This application claims priority to Japanese Patent Application No. 2023-216514 filed on Dec. 22, 2023, incorporated herein by reference in its entirety.
The present disclosure relates to a following vehicle approach notification device.
A following vehicle may abruptly approach a host vehicle when the host vehicle is traveling along a fast lane, and the state where the following vehicle has approached the host vehicle then continues for a specific period of time or longer. A warning device adapted to issue a warning such as “the following vehicle is approaching abruptly”, for example, for a driver of a host vehicle is known (see Japanese Unexamined Patent Application Publication No. 2012-48346 (JP 2012-48346 A), for example). The driver of the host vehicle is made aware of the abrupt approach of the following vehicle by issuing such a warning, thereby prompting the driver of the host vehicle to change the lane. Note that the warning device does not issue such a warning for the driver of the host vehicle even if the following vehicle abruptly approaches the host vehicle when the host vehicle is not traveling along the fast lane.
However, there is a problem that if such a warning is issued for the driver of the host vehicle for a reason that the following vehicle has abruptly approached the host vehicle when the host vehicle is traveling along the fast lane under a situation in which the host vehicle cannot change the lane, the warning puts further pressure on the driver of the host vehicle.
In order to solve such a problem, the present disclosure provides a following vehicle approach notification device including:
It is possible to reduce further pressure to be put to the driver of the host vehicle by stopping notifying the driver of the host vehicle of the approach of the following vehicle to the host vehicle when it is not possible to change the lane of the host vehicle from the fast lane to the slow lane.
Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein:
First, the term used in the present disclosure will be described, in the present disclosure, a vehicle that is a control target according to the present disclosure is referred to as a “host vehicle”, and a vehicle that is traveling following the host vehicle is referred to as a “following vehicle”.
On the other hand, as shown in
Returning to
In the example illustrated in
Incidentally, when the driver of the host vehicle 1 is notified of the approach of the following vehicle 2 to the host vehicle 1 as described above, as illustrated in
Therefore, in the present disclosure, when the following vehicle 2 approaches the subject vehicle 1 while the subject vehicle 1 is traveling in the fast lane 35a, when the lane can be changed from the fast lane 35a to the traveling lane 34a of the subject vehicle 1, the driver of the subject vehicle 1 is notified of the approach of the following vehicle 2 to the subject vehicle 1. On the other hand, when it is not possible to change the lane of the host vehicle 1 from the fast lane 35a to the traveling lane 34a, the driver of the host vehicle 1 is not notified of the approach of the following vehicle 2 to the host vehicle 1.
In order to achieve the present disclosure, as shown in
On the other hand, the notification of the approach of the following vehicle 2 to the host vehicle 1 by the notification device 22 is performed by word display, voice, or sound. In the case where the notification of the approach of the following vehicle 2 is made by the wording display, for example, “the following vehicle is approaching” or “the following vehicle is approaching” on the display screen installed on the dashboard in the vehicle cabin. Please change the lane in the driving lane, etc. is displayed. In this instance, the Head-up Display technique can also be used to display words on the windshield, such as “the following vehicles are approaching.” In addition, when the notification of the approach of the following vehicle 2 is made by voice, for example, “the following vehicle is approaching” or “the following vehicle is approaching” from the speaker installed on the dashboard in the vehicle cabin. Sound such as “please change the lane to the traveling lane” is generated. In addition, when the notification of the approach of the following vehicle 2 is made by sound, a buzzer is installed in the vehicle cabin and the buzzer is sounded. As described above, in the embodiment according to the present disclosure, the notification of the approach of the following vehicle 2 to the host vehicle 1 includes the prompt of the lane change to the traveling lane 34a of the host vehicle 1 by at least one of the word indication, the sound, and the sound.
Further, in the embodiment according to the present disclosure, the detection device 18 detects whether or not there is a traveling lane space 40 in which the host vehicle 1 can enter. In this case, the detection device 18 detects whether or not there is a traveling lane space 40 in which the host vehicle 1 can enter. This detection is performed using, for example, the image data of the front camera 3a, 3b shown in
As shown in
Referring to
In step 53, the presence of the following vehicle 2 is detected based on the image data of the rear camera 4, and the distance between the subject vehicle 1 and the following vehicle 2 is calculated based on the detection output of the clearance sonar 8. Next, in step 54, it is determined whether or not the following vehicle 2 has approached the host vehicle 1. In this case, the presence of the following vehicle 2 is confirmed based on the image data of the rear camera 4, and when the distance between the subject vehicle 1 and the following vehicle 2 calculated based on the detection output of the clearance sonar 8 is within the set distance range, it is determined that the following vehicle 2 has approached the subject vehicle 1. When it is determined that the following vehicle 2 has approached the host vehicle 1, the process proceeds to step 55.
In step 55, the traveling lane space 40 in which the host vehicle 1 can enter the traveling lane located in front of the host vehicle 1 is detected using the image data of the front camera 3a, 3b, the detection output of the long-range millimeter-wave radar 5, the detection output of the medium-range millimeter-wave radar 6b, and the detection output of the LIDAR 7b. Next, in step 56, it is determined whether or not it is possible to change the lane from the overtaking lane to the traveling lane of the host vehicle 1. In this case, when the traveling lane space 40 in which the host vehicle 1 can enter the traveling lane located in front of the host vehicle 1 is detected, it is determined that the lane can be changed from the overtaking lane to the traveling lane on the host vehicle 1. When the traveling lane space 40 in which the host vehicle 1 can enter is not detected, it is determined that it is impossible to change the lane from the overtaking lane to the traveling lane of the host vehicle 1, and the processing cycle ends.
When it is determined in step 56 that it is possible to change the lane of the host vehicle 1 from the overtaking lane to the traveling lane, the process proceeds to step 57. In step 57, the notification device 22 notifies the driver of the host vehicle 1 of the approach of the following vehicle 2 to the host vehicle 1, thereby prompting the driver of the host vehicle 1 to change the lane to the traveling lane.
On the other hand, when it is determined in step 51 that the road on which the subject vehicle 1 is currently traveling is not a plurality of lanes, or when it is determined in step 52 that the subject vehicle 1 is not currently traveling in the overtaking lane, or when it is determined in step 54 that the following vehicle 2 is not approaching the subject vehicle 1, the process proceeds to step 58. In step 58, the notification device 22 stops notifying the driver of the host vehicle 1 of the approach of the following vehicle 2 to the host vehicle 1, and thereby stops prompting the driver of the host vehicle 1 to change the lane to the traveling lane. Therefore, when the host vehicle 1 changes the lane from the overtaking lane to the traveling lane, it is determined in step 52 that the host vehicle 1 is not currently traveling in the overtaking lane. Alternatively, in step 54, it is determined that the following vehicle 2 is not approaching the host vehicle 1. Therefore, the notification device 22 stops notifying the driver of the host vehicle 1 of the approach of the following vehicle 2 to the host vehicle 1.
As described above, the following vehicle approach notification device according to the present disclosure includes the detection device 18 capable of detecting the approach of the following vehicle 2 to the subject vehicle 1, the notification device 22 notifying the driver of the subject vehicle 1 of the approach of the following vehicle 2 to the subject vehicle 1, and the processor 15. In the present disclosure, the processor 15 acquires information on a lane of a road on which the host vehicle 1 is traveling. When the approach of the following vehicle 2 to the host vehicle 1 is detected by the detection device 18 during the fast lane 35a traveling, the processor 15 determines whether or not the lane can be changed from the fast lane 35a to the traveling lane 34a on the host vehicle 1. At this time, when it is determined that the lane can be changed from the fast lane 35a to the traveling lane 34a on the host vehicle 1, the notification device 22 notifies the driver of the host vehicle 1 of the approach of the following vehicle 2 to the host vehicle 1. When it is determined that the lane cannot be changed from the fast lane 35a to the traveling lane 34a on the host vehicle 1, the notification device 22 stops causing the driver of the host vehicle 1 to notify the approach of the following vehicle 2 to the host vehicle 1.
In this case, in the embodiment according to the present disclosure, the detection device 18 can detect the presence of the traveling lane space 40 in which the host vehicle 1 can enter. When the approach of the following vehicle 2 to the host vehicle 1 is detected by the detection device 18 during the fast lane 35a traveling, the detection device 18 may detect the presence of the traveling lane space 40 in which the host vehicle 1 can enter. In this case, the processor 15 determines that the lane can be changed from the fast lane 35a to the traveling lane 34a on the host vehicle 1.
In the embodiment according to the present disclosure, as can be seen from the flow chart shown in
That is, in other words, in the embodiment according to the present disclosure, the approach of the following vehicle 2 to the host vehicle 1 may continue to be detected by the detection device 18 during the fast lane 35a travel. Even in this case, when the detection device 18 does not detect the presence of the traveling lane space 40 in which the host vehicle 1 can enter, the processor 15 continues to stop the notification device 22 from notifying the driver of the host vehicle 1 of the approach of the following vehicle 2 to the host vehicle 1. When the detection device 18 detects the presence of the traveling lane space 40 in which the host vehicle 1 can enter, the notification device 22 notifies the driver of the host vehicle 1 of the approach of the following vehicle 2 to the host vehicle 1.
When the following vehicle 2 approaches the host vehicle 1 during the fast lane 35a traveling and the following vehicle 2 is performing the fuzzy driving with respect to the host vehicle 1, it is highly likely that the driver of the host vehicle 1 is burnt. At this time, when the driver of the host vehicle 1 is notified of the approach of the following vehicle 2 to the host vehicle 1 even though the lane change of the host vehicle 1 is impossible, there is a possibility that the driver of the host vehicle 1 is more burnt. In this embodiment, as described above, when lane change of the host vehicle 1 is impossible, notification of the approach of the following vehicle 2 to the host vehicle 1 to the driver of the host vehicle 1 is continued to be stopped. Therefore, it is possible to avoid causing a large burning to the driver of the host vehicle 1.
Incidentally, when the following vehicle 2 approaches the host vehicle 1 during the fast lane 35a traveling, it is determined that the lane can be changed from the fast lane 35a to the traveling lane 34a on the host vehicle 1 in some cases. In this case, when the driver of the host vehicle 1 recognizes the approach of the following vehicle 2 and the traveling lane space 40 in which the host vehicle 1 can enter, it is preferable to change the approach notification method of the following vehicle 2 to the driver of the host vehicle 1 to an approach notification method that reduces the degree of focus caused by the driver, as compared with the case where the driver of the host vehicle 1 does not recognize the approach of the following vehicle 2 and the traveling lane space 40 in which the host vehicle 1 can enter. Therefore, in another embodiment according to the present disclosure, the approach notification method of the following vehicle 2 to the driver of the host vehicle 1 is changed according to whether or not the driver of the host vehicle 1 recognizes the approach of the following vehicle 2 and the traveling lane space 40 in which the host vehicle 1 can enter.
Next, another embodiment of the present disclosure will be described with reference to
For example, when the line-of-sight detection device 9 detects that the direction of the driver's line of sight is the inter-mirror 41 that captures the rear side of the host vehicle 1, it can be determined that the driver recognizes the approach of the following vehicle 2. Further, when the line-of-sight detection device 9 detects that the direction of the driver's line of sight is a portion surrounded by a broken line through the front window 42 of the host vehicle 1, it can be determined that the driver recognizes the traveling lane space 40 in which the host vehicle 1 can enter. That is, when it is detected that the direction of the driver's line of sight is the traveling lane space 40 in which the host vehicle 1 can enter, it can be determined that the driver recognizes the traveling lane space 40 in which the host vehicle 1 can enter. Therefore, in an example according to the present disclosure, when the line-of-sight detection device 9 detects a case where the driver's line-of-sight direction is the inter-mirror 41 and a case where the driver's line-of-sight direction is the traveling lane space 40, it is determined that the driver recognizes the approach of the following vehicle 2 and the traveling lane space 40 in which the host vehicle 1 can enter.
Further, as another example, when the line-of-sight detection device 9 detects that the number of lines of sight directed to the inter-mirror 41 is equal to or greater than a certain number of times, it is determined that the driver recognizes the approach of the following vehicle 2. When it is detected that the number of times of the line of sight directed to the traveling lane space 40 is equal to or more than a certain number of times, or when it is detected that the time in which the line of sight is directed to the traveling lane space 40 is equal to or more than a certain time, it is determined that the driver recognizes the traveling lane space 40 in which the host vehicle 1 can enter. In addition, it is considered that when changing the lane, the driver of the host vehicle 1 confirms the side mirror 43, and in some cases, also confirms the side mirror 44. Therefore, in addition to the inter-mirror 41 and the traveling lane space 40, the side mirror 43 may be checked, and in some cases, the line-of-sight detection device 9 may detect that the side mirrors 43 and 44 have been checked. At this time, it is determined that the driver recognizes the approach of the following vehicle 2 and the traveling lane space 40 in which the host vehicle 1 can enter.
Referring to
In step 56a, when it is determined that the driver does not recognize the approach of the following vehicle 2 and the traveling lane space 40 in which the host vehicle 1 can enter, the process proceeds to step 57. Then, the notification device 22 notifies the driver of the host vehicle 1 of the approach of the following vehicle 2 to the host vehicle 1. Accordingly, the driver of the host vehicle 1 is prompted to change the lane to the traveling lane. At this time, the notification is performed in the same manner as the approach notification method of the following vehicle 2 to the driver in step 57 of the routine shown in
As described above, in this alternative embodiment, the approach of the following vehicle 2 to the host vehicle 1 may be detected by the detection device 18 during the fast lane 35a travel. At this time, when it is determined that the lane can be changed from the fast lane 35a to the traveling lane 34a on the host vehicle 1, the processor 15 determines whether or not the driver of the host vehicle 1 has recognized the approach of the following vehicle 2 and the traveling lane space 40 in which the host vehicle 1 can enter. In accordance with the determination result, the method of notifying the driver of the host vehicle 1 of the approach of the following vehicle 2 to the host vehicle 1 is changed.
In this case, in this alternative embodiment, as described above, the notification of the approach of the following vehicle 2 to the host vehicle 1 includes the prompting of the lane change to the traveling lane 34a of the host vehicle 1 by at least one of the word indication, the sound or the sound. In accordance with the determination result, the content of the wording display, the content of the sound, the tone of the sound, the display timing of the wording display, the generation timing of the sound, or the generation timing of the sound are changed. For example, when the driver of the host vehicle 1 recognizes the approach of the following vehicle 2 and the traveling lane space 40 in which the host vehicle 1 can enter, the tone of the buzzer is changed to a gentle tone as compared with the case where the driver of the host vehicle 1 does not recognize the approach of the following vehicle 2 and the traveling lane space 40 in which the host vehicle 1 can enter. Alternatively, the display timing of the wording display, the generation timing of the sound, or the generation timing of the sound is delayed by 1 second to 2 seconds.
Number | Date | Country | Kind |
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2023-216514 | Dec 2023 | JP | national |