, a computer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), data flash, input/output ports, etc., and various other circuits.

The computer's CPU functions as the acquisition unit 21, setting unit 22, and detection unit 23 of the control unit 20, for example, by reading and executing a program stored in the ROM.

In addition, at least one or all of the acquisition unit 21, setting unit 22, and detection unit 23 of the control unit 20 can be configured with hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

The storage unit 30 corresponds to, for example, a RAM or a data flash. The RAM or data flash can store detection range information 31, information on various programs (such as a vehicle detection program), and the like. The vehicle detection device 10 may also acquire the above-mentioned programs and various information via other computers or portable recording media connected via a wired or wireless network.

The detection range information 31 is information about the detection range for detecting an intrusion by another vehicle B. For example, the detection range information 31 includes information about the detection range (such as the detection distance and detection width described below) that changes depending on the driving state information of the host vehicle A, but is not limited to this. The change in the detection range based on the detection range information 31 will be described later with reference to Figure 3 onwards.

<Configuration of vehicle detection device>
Next, the vehicle detection device 10 will be described. The acquisition unit 21 of the control unit 20 acquires driving state information related to the driving state of the host vehicle A. For example, the acquisition unit 21 can acquire the speed of the host vehicle A (host vehicle speed) as the driving state information. Specifically, the acquisition unit 21 acquires a signal indicating the speed of the host vehicle A output from the vehicle speed sensor 13, and outputs the acquired speed of the host vehicle A to the setting unit 22.

The acquisition unit 21 can also acquire the relative speed between the vehicle A and the other vehicle B as driving state information. As an example, the acquisition unit 21 analyzes an image captured by the camera 11 to calculate and acquire the relative speed between the vehicle A and the other vehicle B traveling in the adjacent lane Lb. The acquisition unit 21 then outputs the acquired relative speed between the vehicle A and the other vehicle B to the setting unit 22.

In the above, the acquisition unit 21 acquires the relative speed between the vehicle A and the other vehicle B from the image captured by the camera 11, but this is not limited to this, and the relative speed may be acquired using other devices such as a millimeter wave radar.

The acquisition unit 21 can also acquire the curvature of the host vehicle's lane La as driving state information. In particular, the acquisition unit 21 can acquire the curvature of the host vehicle's lane La when the host vehicle's lane La is a curved road.

For example, the acquisition unit 21 acquires the current location (current driving position) of the vehicle A based on the output of the GPS device 12. The acquisition unit 21 also acquires map information from an external server (not shown) or from the memory unit 30 where map information is stored in advance. The acquisition unit 21 then acquires the curvature of the vehicle's driving lane La while the vehicle is traveling based on the acquired current location of the vehicle A and the map information, and outputs the acquired curvature of the vehicle's driving lane La to the setting unit 22.

In the above, the acquisition unit 21 acquires the curvature based on the output of the GPS device 12, etc., but this is not limited to this, and other methods may be used, such as analyzing the image captured by the camera 11 to acquire the curvature from the shape of the dividing line that divides the host vehicle's lane La, etc.

The acquisition unit 21 can also acquire the position of the host vehicle lane La relative to the adjacent lane Lb as driving state information. Here, the position of the host vehicle lane La refers to the position of the host vehicle lane La relative to the adjacent lane Lb when the host vehicle lane La and the adjacent lane Lb are curved roads, and specifically refers to whether the host vehicle lane La is located on the inside or outside of the curved road relative to the adjacent lane Lb.

For example, the acquisition unit 21 analyzes the image captured by the camera 11 to acquire the position of the host vehicle's lane La relative to the adjacent lane Lb, and outputs the acquired position of the host vehicle's lane La to the setting unit 22.

In the above, the acquisition unit 21 acquires the position of the vehicle's lane La based on the image captured by the camera 11, but this is not limited to the above. For example, other methods may be used to acquire the position of the vehicle's lane La based on the current location (current driving position) of the vehicle A, which is output from the GPS device 12, and map information.

The acquisition unit 21 can also acquire the steering angle of the host vehicle A as driving state information. For example, the acquisition unit 21 acquires a signal indicating the steering angle output from the steering angle sensor 14, and outputs the acquired steering angle of the host vehicle A to the setting unit 22.

In the above, the acquisition unit 21 is configured to acquire multiple pieces of information such as the speed of the vehicle A and the relative speed between the vehicle A and the other vehicle B, but it is not necessary to acquire all of these pieces of information, and the acquisition unit 21 may be configured to acquire only a portion of the information. In other words, the acquisition unit 21 may be configured to acquire at least one of the speed of the vehicle A, the relative speed between the vehicle A and the other vehicle B, the curvature of the vehicle's lane La, the position of the vehicle's lane La relative to the adjacent lane Lb, and the steering angle of the vehicle A as driving state information.

By using such driving state information, the setting unit 22, which will be described later, can set the detection range to a range that is more in line with the driving state of the vehicle A.

The setting unit 22 sets a detection range C (see FIG. 1) in the host vehicle lane La ahead of the host vehicle A, for detecting an intrusion of another vehicle B into the host vehicle lane La. After setting the detection range C, the setting unit 22 changes the detection range C according to the driving state information acquired by the acquisition unit 21.

As a result, in this embodiment, the detection range C can be appropriately changed and set; in other words, the detection range C can be set to a range that corresponds to the driving state of the host vehicle A, thereby improving the detection accuracy of another vehicle B cutting into the host vehicle's driving lane La.

The change in the detection range C according to the driving state information will be described in detail below. The setting unit 22 changes the detection range C based on the acquired driving state information and the detection range information 31 in the memory unit 30.

First, the change in the detection range C when the driving state information is the speed of the host vehicle A will be described with reference to FIG. 3. FIG. 3 is a diagram illustrating the change in the detection range C according to the speed of the host vehicle A.

As shown in FIG. 3, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A within the detection range C according to the speed of the host vehicle A. For example, when the speed of the host vehicle A increases beyond a preset reference speed, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A so that it becomes longer as the speed increases. That is, the setting unit 22 changes the detection distance D11 of the changed detection range C11 so that it is longer than the detection distance D before the change (D11>D). Note that the reference speed is set to a value indicating the speed of the host vehicle A appropriate for the initially set detection range C, but is not limited to this and can be set to any value.

In this way, when the speed of the host vehicle A increases and the host vehicle A is traveling at a relatively high speed, the setting unit 22 changes the range (detection range C) within which a lane change by the other vehicle B is determined to be a sudden cut-in, so that it becomes longer. As a result, in this embodiment, the detection range C11 can be set to match the driving state in which the speed of the host vehicle A increases.

On the other hand, for example, when the speed of the host vehicle A falls below the reference speed and decreases, the setting unit 22 changes the detection distance D in the fore-and-aft direction of the host vehicle A so that it becomes shorter as the speed decreases. In other words, the setting unit 22 changes the detection distance D12 of the changed detection range C12 so that it becomes shorter than the detection distance D before the change (D12<D). Also, when the host vehicle A is stopped, the setting unit 22 may not determine whether the other vehicle B has cut in (D12=0).

In this way, when the speed of the vehicle A decreases and the vehicle A is traveling at a relatively low speed, the setting unit 22 shortens the range (detection range C) within which the lane change of the other vehicle B is determined to be a sudden cut-in. As a result, in this embodiment, the detection range C12 can be set to match the driving state in which the speed of the vehicle A decreases.

Next, the change in the detection range C when the driving state information is the relative speed between the vehicle A and the other vehicle B will be described with reference to FIG. 4. FIG. 4 is a diagram illustrating the change in the detection range C according to the relative speed between the vehicle A and the other vehicle B.

As shown in FIG. 4, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A within the detection range C according to the relative speed between the host vehicle A and the other vehicle B. For example, when the absolute value of the relative speed decreases below a preset reference relative speed, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A so that it becomes longer as the relative speed decreases. In other words, the setting unit 22 changes the detection distance D21 of the changed detection range C21 so that it is longer than the detection distance D before the change (D21>D). Note that the reference relative speed is set to a value indicating a relative speed suitable for the initially set detection range C, but is not limited to this and can be set to any value.

In this way, when the relative speed between the vehicle A and the other vehicle B decreases and the vehicle A and the other vehicle B are traveling at a relatively close speed, the setting unit 22 changes the range (detection range C) within which a lane change by the other vehicle B is determined to be a sudden cut-in so as to become longer. As a result, in this embodiment, the detection range C21 can be set to match the driving state in which the relative speed between the vehicle A and the other vehicle B has decreased.

On the other hand, for example, when the absolute value of the relative speed increases beyond the reference relative speed, the setting unit 22 changes the detection distance D in the fore-and-aft direction of the vehicle A so that it becomes shorter as the relative speed increases. In other words, the setting unit 22 changes the detection distance D22 of the changed detection range C22 so that it becomes shorter than the detection distance D before the change (D22<D).

In this way, when the relative speed between the vehicle A and the other vehicle B increases and the vehicle A and the other vehicle B are traveling at a relatively large distance from each other, the setting unit 22 shortens the range (detection range C) within which a lane change by the other vehicle B is determined to be a sudden cut-in. As a result, in this embodiment, the detection range C22 can be set to a range that corresponds to a driving state in which the relative speed between the vehicle A and the other vehicle B has increased.

In this way, the setting unit 22 changes the detection distance D in the forward/rearward direction of the subject vehicle A within the detection range C according to the driving state information, which is the speed of the subject vehicle A and the relative speed between the subject vehicle A and the other vehicle B. This allows the setting unit 22 to set an appropriate detection range according to the driving state, such as the speed and relative speed of the subject vehicle A.

Next, the change in the detection range C when the host vehicle's lane La and adjacent lane Lb are curved roads will be described with reference to Figures 5 to 14. The examples in Figures 5 to 9 show a case where the host vehicle's lane La is located on the inside of the curve relative to the adjacent lane Lb, and the examples in Figures 10 to 14 show a case where the host vehicle's lane La is located on the outside of the curve relative to the adjacent lane Lb.

First, referring to FIG. 5, we will explain how the detection range C is changed when the driving state information includes the curvature of the host vehicle's lane La and the position of the host vehicle's lane La relative to the adjacent lane Lb, which is on the inside of a curved road. FIG. 5 is a diagram that explains how the detection range C is changed according to the curvature of the host vehicle's lane La, etc.

As shown in FIG. 5, for example, the vehicle lane La in front of the vehicle A is set to an initial detection range C as described above. At this time, for example, when the vehicle A enters a curved road, depending on the shape of the curved road, a part of the detection range C may extend into the adjacent lane Lb and overlap with the adjacent lane Lb. In more detail, depending on the degree of curvature of the curved road (e.g., curvature), a part of the detection range C may overlap with the adjacent lane Lb located on the outside of the curved road, and the overlapping range also increases as the curvature of the curved road increases. For this reason, for example, even when another vehicle B is traveling on the adjacent lane Lb, it may enter the overlapping detection range C, and as a result, the vehicle detection device 10 may erroneously detect the intrusion of the other vehicle B even though the other vehicle B has not intruded into the vehicle lane La.

The setting unit 22 is therefore adapted to change the detection range C in accordance with the curvature of the host vehicle's lane La. For example, when the curvature is relatively large and exceeds a preset reference curvature, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A in accordance with the curvature so as to shorten it. That is, the setting unit 22 changes the detection distance D31 of the changed detection range C31 so as to be shorter than the detection distance D before the change (D31<D). Note that the reference curvature is a value indicating a curvature suitable for the initially set detection range C, and is set to a value that is estimated to prevent a portion of the detection range C from overlapping with the adjacent lane Lb, but is not limited to this and can be set to any value.

As a result, in this embodiment, the detection range C31 can be set according to the curvature of the lane La in which the vehicle is traveling in the driving state, and a portion of the detection range C31 is unlikely to overlap with the adjacent lane Lb. Therefore, it is possible to prevent erroneous detection of the cut-in of the other vehicle B as described above.

In the above, the detection distance D is changed to suppress erroneous detection of another vehicle B cutting in, but this is not limited to the above. Below, other examples of changing the detection range C to suppress erroneous detection of another vehicle B cutting in will be described with reference to Figures 6 to 9. Figures 6 to 9 are diagrams that explain other examples of changing the detection range C.

As shown in FIG. 6, the setting unit 22 changes the detection width E in the vehicle width direction of the host vehicle A within the detection range C according to the curvature of the host vehicle's lane La. In detail, when the curvature is relatively large and exceeds the reference curvature, the setting unit 22 changes the detection width E according to the curvature so that it becomes smaller toward the inside of the curved road (changes it so that it narrows toward the inside of the curved road). In other words, the setting unit 22 changes the detection width E32 of the changed detection range C32 so that it is smaller than the detection width E before the change (E32<E).

As a result, in this embodiment, the detection range C32 can be set according to the curvature of the lane La in which the vehicle is traveling during driving, and part of the detection range C32 is unlikely to overlap with the adjacent lane Lb. Therefore, it is possible to prevent erroneous detection of the cut-in of the other vehicle B as described above.

Also, as shown in FIG. 7, the setting unit 22 displaces the detection range C to the inside of the curved road in accordance with the curvature of the host vehicle's lane La. In more detail, when the curvature is relatively large and exceeds the reference curvature, the setting unit 22 changes the position of the detection range C to the inside of the curved road in accordance with the curvature, in other words, shifts it to the inside of the curved road. In the example of FIG. 7, the changed detection range is indicated by the symbol C33.

As a result, in this embodiment, the detection range C33 can be set according to the curvature of the lane La in which the vehicle is traveling in the driving state, and part of the detection range C33 is unlikely to overlap with the adjacent lane Lb. Therefore, it is possible to prevent erroneous detection of the cut-in of the other vehicle B as described above.

Also, as shown in FIG. 8, the setting unit 22 changes the angle of the detection range C with respect to the longitudinal direction of the host vehicle A in accordance with the steering angle of the host vehicle A. Here, the host vehicle A is traveling on a curved road, so the host vehicle A is steered toward the inside of the curved road. Therefore, the tip side Cx of the detection range C shifts toward the inside of the curved road in accordance with the steering angle. In the example of FIG. 8, the changed detection range is indicated by the symbol C34.

As a result, in this embodiment, the detection range C34 can be set according to the steering angle of the vehicle A in a driving state, and a part of the detection range C34 is unlikely to overlap with the adjacent lane Lb. Therefore, it is possible to prevent erroneous detection of the cut-in of the other vehicle B as described above.

Also, as shown in FIG. 9, the setting unit 22 changes the shape of the detection range C so that the detection range C is located inside the dividing line F that divides the host vehicle's lane La. For example, the setting unit 22 analyzes the image captured by the camera 11 to detect the dividing line F that divides the host vehicle's lane La, and changes the shape of the detection range C to a shape that is located inside the detected dividing line F on both sides. In the example of FIG. 9, the changed detection range is indicated by the symbol C35.

As a result, in this embodiment, the detection range C35 can be set along the dividing lines F on both sides, and no part of the detection range C35 overlaps with the adjacent lane Lb. This makes it possible to prevent erroneous detection of the intrusion of another vehicle B as described above.

Note that in the explanation of Figures 5 to 9 above, examples of changes in the detection range C have been explained individually for ease of understanding, but these various changes in the detection range C can be combined as appropriate. That is, for example, by combining the examples of Figures 5 to 7, the setting unit 22 may change the detection range C so that the detection distance D is shortened, the detection width E is narrowed, and the detection range C is displaced to the inside of the curved road in accordance with the curvature of the lane La in which the host vehicle is traveling.

In addition, even if the vehicle's driving lane La is a curved road, the setting unit 22 may change the detection distance D in the forward/rearward direction of the vehicle A within the detection range C according to the driving state information, such as the speed of the vehicle A and the relative speed between the vehicle A and the other vehicle B.

Next, a case where the vehicle A is traveling on the outside of a curved road will be described. Specifically, referring to FIG. 10, a change in the detection range C will be described when the driving state information includes the curvature of the vehicle's lane La and the position of the vehicle's lane La relative to the adjacent lane Lb being on the outside of the curved road. FIG. 10 is a diagram that explains the change in the detection range C according to the curvature of the vehicle's lane La, etc.

As shown in FIG. 10, for example, an initial detection range C is set in the host vehicle lane La in front of the host vehicle A. At this time, for example, when the host vehicle A enters a curved road, depending on the shape of the curved road, a part of the detection range C may become excessively separated from the adjacent lane Lb. In more detail, depending on the degree of curvature of the curved road (e.g., curvature), the vicinity of the tip side Cx of the detection range C may move away from the adjacent lane Lb. At this time, for example, if another vehicle B suddenly cuts in by changing lanes into the host vehicle lane La from a position where a part of the detection range C has moved away from the adjacent lane Lb, the cut-in of the other vehicle B may not be detected because it does not enter the detection range C, i.e., it may go undetected.

The setting unit 22 is therefore adapted to change the detection range C in accordance with the curvature of the host vehicle's lane La. For example, when the curvature exceeds the reference curvature and is relatively large, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A in accordance with the curvature so that it is longer. That is, the setting unit 22 changes the detection distance D41 of the changed detection range C41 so that it is longer than the detection distance D before the change (D41>D). Note that the reference curvature here is a value indicating a curvature suitable for the detection range C that is initially set, and is set to a value that is estimated so that a part of the detection range C will not deviate excessively from the adjacent lane Lb, but is not limited to this and can be set to any value.

In this embodiment, the detection range C41 can be set according to the curvature of the host vehicle's lane La in the driving state. Therefore, in the example of FIG. 10, when the other vehicle B suddenly cuts into the host vehicle's lane La, the other vehicle B enters the detection range C41 and the cut-in can be detected. In other words, it is possible to prevent the cut-in of the other vehicle B from going undetected as described above.

In the above, the detection distance D is changed to prevent undetected cutting in by other vehicle B, but this is not limited to the above. Below, other examples of changing the detection range C to prevent undetected cutting in by other vehicle B are described with reference to Figures 11 to 14. Figures 11 to 14 are diagrams that explain other examples of changing the detection range C.

As shown in FIG. 11, the setting unit 22 changes the detection width E in the vehicle width direction of the host vehicle A within the detection range C according to the curvature of the host vehicle's lane La. In detail, when the curvature is relatively large and exceeds the reference curvature, the setting unit 22 changes the detection width E so that it becomes larger toward the inside of the curved road according to the curvature (changes it so that it expands toward the inside of the curved road). In other words, the setting unit 22 changes the detection width E42 of the changed detection range C42 so that it is larger than the detection width E before the change (E42>E).

As a result, in this embodiment, the detection range C42 can be set according to the curvature of the lane La in which the vehicle is traveling in the driving state, and a part of the detection range C42 is unlikely to deviate from the adjacent lane Lb. Therefore, it is possible to prevent the cutting in of the other vehicle B from going undetected as described above.

Also, as shown in FIG. 12, the setting unit 22 displaces the detection range C to the inside of the curved road in accordance with the curvature of the host vehicle's lane La. In more detail, when the curvature is relatively large and exceeds the reference curvature, the setting unit 22 changes the position of the detection range C to the inside of the curved road in accordance with the curvature, in other words, shifts it to the inside of the curved road. In the example of FIG. 12, the changed detection range is indicated by the symbol C43.

As a result, in this embodiment, the detection range C43 can be set according to the curvature of the lane La in which the vehicle is traveling in the driving state, and a part of the detection range C43 is unlikely to deviate from the adjacent lane Lb. Therefore, it is possible to prevent the cutting in of the other vehicle B from going undetected as described above.

As shown in FIG. 13, the setting unit 22 changes the angle of the detection range C with respect to the longitudinal direction of the host vehicle A in accordance with the steering angle of the host vehicle A. Here, the host vehicle A is traveling on a curved road, so the host vehicle A is steered toward the inside of the curved road. Therefore, the tip side Cx of the detection range C shifts toward the inside of the curved road in accordance with the steering angle. In the example of FIG. 13, the changed detection range is indicated by the symbol C44.

As a result, in this embodiment, the detection range C44 can be set according to the steering angle of the vehicle A in a driving state, and part of the detection range C44 is unlikely to leave the adjacent lane Lb. Therefore, it is possible to prevent the cutting in of the other vehicle B from going undetected as described above.

Also, as shown in FIG. 14, the setting unit 22 changes the shape of the detection range C so that the detection range C is located inside the dividing line F that divides both sides of the host vehicle's lane La. In the example of FIG. 14, the changed detection range is indicated by the symbol C45.

As a result, in this embodiment, the detection range C45 can be set along the dividing lines F on both sides, and a part of the detection range C45 does not leave the adjacent lane Lb. Therefore, it is possible to prevent the cutting in of the other vehicle B from going undetected as described above.

In the above explanation of Figures 10 to 14, examples of changes in the detection range C have been explained individually for ease of understanding, but these various changes in the detection range C can be combined as appropriate. That is, for example, by combining the examples of Figures 10 to 12, the setting unit 22 may change the detection range C so that the detection distance D is longer, the detection width E is wider, and the detection range C is displaced to the inside of the curved road in accordance with the curvature of the lane La in which the host vehicle is traveling.

In addition, in the above, an example has been shown in which the detection range is changed according to the driving state information of the host vehicle A, but such driving state information is not limited to the vehicle speed of the host vehicle A. That is, for example, when the driving state information acquired indicates that the host vehicle's lane La is an overtaking lane on a highway or the like, the setting unit 22 may change the detection distance in the forward/rearward direction of the host vehicle A to be longer, since it is estimated that the speed of the host vehicle A is relatively high. That is, when the host vehicle A is traveling in an overtaking lane, the range (detection range C) for determining that a lane change by the other vehicle B is a sudden cut-in may be changed to be longer.

For example, when the inclination state of the host vehicle lane La is acquired as driving state information, the setting unit 22 may change the detection distance in the longitudinal direction of the host vehicle A according to the inclination state. As an example, when the inclination state of the host vehicle lane La is a downward inclination (i.e., a downhill slope), the setting unit 22 may change the detection distance to be longer since the speed of the host vehicle A is likely to increase. On the other hand, when the inclination state of the host vehicle lane La is an upward inclination (i.e., an uphill slope), the setting unit 22 may change the detection distance to be shorter since the speed of the host vehicle A is likely to decrease.

Returning to the explanation of FIG. 2, the detection unit 23 detects another vehicle B cutting into the host vehicle's driving lane La. For example, the detection unit 23 detects the other vehicle B by analyzing an image captured by the camera 11. Then, when the detected other vehicle B enters the detection range set or changed by the setting unit 22, the detection unit 23 determines that the other vehicle B has changed lanes and that this lane change is a sudden cut-in that occurred at a position relatively close to the host vehicle A, and detects the cut-in of the other vehicle B.

When the detection unit 23 detects an interruption by the other vehicle B, it can notify the driver of the vehicle A. For example, the detection unit 23 transmits a signal indicating that an interruption by the other vehicle B has been detected to the output unit 15, and notifies the driver of the interruption by the other vehicle B via the audio output unit and display unit of the output unit 15. This makes it possible to prompt the driver to prepare for an action to respond to the interruption, such as preparing to apply the brakes.

The process when the cut-in of the other vehicle B is detected is not limited to the notification to the driver as described above, and other processes may be performed. That is, when the detection unit 23 detects the cut-in of the other vehicle B, it may output, for example, an instruction signal to the drive recorder to record the captured image in the storage unit 30 in a state where overwriting is prohibited, and perform a process to save the captured image of the other vehicle B that cut in. For example, the vehicle detection device 10 and the camera 11 may function as part of the drive recorder.

Here, even if another vehicle B enters the detection range C, it may not be an intrusion by the other vehicle B. In such a case, the detection unit 23 according to this embodiment does not determine that another vehicle B has intruded. This will be described with reference to FIG. 15. FIG. 15 is a diagram for explaining the intrusion determination process in the detection unit 23.

As shown in FIG. 15, the subject vehicle A and another vehicle B are traveling in the same lane (the subject vehicle's travel lane La in this case). If the other vehicle B enters from the tip side Cx of the detection range C, the other vehicle B is not cutting in, so the detection unit 23 does not determine that the other vehicle B has cut in, in other words, it prohibits the determination that the other vehicle B has cut in.

As a result, the detection unit 23 does not determine that another vehicle B traveling in the same lane is cutting in, and can therefore accurately detect when another vehicle B traveling in the adjacent lane Lb cuts in to the host vehicle's lane La.

<Control process of vehicle detection device according to embodiment>
Next, a specific processing procedure in the vehicle detection device 10 will be described with reference to Fig. 16. Fig. 16 is a flowchart showing the processing procedure executed by the vehicle detection device 10.

As shown in FIG. 16, the control unit 20 of the vehicle detection device 10 sets a detection range C in the vehicle driving lane La in front of the vehicle A (step S10). Next, the control unit 20 acquires driving state information related to the driving state of the vehicle A (step S11). Next, the control unit 20 changes the detection range C according to the acquired driving state information (step S12).

Next, the control unit 20 determines whether or not a sudden cut-in by the other vehicle B has been detected, for example, when the other vehicle B enters the set or changed detection range (step S13). If the control unit 20 determines that a cut-in by the other vehicle B has been detected (step S13, Yes), it executes a cut-in response process, such as notifying the driver of the host vehicle A (step S14).

On the other hand, if the control unit 20 determines that it has not detected an intrusion by another vehicle B (step S13, No), it returns to step S11 and executes the processes from step S11 onward.

As described above, the vehicle detection device 10 according to the embodiment includes a setting unit 22 and an acquisition unit 21. The setting unit 22 sets a detection range C for detecting an intrusion into the host vehicle lane La of another vehicle B traveling in an adjacent lane Lb adjacent to the host vehicle lane La in which the host vehicle A is traveling. The acquisition unit 21 acquires driving state information related to the driving state of the host vehicle A. The setting unit 22 also changes the detection range C according to the driving state information acquired by the acquisition unit 21. This makes it possible to appropriately set the detection range C for detecting an intrusion into the host vehicle lane La of another vehicle B, thereby improving the accuracy of intrusion detection.

In the above embodiment, the setting of the detection range for detecting the cutting in of another vehicle B using the image captured by the camera 11 is described, but the detection range is not limited to the above. In other words, the vehicle detection device 10 according to this embodiment can also be applied to the setting of the detection range for detecting the cutting in of another vehicle B using other devices such as a radar device.

Further advantages and modifications may readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof.

REFERENCE SIGNS LIST 1 vehicle detection system 10 vehicle detection device 20 control unit 21 acquisition unit 22 setting unit 23 detection unit

Claims (4)

A vehicle detection device that detects an intrusion of another vehicle traveling in an adjacent lane adjacent to a host vehicle traveling lane , the vehicle detection device having a control unit,
The control unit is
When the other vehicle is moving away from the host vehicle, the detection range in the traveling direction of the host vehicle is shortened.
Vehicle detection device. The control unit is
Acquire information regarding a steering angle of the host vehicle;
changing a direction of the detection range in accordance with the steering angle ;
The vehicle detection device of claim 1 . The control unit is
The detection range is set so as to be located inside a dividing line that divides both sides of the host vehicle's lane .
3. A vehicle detection device according to claim 1 or 2 . A vehicle detection program for detecting an intrusion of another vehicle traveling in an adjacent lane adjacent to a host vehicle traveling lane , the vehicle detection program comprising:
When the other vehicle is moving away from the host vehicle, a process of shortening the detection range in the traveling direction of the host vehicle.
A vehicle detection program that causes a computer to execute the above.

Images