Driving support device, driving support method and storage medium

Abstract

A driving support device, a driving support method, and a storage medium capable of suppressing delays in driving support are provided. The driving support device comprises: a detection unit that detects an obstacle in front of a host vehicle; and a processor that calculates the probability of the obstacle colliding with the host vehicle, and when the probability is greater than a predetermined value, performs at least one of warning control and driving control, and when the obstacle is detected between the host vehicle and an oncoming vehicle relative to the host vehicle, the processor advances the timing of starting at least one of the warning control and the driving control compared to when the obstacle is not detected between the host vehicle and the oncoming vehicle.

Description

Technical Field

[0001] The present invention relates to a driving support device, a driving support method and a storage medium. Background Art

[0002] Conventionally, there is a technology that detects pedestrians around a vehicle based on information obtained by a camera or a radar device and performs brake control on the vehicle to avoid contact with the pedestrians.

[0003] Prior Art Literature

[0004] Patent Literature:

[0005] Patent Document 1: International Publication No. 2017 / 126012 Summary of the invention

[0006] Problems to be solved by the invention

[0007] When using cameras and radar devices to detect pedestrians, there is a situation where pedestrians are detected between the host vehicle and an oncoming vehicle at night. In this situation, the recognition of pedestrians based on the image captured by the camera is delayed due to the influence of the light generated by the headlights of the oncoming vehicle, and driving support such as braking control is delayed.

[0008] The present invention has been made in consideration of such circumstances, and one object of the present invention is to provide a driving support device, a driving support method, and a storage medium capable of suppressing a delay in driving support.

[0009] Solutions to Solve Problems

[0010] The driving support device, driving support method, and storage medium of the present invention employ the following structures.

[0011] (1) A first aspect of the present invention relates to a driving support device, wherein the driving support device comprises: a detection unit, which includes at least one of a radar device and a LIDAR and an optical sensor, for detecting an obstacle in front of a host vehicle; and a processor, which calculates the probability of the obstacle detected by the detection unit colliding with the host vehicle, and when the probability is greater than a specified value, performs at least one of warning control and driving control, wherein the warning control is driving support for outputting a warning to an occupant of the host vehicle, and the driving control is driving support for controlling at least one of the speed and steering of the host vehicle, and when the obstacle is detected between the host vehicle and an oncoming vehicle relative to the host vehicle, the processor advances the timing of starting at least one of the warning control and the driving control compared to when the obstacle is not detected between the host vehicle and the oncoming vehicle.

[0012] (2) In the second scheme of the present invention, based on the above-mentioned first scheme, the processor further performs the following processing: when the vehicle turns on the headlights, the timing is advanced compared to the case where the vehicle does not turn on the headlights, or when the illuminance around the vehicle is less than the specified illuminance, the timing is advanced compared to the case where the illuminance around the vehicle is greater than the specified illuminance.

[0013] (3) In the third scheme of the present invention, based on the above-mentioned first scheme or second scheme, the processor further performs the following processing: when the reflection intensity of the electromagnetic wave sent from the detection unit and reflected by the oncoming vehicle, i.e., the first echo, is higher than the reflection intensity of the electromagnetic wave sent from the detection unit and reflected by the obstacle, i.e., the second echo, the timing is advanced compared to the case where the reflection intensity of the first echo is less than the reflection intensity of the second echo.

[0014] (4) A fourth aspect of the present invention is any one of the first to third aspects, wherein the processor further performs processing such that, when a micro-Doppler signal is detected by the detection unit, the timing is advanced compared to a case where the micro-Doppler signal is not detected.

[0015] (5) In the fifth scheme of the present invention, based on any one of the above-mentioned first to fourth schemes, the processor further performs the following processing: when the headlights of the host vehicle and the oncoming vehicle are respectively lit, the timing is advanced compared to the case where the headlights of the host vehicle and the oncoming vehicle are respectively not lit.

[0016] (6) A sixth scheme of the present invention relates to a driving support method, wherein a computer is mounted on a vehicle having a detection unit, the detection unit including at least one of a radar device and a LIDAR and an optical sensor for detecting an obstacle in front of the vehicle, the driving support method causing the computer to perform the following processing: calculating the probability of a collision between the obstacle detected by the detection unit and the vehicle; when the probability is greater than a specified value, performing at least one of an alarm control and a driving control, the alarm control being driving support for outputting an alarm to an occupant of the vehicle, and the driving control being driving support for controlling at least one of the speed and steering of the vehicle; and when the obstacle is detected between the vehicle and an oncoming vehicle relative to the vehicle, advancing the timing of starting at least one of the alarm control and the driving control compared to a case where the obstacle is not detected between the vehicle and the oncoming vehicle.

[0017] (7) The seventh scheme of the present invention relates to a storage medium storing a program, wherein a computer is mounted on a vehicle having a detection unit, the detection unit including at least one of a radar device and a LIDAR and an optical sensor for detecting an obstacle in front of the vehicle, and the program is used to cause the computer to perform the following processing: calculating the probability of a collision between the obstacle detected by the detection unit and the vehicle; when the probability is greater than a specified value, executing at least one of an alarm control and a driving control, the alarm control being a driving assistance for outputting an alarm to an occupant of the vehicle, and the driving control being a driving assistance for controlling at least one of the speed and steering of the vehicle; and when the obstacle is detected between the vehicle and an oncoming vehicle relative to the vehicle, advancing the timing of starting at least one of the alarm control and the driving control compared to a case where the obstacle is not detected between the vehicle and the oncoming vehicle.

[0018] Effects of the Invention

[0019] According to the above aspect, it is possible to suppress delay in driving support. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a configuration diagram of a vehicle system 1 using the driving support device according to the embodiment.

[0021] Figure 2 This is a flowchart showing an example of processing executed by the driving support device 100 .

[0022] Figure 3 1 is a diagram showing an example of the positional relationship among the host vehicle M1 , the oncoming vehicle M2 , and the crossing object P. FIG.

[0023] Figure 4 It means in Figure 3 FIG. 1 is a diagram of the oncoming vehicle M2 and the crossing object P as viewed from the host vehicle M1 under the condition of .

[0024] Description of reference numerals:

[0025] 1…Vehicle Systems

[0026] 10…External sensors

[0027] 11… Camera

[0028] 12…Radar device

[0029] 16…Object recognition device

[0030] 40…Vehicle Sensors

[0031] 80…driving parts

[0032] 100…Driving support devices

[0033] 120…Identification Department

[0034] 122…Oncoming vehicle recognition unit

[0035] 124…Object Recognition Unit

[0036] 140…Support Execution Department

[0037] 142…Judgment Department

[0038] 144…Alarm Control Department

[0039] 146…Travel control unit

[0040] 200... Driving force output device

[0041] 210…Brake system

[0042] 220…Steering device

[0043] M1…This vehicle

[0044] M2…oncoming vehicles

[0045] P…across the object. DETAILED DESCRIPTION

[0046] Hereinafter, embodiments of a driving support device, a driving support method, and a storage medium according to the present invention will be described with reference to the accompanying drawings.

[0047] A driving support device according to an embodiment will be described. Figure 1 1 is a structural diagram of a vehicle system 1 using a driving support device according to an embodiment. The vehicle equipped with the vehicle system 1 is, for example, a two-wheel, three-wheel, or four-wheel vehicle, and its driving source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using the power generated by a generator connected to the internal combustion engine, or the power discharged from a secondary battery or a fuel cell. In the following description, the vehicle equipped with the vehicle system 1 is referred to as the vehicle M1.

[0048] The vehicle system 1 includes, for example, an external sensor 10, an object recognition device 16, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a driving operating member 80, a driving support device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are interconnected through multiple communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, etc. It should be noted that Figure 1 The structure shown is just an example, and part of the structure may be omitted or another structure may be added.

[0049] The external sensor 10 obtains information about the outside world of the vehicle M1. The external sensor 10 includes a camera 11, a radar device 12, and a LIDAR (Light Detection and Ranging) 14. The camera 11 is, for example, a digital camera that uses solid-state imaging elements such as CCD (Charge Coupled Device) and CMOS (Complementary Metal Oxide Semiconductor). The camera 11 is installed at any part of the vehicle M1. When shooting the front, the camera 11 is installed on the upper part of the front windshield, the back of the rearview mirror in the vehicle, etc. The camera 11, for example, periodically and repeatedly shoots the surroundings of the vehicle M1. The camera 11 can also be a stereo camera. The camera 11 is an example of an optical sensor.

[0050] The radar device 12 radiates (transmits) radio waves such as millimeter waves to the periphery of the vehicle M1, and detects radio waves (reflected waves) reflected by an object to detect at least the position (distance and direction) of the object. The radar device 12 is installed at any part of the vehicle M1. The radio waves transmitted by the radar device 12 are an example of transmission waves. The radar device 12 can also detect the position and speed of an object by FM-CW (Frequency Modulated Continuous Wave) method.

[0051] The LIDAR 14 irradiates light (or electromagnetic waves with a wavelength close to the light) to the periphery of the host vehicle M1 and measures the scattered light. The LIDAR 14 detects the distance of the object based on the time from light emission to light reception. The irradiated light is, for example, a pulsed laser. The LIDAR 14 is installed at any part of the host vehicle M1.

[0052] The HMI 30 is an alarm device (notification device) for presenting various information to the passengers of the vehicle M1. The HMI 130 also receives input operations from the passengers. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, buttons, and the like.

[0053] The vehicle sensor 40 is a sensor that detects information related to the driving state of the host vehicle M1 used for driving support, etc. The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the host vehicle M1, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around a vertical axis, an azimuth sensor that detects the orientation of the host vehicle M1, and an illuminance sensor that detects the brightness of the surroundings of the host vehicle M1.

[0054] The driving operating member 80 is an operating member operated by the driver to drive the vehicle M1. The driving operating member 80 is, for example, provided near a driver's seat where the driver sits. The driving operating member 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a special-shaped steering gear, a joystick, a headlight switch, and other operating members.

[0055] The driving support device 100 includes a recognition unit 120 and a support execution unit 140. The recognition unit 120 and the support execution unit 140 are implemented by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, some or all of these components can be implemented by hardware (including a circuit unit: circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), etc., or can be implemented by the cooperation of software and hardware. The program can be pre-stored in a storage device such as an HDD or flash memory of the driving support device 100 (a storage device having a non-temporary storage medium), or can be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the driving support device 100 by assembling the storage medium (non-temporary storage medium) in a drive device.

[0056] The recognition unit 120 realizes functions based on AI (Artificial Intelligence) and functions based on a pre-given model in parallel, for example. The recognition unit 120 includes an oncoming vehicle recognition unit 122 and an object recognition unit 124. The oncoming vehicle recognition unit 122 recognizes an oncoming vehicle facing the vehicle M1 based on the reflection intensity of the radio waves emitted by the radar device 12 reflected at the oncoming vehicle relative to the vehicle M1. The object recognition unit 124 recognizes objects around the vehicle, including the front, based on the reflection intensity of the radio waves emitted by the radar device 12 reflected at the object. An object is an example of an obstacle.

[0057] The oncoming vehicle recognition unit 122, for example, performs in parallel the recognition of oncoming vehicles based on deep learning and the recognition of oncoming vehicles based on pattern matching, and recognizes the oncoming vehicle by comprehensively evaluating the recognition results of both. In addition, the oncoming vehicle recognition unit 122 can be implemented, for example, by "performing in parallel the recognition of oncoming vehicles based on deep learning and the recognition based on pre-given conditions (the presence of signals that can perform pattern matching, road signs, etc.), and scoring both parties for comprehensive evaluation." The oncoming vehicle recognition unit 122 can also recognize whether the oncoming vehicle has turned on its headlights.

[0058] The object recognition unit 124 may also recognize a crossing object by, for example, deep learning, pattern matching, etc. after replacing the vehicle in the oncoming vehicle recognition unit 122 with an object. The object recognition unit 124 may, for example, recognize an object crossing the road as a crossing object. The object recognition unit 124 may also recognize a crossing object between the oncoming vehicle and the host vehicle M1 when the oncoming vehicle recognition unit 122 recognizes an oncoming vehicle. The object includes a pedestrian. The object may also be a non-moving object.

[0059] The object recognition unit 124 may also recognize people other than walking people, such as people riding bicycles or scooters, as pedestrians. The object recognition unit 124 may also recognize animals other than humans as pedestrians. In addition to recognizing objects crossing the road, the object recognition unit 124 may also recognize objects approaching the vehicle M1 or moving away from the vehicle M1. It should be noted that the recognition unit 120 may also perform one of image recognition based on AI and image recognition based on a pre-given model.

[0060] The support execution unit 140 includes a determination unit 142, an alarm control unit 144, and a travel control unit 146. The determination unit 142 calculates the distance between the crossing object recognized by the recognition unit 120 and the host vehicle M1. The determination unit 142 calculates the probability of collision between the crossing object and the host vehicle M1 (i.e., the probability of collision between the crossing object and the host vehicle M1) based on the calculated distance between the crossing object and the host vehicle M1.

[0061] The determination unit 142 determines whether the reflection intensity of the radio wave emitted by the radar device 12 reflected by the oncoming vehicle (hereinafter referred to as the oncoming vehicle reflection intensity) is greater than the reflection intensity reflected by the traversing object (hereinafter referred to as the object reflection intensity). The determination unit 142 determines whether the radar device 12 has detected a micro-Doppler signal when the radar device 12 detects the reflected wave used by the object recognition unit 124 to recognize the traversing object. The micro-Doppler signal is a signal having a frequency proportional to the moving speed of the traversing object as the object to be measured, that is, a Doppler signal, and the frequency is higher than a predetermined value.

[0062] The alarm control unit 144 performs driving support by alarm control to warn the occupants. The alarm control is, for example, forward collision warning (FCW). When the collision probability calculated by the determination unit 142 is greater than a first predetermined value, the alarm control unit 144 controls the HMI 30 to warn the occupants of the vehicle M1. For example, when there is a crossing object in front of the vehicle M1 and there is a possibility of collision with the crossing object, the alarm control unit 144 controls the HMI 30 to warn the occupants of the vehicle M1 that there is a possibility of collision with the crossing object.

[0063] In the alarm control unit 144, the time from when the recognition unit 120 recognizes the crossing object to when the alarm is issued (Time To Collision: Time to Collision, hereinafter referred to as TTC) can be set to multiple stages, for example, three stages. TTC is set to any of the first stage with the shortest time, the second stage with the next shorter time, and the third stage with the longest time. The occupant can set the TTC in the alarm control unit 144 according to his or her own preference by, for example, operating a TTC stage setting switch.

[0064] The driving control unit 146 performs driving support by performing driving control of the vehicle M1. Driving control refers to, for example, controlling one or both of the speed and the steering of the vehicle M1. Driving control is, for example, collision avoidance braking (AEB). The driving control unit 146 controls the brake device 210 based on the recognition result of the recognition unit 120 and the detection result of the vehicle sensor 40.

[0065] For example, the driving control unit 146 controls the braking device 210 when the collision probability calculated by the determination unit 142 is greater than the second predetermined value. The driving control unit 146 controls the driving of the vehicle M1 to prevent the vehicle M1 from contacting the crossing object when there is a crossing object in front of the vehicle M1. The second predetermined value is a value greater than the first predetermined value. The second predetermined value may also be the same value as the first predetermined value.

[0066] The driving force output device 200 outputs the driving force (torque) for driving the vehicle to the drive wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU (Electronic Control Unit) that controls them. The ECU controls the above structure according to information input from the driving control unit 146 or information input from the driving operation member 80.

[0067] The brake device 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the travel control unit 146 or information input from the driving operation element 80, so that a brake torque corresponding to the brake operation is output to each wheel.

[0068] The brake device 210 may include a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the driving operating member 80 to the hydraulic cylinder via the master hydraulic cylinder as a backup. It should be noted that the brake device 210 is not limited to the structure described above, and may also be an electronically controlled hydraulic brake device that controls the actuator according to the information input from the travel control unit 146 to transmit the hydraulic pressure of the master hydraulic cylinder to the hydraulic cylinder.

[0069] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack-and-pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor to change the direction of the steering wheel according to information input from the driving control unit 146 or information input from the driving operating member 80.

[0070] Next, the processing in the driving support device 100 will be described. Figure 2 1 is a flowchart showing an example of processing executed by the driving support device 100. First, the driving support device 100 determines in the support execution unit 140 whether one of the following conditions is satisfied: the vehicle M1 has its headlights turned on; and the illuminance around the vehicle M1 detected by the illuminance sensor is less than a predetermined illuminance (step S101). The driving support device 100 substantially determines whether the surrounding area of ​​the vehicle M1 is dark by the determination in step S101.

[0071] If it is determined that neither the condition that the host vehicle M1 has its headlights turned on nor the condition that the illuminance around the host vehicle M1 detected by the illuminance sensor is less than the predetermined illuminance is satisfied, the driving support device 100 ends. Figure 2 When it is determined that the host vehicle M1 has turned on the headlights or the illuminance around the host vehicle M1 detected by the illuminance sensor is less than a predetermined illuminance, the recognition unit 120 determines whether an oncoming vehicle is recognized in the oncoming vehicle recognition unit 122 (step S103).

[0072] If the oncoming vehicle recognition unit 122 determines that the oncoming vehicle is not recognized, the driving support device 100 ends. Figure 2If the oncoming vehicle recognition unit 122 determines that an oncoming vehicle is recognized, the recognition unit 120 determines whether a crossing object is recognized in the object recognition unit 124 (step S105). If the object recognition unit 124 determines that no crossing object is recognized, the driving support device 100 ends. Figure 2 Processing shown.

[0073] When the object recognition unit 124 determines that a crossing object has been recognized, the determination unit 142 determines whether the reflection intensity of the oncoming vehicle is higher than the reflection intensity of the object (step S107). When the determination unit 142 determines that the reflection intensity of the oncoming vehicle is not higher than the reflection intensity of the object, the driving support device 100 ends. Figure 2 Processing shown.

[0074] When the determination unit 142 determines that the reflection intensity of the oncoming vehicle is higher than the reflection intensity of the object, the determination unit 142 determines whether the radar device 12 detects the micro-Doppler signal (step S109). When the determination unit 142 determines that the radar device 12 does not detect the micro-Doppler signal, the driving support device 100 ends. Figure 2 Processing shown.

[0075] When it is determined that the radar device 12 detects a micro-Doppler signal, the alarm control unit 144 advances the start timing of the alarm control by the HMI 30 (step S111). In order to advance the start timing of the alarm, the alarm control unit 144 increases the setting stage of the set TTC by one stage. For example, when the setting stage of the TTC is set to the second stage, the setting stage of the TTC is increased to the first stage.

[0076] Therefore, when the illumination around the vehicle M1 is less than the prescribed illumination, the driving support device 100 advances the start timing of at least one of the alarm control and the driving control compared to a case where the illumination around the vehicle M1 is greater than the prescribed illumination. Furthermore, when the reflection intensity of an oncoming vehicle is higher than the reflection intensity of a crossing object, the driving support device 100 advances the start timing of at least one of the alarm control and the driving control compared to a case where the reflection intensity of the oncoming vehicle is less than the reflection intensity of a crossing object. Furthermore, when a micro-Doppler signal is detected by the radar device 12, the driving support device 100 advances the start timing of at least one of the alarm control and the driving control compared to a case where a micro-Doppler signal is not detected by the radar device 12. In this way, the driving support device 100 ends. Figure 2 Processing shown.

[0077] Figure 3 1 is a diagram showing an example of the positional relationship between the host vehicle M1, the oncoming vehicle M2, and the crossing object P. Figure 4It means in Figure 3 For example, when there is a crossing object P in front of the host vehicle M1, the driving support device 100 calculates the probability of collision between the host vehicle M1 and the crossing object P, and performs warning control and driving control based on the collision probability.

[0078] Here, when the crossing object P moves in front of the oncoming vehicle M2, for example, crosses, the light of the headlight of the own vehicle M1 and the light of the headlight of the oncoming vehicle M2 intersect, as shown in FIG. Figure 4 As shown in the region X of FIG. 1 , a so-called evaporation phenomenon may occur, which makes it difficult to see the crossing object P. When the evaporation phenomenon occurs, it is considered that the recognition of the crossing object P by the recognition unit 120 is delayed, and accordingly, the warning and driving support by the support execution unit 140 are delayed.

[0079] In this regard, the driving support device 100 of the embodiment advances the timing of starting control by the alarm control unit 144 when a crossing object P is detected between the host vehicle M1 and the oncoming vehicle M2, compared to a case where no crossing object P is detected between the host vehicle M1 and the oncoming vehicle M2. Therefore, even in a situation where recognition of an obstacle such as the crossing object P is delayed, delay in driving support can be suppressed.

[0080] In the above-mentioned embodiment, the driving support device 100 advances the start timing of the warning control when the collision probability calculated by the determination unit 142 is greater than the first predetermined value, and advances the start timing of the driving control when it is greater than the second predetermined value. In contrast, only the start timing of the warning control may be advanced, or only the start timing of the driving control may be advanced.

[0081] In the above-mentioned embodiment, the start timing of driving assistance is advanced when a crossing object is recognized, but the start timing of driving assistance may be advanced when an object other than the crossing object is recognized. In the above-mentioned embodiment, the start timing of driving assistance is advanced when the surroundings of the host vehicle M1 are dark, but the start timing of driving assistance may be advanced regardless of whether the surroundings of the host vehicle M1 are dark.

[0082] Furthermore, the start timing of driving assistance may be advanced when the reflection intensity of the oncoming vehicle is not greater than the reflection intensity of the object and the radar device 12 does not receive the micro-Doppler signal. Alternatively, the start timing of driving assistance may be advanced when the headlights of both the host vehicle M1 and the oncoming vehicle M2 are on.

[0083] The above-described embodiment can be expressed as follows.

[0084] A driving support device comprising:

[0085] a storage device storing a program; and

[0086] Hardware processor,

[0087] The hardware processor executes the program stored in the storage device to perform the following processing:

[0088] identifying an obstacle in front of the host vehicle based on a detection result of a detection unit that includes at least one of a radar device and a LIDAR and an optical sensor and detects an obstacle in front of the host vehicle,

[0089] When the probability of collision with the obstacle detected by the detection unit is equal to or greater than a predetermined value, at least one of warning control and travel control is executed, and

[0090] When the obstacle is detected between the host vehicle and an oncoming vehicle relative to the host vehicle, the timing of starting at least one of the warning control and the driving control is advanced compared to a case where the obstacle is not detected between the host vehicle and the oncoming vehicle.

[0091] Furthermore, the above-described embodiment can also be expressed as follows.

[0092] [Note 1]

[0093] A driving support device, wherein:

[0094] The driving support device comprises:

[0095] a recognition unit that recognizes an obstacle in front of the host vehicle based on a detection result of a detection mechanism that includes at least one of a radar device and a LIDAR and an optical mechanism and detects the obstacle in front of the host vehicle; and

[0096] a support execution unit that executes at least one of warning control and driving control when the possibility of collision with the obstacle detected by the detection means is greater than a predetermined value,

[0097] When the obstacle is detected between the host vehicle and an oncoming vehicle relative to the host vehicle, the support execution unit advances the start timing of at least one of the warning control and the driving control compared to a case where the obstacle is not detected between the host vehicle and the oncoming vehicle.

[0098] [Note 2]

[0099] Alternatively, the support execution unit further performs the following processing: when at least one of the conditions that the vehicle has its headlights turned on and the illuminance around the vehicle is less than a specified illuminance is satisfied, the start timing of at least either the alarm control or the driving control is advanced compared to a condition where the illuminance around the vehicle is greater than the specified illuminance.

[0100] [Note 3]

[0101] Alternatively, the support execution unit further performs the following processing: when the reflection intensity of the reflected wave reflected by the oncoming vehicle from the transmission wave sent by the detection mechanism is higher than the reflection intensity of the reflected wave reflected by the transmission wave from the obstacle, the start timing of at least either the alarm control or the driving control is advanced compared to a case where the reflection intensity of the reflected wave reflected by the oncoming vehicle is lower than the reflection intensity of the reflected wave reflected by the obstacle.

[0102] [Note 4]

[0103] The support execution unit may further perform processing for advancing a start timing of at least one of the warning control and the travel control when a micro-Doppler signal is detected by the detection unit compared to a case where the micro-Doppler signal is not detected.

[0104] [Note 5]

[0105] Alternatively, the support execution unit further performs the following processing: when the headlights of the host vehicle and the oncoming vehicle are respectively lit, the start timing of at least either the alarm control or the driving control is advanced compared to a case where the headlights of the host vehicle and the oncoming vehicle are respectively not lit.

[0106] [Note 6]

[0107] A driving support method causes a computer of a driving support device to perform the following processing:

[0108] The obstacle in front of the host vehicle is identified based on a detection result of a detection mechanism that includes at least one of a radar device and a LIDAR and an optical mechanism and detects an obstacle in front of the host vehicle,

[0109] When the possibility of collision with the obstacle detected by the detection means is equal to or greater than a predetermined value, at least one of warning control and travel control is executed, and

[0110] The driving support method causes the computer to perform the following processing:

[0111] When the obstacle is detected between the host vehicle and an oncoming vehicle relative to the host vehicle, the start timing of at least one of the warning control and the driving control is advanced compared to a case where the obstacle is not detected between the host vehicle and the oncoming vehicle.

[0112] [Note 7]

[0113] A program causing a computer of a driving support device to perform the following processing:

[0114] The obstacle in front of the host vehicle is identified based on a detection result of a detection mechanism that includes at least one of a radar device and a LIDAR and an optical mechanism and detects an obstacle in front of the host vehicle,

[0115] When the possibility of collision with the obstacle detected by the detection means is equal to or greater than a predetermined value, at least one of warning control and travel control is executed, and

[0116] The program causes the computer to perform the following processing:

[0117] When the obstacle is detected between the host vehicle and an oncoming vehicle relative to the host vehicle, the start timing of at least one of the warning control and the driving control is advanced compared to a case where the obstacle is not detected between the host vehicle and the oncoming vehicle.

[0118] Although specific embodiments of the present invention have been described above using the embodiments, the present invention is not limited to such embodiments at all, and various modifications and substitutions can be made without departing from the gist of the present invention.

Claims

1. A driving support device, wherein: The driving support device comprises: A detection unit, comprising at least one of a radar device and a LIDAR and an optical sensor, for detecting an obstacle in front of the vehicle; as well as a processor that calculates the probability of the obstacle detected by the detection unit colliding with the host vehicle, and executes at least one of warning control and travel control when the probability is greater than a predetermined value, The warning control is a driving support for outputting a warning to the occupant of the host vehicle, and the driving control is a driving support for controlling at least one of the speed and the steering of the host vehicle. When the obstacle is detected between the host vehicle and an oncoming vehicle relative to the host vehicle, the processor advances the timing of starting at least one of the alarm control and the driving control compared to a case where the obstacle is not detected between the host vehicle and the oncoming vehicle.

2. The driving support device according to claim 1, wherein: The processor also performs the following processing: When the vehicle has turned on the headlights, the timing is advanced compared to when the vehicle has not turned on the headlights; or, when the illuminance around the vehicle is less than a specified illuminance, the timing is advanced compared to when the illuminance around the vehicle is greater than the specified illuminance.

3. The driving support device according to claim 1 or 2, wherein: The processor also performs the following processing: When the reflection intensity of the first echo, an electromagnetic wave sent from the detection unit and reflected by the oncoming vehicle, is higher than the reflection intensity of the second echo, an electromagnetic wave sent from the detection unit and reflected by the obstacle, the timing is advanced compared to a case where the reflection intensity of the first echo is lower than the reflection intensity of the second echo.

4. The driving support device according to claim 1 or 2, wherein: The processor also performs the following processing: When a micro-Doppler signal is detected by the detection unit, the timing is advanced compared to a case where the micro-Doppler signal is not detected.

5. The driving support device according to claim 1 or 2, wherein: The processor also performs the following processing: When the headlights of the host vehicle and the oncoming vehicle are turned on, the timing is advanced compared to when the headlights of the host vehicle and the oncoming vehicle are not turned on.

6. A driving support method, wherein: The computer is mounted on a host vehicle having a detection unit, the detection unit including at least one of a radar device and a LIDAR and an optical sensor, for detecting an obstacle in front of the host vehicle. The driving support method causes the computer to execute the following processing: calculating the probability of the obstacle detected by the detection unit colliding with the host vehicle; When the probability is greater than or equal to a predetermined value, executing at least one of warning control and driving control, wherein the warning control is driving support for outputting a warning to an occupant of the host vehicle, and the driving control is driving support for controlling at least one of the speed and steering of the host vehicle; and When the obstacle is detected between the host vehicle and an oncoming vehicle relative to the host vehicle, the timing of starting at least one of the warning control and the driving control is advanced compared to a case where the obstacle is not detected between the host vehicle and the oncoming vehicle.

7. A storage medium storing a program, wherein: The computer is mounted on a host vehicle having a detection unit, the detection unit including at least one of a radar device and a LIDAR and an optical sensor, for detecting an obstacle in front of the host vehicle. The program is used to cause the computer to execute the following processing: calculating the probability of the obstacle detected by the detection unit colliding with the host vehicle; When the probability is greater than or equal to a predetermined value, executing at least one of warning control and driving control, wherein the warning control is driving support for outputting a warning to an occupant of the host vehicle, and the driving control is driving support for controlling at least one of the speed and steering of the host vehicle; and When the obstacle is detected between the host vehicle and an oncoming vehicle relative to the host vehicle, the timing of starting at least one of the warning control and the driving control is advanced compared to a case where the obstacle is not detected between the host vehicle and the oncoming vehicle.

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