Vehicle driving assistance device, vehicle driving assistance method, and storage medium

Abstract

The present application relates to a vehicle driving assistance device, a vehicle driving assistance method, and a storage medium. The present application provides a vehicle driving assistance device including an ECU. The ECU determines whether an object recognition condition satisfies a prescribed condition based on an operation state of an operation member of the host vehicle performed by a driver of the host vehicle. The prescribed condition means that the driver recognizes the presence of the object. The ECU executes deceleration control in a case where a collision index value is smaller than a second index value that is smaller than a first index value, and it is determined that the object recognition condition does not satisfy the prescribed condition. On the other hand, even if the collision index value is smaller than the second index value, the ECU does not execute deceleration control in a case where it is determined that the object recognition condition satisfies the prescribed condition.

Description

Technical Field

[0001] This invention relates to vehicle driving assistance devices, vehicle driving assistance methods, and storage media. Background Technology

[0002] A vehicle driving assistance device is known to perform alarm control (issuing an alert to the driver of the vehicle) and deceleration control (reducing the vehicle's speed) as collision avoidance control to prevent a collision between the vehicle and an object in front of it. Furthermore, as such a vehicle driving assistance device, a vehicle driving assistance device is also known to use whether the driver is distracted as a condition for determining whether to perform deceleration control (see, for example, Japanese Patent Application Laid-Open No. 2008-1304).

[0003] As mentioned above, the conditions used to determine whether to implement deceleration control are for appropriately determining whether deceleration control is necessary. However, if the condition is whether the driver is distracted, then to determine whether the driver is distracted, for example, it would be necessary to mount a camera that captures the driver's face (a so-called driver monitoring camera) on the vehicle. However, mounting such a camera on the vehicle would increase the cost accordingly, and therefore is not preferred. Summary of the Invention

[0004] This invention provides a vehicle driving assistance device, a vehicle driving assistance method, and a storage medium.

[0005] The first aspect of the present invention provides a vehicle driving assistance device including an ECU configured as follows: The ECU sets a collision index value, representing the probability of the vehicle colliding with an object in front of the vehicle. The higher the probability of the vehicle colliding with the object, the lower the collision index value. Furthermore, the ECU determines whether an object recognition condition meets a predetermined condition based on the operation state of the vehicle's control components performed by the driver. The predetermined condition means that the driver recognizes the presence of the object. The ECU performs warning control when the collision index value decreases to a first index value. Furthermore, the ECU performs deceleration control when the collision index value is less than a second index value (smaller than the first index value) and the predetermined condition is determined not to be met. On the other hand, even if the collision index value is less than the second index value, the ECU does not perform deceleration control if the predetermined condition is determined to be met.

[0006] Even if a warning is issued to the driver when there is a possibility of a collision between the vehicle and an object in front of it (the object in front), the driver may not notice the object. Therefore, it is preferable to issue a further warning, such as deceleration control, if the driver does not recognize the presence of the object in front. In this case, as a method to determine whether the driver recognizes the presence of the object in front, one could consider mounting a camera that captures the driver's face in the vehicle and using the image of the driver captured by that camera. However, if this is done, the cost would increase accordingly, which is not preferable.

[0007] On the other hand, when an alarm is triggered and the driver recognizes the presence of an object ahead through the alarm, the driver should want to avoid a collision with that object. Furthermore, if the driver wants to avoid a collision, they should operate the vehicle's controls or cease operation of those controls. Therefore, it is possible to determine whether the driver recognized the presence of the object ahead based on the operational status of the vehicle's controls after the alarm is triggered.

[0008] The ECU of the vehicle driving assistance device according to the first embodiment of the present invention determines whether the driver has recognized the presence of an object in front of them (i.e., whether the object recognition condition meets the predetermined conditions) based on the operation state of the driver's control components on the vehicle. Furthermore, if the collision index value decreases to a second index value and it is determined that the object recognition condition does not meet the predetermined conditions, the ECU performs deceleration control. On the other hand, even if the collision index value decreases to the second index value, if it is determined that the object recognition condition meets the predetermined conditions, the ECU does not perform deceleration control. Therefore, the ECU of the vehicle driving assistance device according to the first embodiment of the present invention can appropriately determine whether deceleration control is needed without requiring a camera to capture the driver's face.

[0009] Alternatively, the ECU may be configured to determine whether the object recognition conditions meet the specified conditions based on the operating states of the acceleration control device and the braking control device of the vehicle.

[0010] It is assumed that when a warning is issued, and the driver recognizes the presence of an object ahead and wants to avoid a collision, the driver will change their operation of the vehicle's acceleration and braking controls. Therefore, it is possible to determine whether the driver has recognized the presence of an object ahead based on the operation of the acceleration and braking controls after the warning is issued.

[0011] Alternatively, the ECU of the vehicle driving assistance device in the first embodiment of the present invention determines whether the driver recognizes the presence of an object in front (i.e., whether the object recognition condition is met) based on the operating states of the acceleration and braking components. Therefore, the vehicle driving assistance device of the present invention can appropriately determine whether deceleration control needs to be performed without using a camera to capture the driver's face.

[0012] Alternatively, the ECU may be configured to determine that the object recognition condition does not meet the specified condition when the braking actuator is not operated and the acceleration actuator is operated.

[0013] It is assumed that when a warning is issued, and the driver recognizes the presence of an object ahead and wants to avoid a collision, the driver will stop operating the accelerator and operate the brake. Therefore, if the driver is not operating the brake and is operating the accelerator, the driver may not recognize the presence of an object ahead.

[0014] Alternatively, the ECU of the vehicle driving assistance device in the first embodiment of the present invention may determine that the driver has not recognized the presence of an object in front when the braking component is not operated and the acceleration component is operated, i.e., the object recognition condition is not met. Therefore, the vehicle driving assistance device of the present invention can appropriately determine whether deceleration control needs to be performed without using a camera to capture the driver's face.

[0015] Alternatively, the ECU may be configured to determine that the object recognition condition does not meet the specified condition if the braking component is not operated when the acceleration component has been in an inactive state for a specified time.

[0016] It is assumed that when a warning is issued, and the driver recognizes the presence of an object ahead and wants to avoid a collision, the driver will stop operating the accelerator and then attempt to brake to slow the vehicle. Therefore, even if a certain period of time passes after the driver stops operating the accelerator and the brakes are not activated, the driver may not recognize the presence of the object ahead.

[0017] Alternatively, if the ECU of the vehicle driving assistance device in the first embodiment of the present invention remains in a state where the acceleration control component is not operated for a predetermined time and the braking control component is not operated, it determines that the driver has not recognized the existence of an object in front, that is, the object recognition condition has not met the predetermined condition. Therefore, the vehicle driving assistance device of the present invention can appropriately determine whether deceleration control needs to be performed without capturing the driver's face.

[0018] Alternatively, the ECU may be configured to: determine that the object recognition condition meets the specified conditions when the operating mechanism of the vehicle is operated to increase the gear ratio of the vehicle, and determine that the object recognition condition does not meet the specified conditions when the operating mechanism of the vehicle is not operated to increase the gear ratio of the vehicle.

[0019] It is assumed that when a warning is issued, and the driver recognizes the presence of an object ahead and wants to avoid a collision, the driver will likely increase the vehicle's gear ratio to slow down. Therefore, if the driver does not manually increase the gear ratio, they may not recognize the presence of an object ahead.

[0020] Alternatively, the ECU of the vehicle driving assistance device in the first embodiment of the present invention determines that the driver has recognized the presence of an object in front when the vehicle's operating mechanism is operated to increase the vehicle's gear ratio, i.e., the object recognition condition meets the predetermined conditions. On the other hand, if the vehicle's operating mechanism is not operated to increase the vehicle's gear ratio, it determines that the driver has not recognized the presence of an object in front, i.e., the object recognition condition does not meet the predetermined conditions. Therefore, the vehicle driving assistance device of the present invention can appropriately determine whether deceleration control needs to be performed without capturing the driver's face.

[0021] Alternatively, the ECU may be configured to: determine that the object recognition condition meets the specified conditions when the operation of the vehicle's operating components is performed to change the vehicle's route, and determine that the object recognition condition does not meet the specified conditions when the operation of the vehicle's operating components is not performed to change the vehicle's route.

[0022] It is assumed that when a warning is issued, and the driver recognizes the presence of an object ahead and wants to avoid a collision, the driver will attempt to change the vehicle's course to avoid the collision. Therefore, if the driver does not change the vehicle's course using any control functions, the driver may not recognize the presence of the object ahead.

[0023] Alternatively, the ECU of the vehicle driving assistance device in the first embodiment of the present invention determines that the driver has recognized the presence of an object in front when the vehicle's operating mechanism performs an operation to change the vehicle's route, i.e., the object recognition condition meets the predetermined conditions. On the other hand, if the vehicle's operating mechanism does not perform an operation to change the vehicle's route, it determines that the driver has not recognized the presence of an object in front, i.e., the object recognition condition does not meet the predetermined conditions. Therefore, the vehicle driving assistance device of the present invention can appropriately determine whether deceleration control is needed without capturing the driver's face.

[0024] Alternatively, the ECU may be configured to execute a stop control to bring the vehicle to a stop if, after the deceleration control begins, the collision index value decreases to a third index value that is smaller than the second index value.

[0025] Preferably, when the vehicle approaches an object in front, it is forced to stop in order to avoid a collision between the vehicle and the object in front.

[0026] Alternatively, the ECU of the vehicle driving assistance device in the first embodiment of the present invention may, after the deceleration control begins, execute stop control to bring the vehicle to a stop when the collision index value decreases to the third index value. Therefore, the vehicle driving assistance device of the present invention can reliably avoid collisions between the vehicle and objects in front.

[0027] Furthermore, the storage medium of the second aspect of the present invention stores commands that can be executed by one or more ECUs, and the commands cause the one or more ECUs to perform the following functions.

[0028] A collision index value is set, where a lower collision index value corresponds to a higher probability of collision between the vehicle and an object in front of it. Furthermore, the object recognition condition is determined based on the driver's operation of the vehicle's control components. This predetermined condition means that the driver recognizes the presence of the object. If the collision index value is less than a first index value, an alarm control is executed to issue a warning to the driver. If the collision index value is less than a second index value (smaller than the first index value), and it is determined that the object recognition condition does not meet the predetermined condition, deceleration control is executed to slow down the vehicle. If the collision index value is less than the second index value, and it is determined that the object recognition condition meets the predetermined condition, deceleration control is not executed.

[0029] According to the second aspect of the present invention, a storage medium is a camera that can appropriately determine whether deceleration control needs to be performed without capturing the driver's face, for the same reasons as described above.

[0030] Alternatively, the object recognition condition may be determined in the storage medium based on the operating state of the acceleration control device and the operating state of the braking control device of the vehicle.

[0031] According to the second aspect of the present invention, a storage medium is a camera that can appropriately determine whether deceleration control needs to be performed without capturing the driver's face, for the same reasons as described above.

[0032] Alternatively, in the storage medium, in determining whether the object recognition condition is met, if the braking operation is not operated and the acceleration operation is operated, it can be determined that the object recognition condition does not meet the specified condition.

[0033] According to the second aspect of the present invention, a storage medium is a camera that can appropriately determine whether deceleration control needs to be performed without capturing the driver's face, for the same reasons as described above.

[0034] Alternatively, in the storage medium, in determining whether the object recognition condition is met, if the braking component is not operated when the acceleration component has been in a state of not being operated for a specified time, it can be determined that the object recognition condition is not met.

[0035] According to the second aspect of the present invention, a storage medium is a camera that can appropriately determine whether deceleration control needs to be performed without capturing the driver's face, for the same reasons as described above.

[0036] The vehicle driving assistance method of the third aspect of the present invention is configured as follows.

[0037] A collision index value is set, wherein the higher the probability of the vehicle colliding with an object in front of the vehicle, the lower the collision index value; the object recognition condition is determined based on the operation state of the vehicle's operating components performed by the driver, wherein the predetermined condition means that the driver recognizes the presence of the object; if the collision index value is less than a first index value, an alarm control is executed to issue an alarm to the driver; if the collision index value is less than a second index value that is smaller than the first index value, and it is determined that the object recognition condition is not met, deceleration control is executed to slow down the vehicle; and if the collision index value is less than the second index value, and it is determined that the object recognition condition is met, the deceleration control is not executed.

[0038] According to the third aspect of the present invention, a vehicle driving assistance method can appropriately determine whether deceleration control needs to be performed without capturing the driver's face, based on the same reasons as described above.

[0039] The constituent elements of this invention are not limited to the embodiments described below with reference to the accompanying drawings. Other objects, features, and accompanying advantages of the invention will be readily understood from the description of embodiments thereof. Attached Figure Description

[0040] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, wherein the same reference numerals denote the same elements, wherein:

[0041] Figure 1 This is a diagram illustrating a vehicle driving assistance device according to an embodiment of the present invention and a vehicle (this vehicle) equipped with the vehicle driving assistance device.

[0042] Figure 2 It is a diagram that shows the distance between the vehicle and other objects (vehicles) in front of it.

[0043] Figure 3A This is a map showing the predicted driving area of ​​this vehicle.

[0044] Figure 3B It is a diagram representing a scene where an object (vehicle) exists in the predicted driving area of ​​this vehicle.

[0045] Figure 4A This is a diagram representing a scenario where the vehicle approaches an object (vehicle) existing in the vehicle's predicted driving area, and the alarm condition is triggered.

[0046] Figure 4BThis is a diagram representing a scenario where the vehicle approaches an object (vehicle) existing in the vehicle's predicted driving area and the stopping condition is met.

[0047] Figure 5A This is a diagram representing a scenario where control has been stopped.

[0048] Figure 5B This diagram illustrates a scenario where the vehicle is brought to a stop using stop control.

[0049] Figure 6 It is a diagram representing the target avoidance path used for steering avoidance control.

[0050] Figure 7A This diagram represents the start of stop control and steering avoidance control, where the vehicle begins to turn along the target avoidance path through steering avoidance control.

[0051] Figure 7B This diagram illustrates a scenario where a vehicle uses steering avoidance control to pass beside an object (vehicle) in front of it.

[0052] Figure 7C This is a diagram depicting a scenario where the vehicle stops next to an object (vehicle) in front of it using stop control.

[0053] Figure 8 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0054] Figure 9 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0055] Figure 10 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0056] Figure 11 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention. Detailed Implementation

[0057] Hereinafter, a vehicle driving assistance device according to an embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 As shown, the vehicle driving assistance device 10 of the embodiment of the present invention is mounted on the vehicle 100. In the following description, the driver of the vehicle 100 will be referred to as "driver DR".

[0058] <ECU>

[0059] The vehicle driving assistance device 10 includes an ECU 90. ECU is short for Electronic Control Unit. The ECU 90 has a microcomputer as its main component. The microcomputer includes a CPU, non-temporary storage media such as ROM, RAM, non-volatile memory, and interfaces. The CPU performs various functions by executing instructions, programs, or routines stored in ROM.

[0060] <Vehicle Running Gear>

[0061] The vehicle 100 is equipped with a vehicle running gear 20. The vehicle running gear 20 includes a drive unit 21, a braking unit 22, a steering unit 23, and a transmission unit 24.

[0062] <Driver>

[0063] The drive unit 21 is a device that outputs driving torque (driving force) applied to the vehicle 100 to enable the vehicle 100 to move, such as an internal combustion engine or a motor. The drive unit 21 is electrically connected to the ECU 90. The ECU 90 can control the driving torque output from the drive unit 21 by controlling the operation of the drive unit 21.

[0064] <Brake Device>

[0065] Braking device 22 is a device that outputs braking torque (braking force) applied to vehicle 100 for braking the vehicle 100, such as a brake device. Braking device 22 is electrically connected to ECU 90. ECU 90 can control the braking torque output from braking device 22 by controlling the operation of braking device 22.

[0066] <Steering mechanism>

[0067] The steering device 23 is a device that outputs steering torque (steering force) applied to the vehicle 100 for steering the vehicle 100, such as a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the steering torque output from the steering device 23 by controlling the operation of the steering device 23.

[0068] <Transmission System>

[0069] The transmission device 24 is a device that switches whether the driving force output from the drive unit 21 is transmitted to the drive wheels of the vehicle 100, or whether the driving force is transmitted to the drive wheels in a way that causes the vehicle 100 to move forward or backward. Furthermore, the transmission device 24 is also a device that changes the gear ratio of the vehicle 100. More specifically, the transmission device 24 is a device that shifts and outputs the rotational speed input from the drive unit 21. Moreover, the transmission device 24 is also a device that locks the gears in a stationary state by engaging a claw-shaped part (parking lock pawl) on the gears of the transmission device 24, thereby preventing the gears from rotating.

[0070] The transmission 24 operates in any of the following states: transmitting driving force to the drive wheels in a way that moves the vehicle 100 forward, and in a state with a relatively small gear ratio (D gear); transmitting driving force to the drive wheels in a way that moves the vehicle 100 forward, and in a state with a relatively large gear ratio (B gear); transmitting driving force to the drive wheels in a way that moves the vehicle 100 backward (R gear); not transmitting driving force to the drive wheels of the vehicle 100 (N gear); and keeping the vehicle 100 stationary (P gear).

[0071] The transmission 24 is electrically connected to the ECU 90. The ECU 90 can control the operation of the transmission 24 to set it to any one of the following states: D, R, N, and P.

[0072] <Direction Indicator Lights>

[0073] Furthermore, the vehicle 100 is equipped with turn indicator lights 31. The turn indicator lights 31 are located at the left front corner, right front corner, left rear corner, and right rear corner of the vehicle 100. The turn indicator lights 31 are electrically connected to the ECU 90. The turn indicator lights 31 flash according to various command signals sent from the ECU 90.

[0074] Alarm Device

[0075] Furthermore, the vehicle 100 is equipped with an alarm device 40. The alarm device 40 is a device that provides various alarms for the driver (DR), and in this example, it includes a display device 41 and an audio device 42.

[0076] <Display Device>

[0077] Display device 41 is a device for displaying various images, such as a display located in a so-called instrument cluster, a head-up display, or a display in a car navigation system. Display device 41 is electrically connected to ECU 90. ECU 90 enables display device 41 to display various images.

[0078] <Audio Equipment>

[0079] The audio device 42 is a device that outputs various notification sounds, alarm sounds, notification voices, or alarm voices, such as a buzzer or a speaker. The audio device 42 is electrically connected to the ECU 90. The ECU 90 can output various notification sounds, alarm sounds, notification voices, or alarm voices from the audio device 42.

[0080] <Sensors, etc.>

[0081] Furthermore, the vehicle 100 is equipped with an accelerator pedal 51 (acceleration control), an accelerator pedal operation sensor 52, a brake pedal 53 (brake control), a brake pedal operation sensor 54, a steering wheel 55 (route change control), a steering shaft 56, a steering angle sensor 57, a steering torque sensor 58, a gear shift lever 61 (gear shift control), a gear shift sensor 62, a turn indicator lever 63 (route change control), a vehicle speed detection device 64, and a peripheral information detection device 70.

[0082] <Accelerator Pedal Operation Sensor>

[0083] Accelerator pedal operation amount sensor 52 is a sensor that detects the operation amount of accelerator pedal 51 and is electrically connected to ECU 90. Accelerator pedal operation amount sensor 52 sends the detected operation amount information of accelerator pedal 51 to ECU 90. ECU 90 uses this information to obtain the operation amount of accelerator pedal 51 as accelerator pedal operation amount AP. Based on accelerator pedal operation amount AP and the vehicle speed V100 of the vehicle 100, ECU 90 calculates and obtains the requested drive torque (requested drive force). The requested drive torque is the drive torque requested to be output by drive unit 21. ECU 90 controls the operation of drive unit 21 by outputting the requested drive torque. It should be noted that when performing deceleration control or stop control as described later, ECU 90 appropriately determines the requested drive torque regardless of accelerator pedal operation amount AP and controls the operation of drive unit 21 by outputting the requested drive torque.

[0084] <Brake Pedal Operation Sensor>

[0085] Brake pedal operation sensor 54 is a sensor that detects the operation amount of brake pedal 53 and is electrically connected to ECU 90. Brake pedal operation sensor 54 sends the detected brake pedal operation amount information to ECU 90. ECU 90 uses this information to obtain the brake pedal operation amount BP. Based on the brake pedal operation amount BP, ECU 90 calculates the requested braking torque (requested braking force). The requested braking torque is the braking torque requested to be output by braking device 22. ECU 90 controls the operation of braking device 22 by outputting the requested braking torque. It should be noted that, when performing deceleration control or stop control as described later, ECU 90 appropriately determines the requested braking torque, regardless of the brake pedal operation amount BP, and controls the operation of braking device 22 by outputting the requested braking torque.

[0086] <Steering angle sensor>

[0087] Steering angle sensor 57 is a sensor that detects the rotation angle of steering shaft 56 relative to the neutral position, and is electrically connected to ECU 90. Steering angle sensor 57 sends the detected rotation angle information of steering shaft 56 to ECU 90. ECU 90 uses this information to obtain the rotation angle of steering shaft 56 as the steering angle θ.

[0088] <Steering Torque Sensor>

[0089] The steering torque sensor 58 is a sensor that detects the torque input by the driver (DR) to the steering shaft 56 via the steering wheel 55, and is electrically connected to the ECU 90. The steering torque sensor 58 sends the detected torque information to the ECU 90. The ECU 90 uses this information to obtain the torque input by the driver (DR) to the steering shaft 56 via the steering wheel 55 (driver input torque).

[0090] <Shift Sensor>

[0091] The shift sensor 62 is a sensor that detects the set position of the shift lever 61. The shift lever 61 is a device operated by the driver (DR), and the driver (DR) can set the shift lever 61 to the following positions: high-speed forward (D), low-speed forward (B), reverse (R), neutral (N), and park (P). The shift sensor 62 is electrically connected to the ECU 90. The shift sensor 62 sends a signal indicating the detected set position of the shift lever 61 to the ECU 90.

[0092] When the shift lever 61 is set to D (Drive), the shift sensor 62 sends a signal indicating this to the ECU 90. Upon receiving this signal, the ECU 90 controls the transmission 24 to operate in D mode. Similarly, when the shift lever 61 is set to B (Bear), the shift sensor 62 sends a signal indicating this to the ECU 90. Upon receiving this signal, the ECU 90 controls the transmission 24 to operate in B mode.

[0093] Furthermore, when the shift lever 61 is set to reverse (R), the shift sensor 62 sends a signal indicating this to the ECU 90. Upon receiving this signal, the ECU 90 controls the transmission 24 to operate in reverse (R) mode. Similarly, when the shift lever 61 is set to neutral (N), the shift sensor 62 sends a signal indicating this to the ECU 90. Upon receiving this signal, the ECU 90 controls the transmission 24 to operate in neutral (N) mode. And when the shift lever 61 is set to park (P), the shift sensor 62 sends a signal indicating this to the ECU 90. Upon receiving this signal, the ECU 90 controls the transmission 24 to operate in park (P) mode.

[0094] <Direction indicator joystick>

[0095] The turn signal lever 63 is operated by the driver (DR). When the driver (DR) operates the turn signal lever 63 counterclockwise, the lever 63 sends a signal to the ECU (ECU 90) indicating that the driver (DR) has operated the lever 63 counterclockwise. Upon receiving this signal, the ECU 90 causes the turn signal 31 located at the left front corner and the left rear corner to flash respectively. Conversely, when the driver (DR) operates the turn signal lever 63 clockwise, the lever 63 sends a signal to the ECU 90 indicating that the driver (DR) has operated the lever 63 clockwise. Upon receiving this signal, the ECU 90 causes the turn signal 31 located at the right front corner and the right rear corner to flash respectively.

[0096] <Vehicle speed detection device>

[0097] The vehicle speed detection device 64 is a device for detecting the speed of the vehicle 100, such as a wheel speed sensor. The vehicle speed detection device 64 is electrically connected to the ECU 90. The vehicle speed detection device 64 sends the detected speed information of the vehicle 100 to the ECU 90. The ECU 90 uses this information to obtain the vehicle speed V100 of the vehicle 100.

[0098] The ECU 90 calculates the requested steering torque based on the steering angle θ, the driver's input torque, and the vehicle speed V100. The requested steering torque is the steering torque requested to be output by the steering device 23. The ECU 90 controls the operation of the steering device 23 by outputting the requested steering torque from the steering device 23. It should be noted that, when performing the steering avoidance control described later, the ECU 90 appropriately determines, regardless of the steering angle θ, the steering torque required to make the vehicle 100 travel along the target avoidance path R_TGT as the requested steering torque, and controls the operation of the steering device 23 by outputting the requested steering torque.

[0099] <Surrounding Information Detection Device>

[0100] The surrounding information detection device 70 is a device for detecting information about the surroundings of the vehicle 100. In this example, it includes an electromagnetic wave sensor 71 and an image sensor 72. The electromagnetic wave sensor 71 is, for example, a radar sensor (millimeter-wave radar, etc.). The image sensor 72 is, for example, a camera. It should be noted that the surrounding information detection device 70 may also include an ultrasonic sensor (gap sonar) or an optical sensor such as a lidar (LiDAR).

[0101] <Electronic Wave Sensor>

[0102] The radio wave sensor 71 is electrically connected to the ECU 90. The radio wave sensor 71 transmits radio waves and receives radio waves reflected from objects (reflected waves). The radio wave sensor 71 sends the information (sensing result) of the transmitted and received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 71 senses objects present in the vicinity of the vehicle 100 and sends the information (sensing result) of these sensed objects to the ECU 90. The ECU 90 can then use this information (radio wave information) to obtain information about objects present in the vicinity of the vehicle 100 (peripheral detection information INF_S). It should be noted that in this example, objects include vehicles, autonomous two-wheelers, bicycles, and people.

[0103] <Image Sensor>

[0104] Image sensor 72 is also electrically connected to ECU 90. Image sensor 72 captures images of the surroundings of vehicle 100 and sends the captured image information to ECU 90. ECU 90 can use this information (image information) to obtain information related to the surroundings of vehicle 100 (surroundings detection information INF_S).

[0105] like Figure 2As shown, when an object (object 200) is present in front of the vehicle 100, the ECU 90 senses the object 200 based on the surrounding detection information INF_S. It should be noted that the object 200 can be a vehicle, an autonomous two-wheeled vehicle, a bicycle, or a person, etc. Figure 2 The example shown is a vehicle.

[0106] When the ECU90 senses an object 200 in front, it can obtain the distance between the object 200 in front and the vehicle 100 (object distance D200) and the speed of the vehicle 100 relative to the object 200 in front (relative speed ΔV200) based on the surrounding detection information INF_S.

[0107] Furthermore, the ECU90 identifies the left dividing line LM_L and the right dividing line LM_R of the lane (lane LN) that defines the driving lane of this vehicle 100 based on the surrounding detection information INF_S. The ECU90 can determine the range of lane LN based on the identified left and right dividing lines LM (i.e., the left dividing line LM_L and the right dividing line LM_R).

[0108] <Summary of the operation of vehicle driver assistance devices>

[0109] Next, a summary of the operation of the vehicle driving assistance device 10 will be explained.

[0110] The vehicle driving assistance device 10 performs alarm control to issue an alarm to the driver DR, deceleration control to slow down the vehicle 100, and stop control to bring the vehicle 100 to a stop, depending on whether various conditions are met, as a collision avoidance control to avoid collision between the vehicle 100 and an object in front of the vehicle 100.

[0111] The vehicle driving assistance device 10 performs processing to sense objects such as vehicles ahead of the vehicle 100 in its direction of travel based on the surrounding detection information INF_S while the vehicle 100 is in motion. The vehicle driving assistance device 10 performs normal driving control when no objects ahead of the vehicle 100 in its direction of travel are sensed.

[0112] Normal driving control is as follows: when the requested driving torque (requested driving force) is greater than zero, the operation of the drive unit 21 is controlled by outputting the requested driving torque from the drive unit 21; when the requested braking torque (requested braking force) is greater than zero, the operation of the brake unit 22 is controlled by outputting the requested braking torque from the brake unit 22; when the requested steering torque (requested steering force) is greater than zero, the operation of the steering unit 23 is controlled by outputting the requested steering torque from the steering unit 23.

[0113] When an object (object 200) is detected in front of the vehicle 100 in its direction of travel, the vehicle driving assistance device 10 determines whether the object exists within the predicted driving area A100 based on the surrounding detection information INF_S. For example... Figure 3A As shown, the predicted driving area A100 is an area with a width equal to that of the vehicle 100, centered on the predicted driving route R100. The predicted driving route R100 is the driving route predicted to be the future route of the vehicle 100 when it maintains the steering angle θ at the current time. Therefore, Figure 3A The predicted driving route R100 shown is a straight line, but it can sometimes be a curve depending on the conditions.

[0114] If the sensed object 200 in front is not present in the predicted driving area A100, the vehicle driving assistance device 10 continues to perform normal driving control.

[0115] On the other hand, when it is determined that the sensed object 200 in front exists within the predicted driving area A100, the vehicle driving assistance device 10 determines whether the warning condition C_AT is met. If the value representing the probability of a collision between the vehicle 100 and the object 200 in front (collision index value IC), and which is a value that decreases as the probability of a collision increases (collision index value IC), decreases to a predetermined value (first index value IC1), the vehicle driving assistance device 10 determines that the warning condition C_AT is met. In this example, the vehicle driving assistance device 10 obtains the predicted arrival time TTC as the collision index value IC, and if the predicted arrival time TTC shortens to a predetermined time (first determination time TTC1), it determines that the warning condition C_AT is met.

[0116] The predicted arrival time (TTC) is the time predicted for the vehicle 100 to reach the object 200 ahead. The vehicle driving assistance device 10 obtains the predicted arrival time (TTC) by dividing the distance to the object D200 by the relative speed ΔV200 (TTC = D200 / ΔV200). Therefore, when the relative speed ΔV200 is constant, the closer the vehicle 100 is to the object 200 ahead, the shorter the predicted arrival time (TTC) will be.

[0117] When the vehicle driving assistance device 10 determines that an object 200 exists in the predicted driving area A100, it acquires the object distance D200 (the distance between the object 200 and the vehicle 100), the relative speed ΔV200, and the predicted arrival time TTC at a predetermined calculation cycle. Each time the predicted arrival time TTC is acquired, it determines whether the predicted arrival time TTC has shortened to the first determination time TTC1. The vehicle driving assistance device 10 acquires the object distance D200 and the relative speed ΔV200 based on the surrounding detection information INF_S.

[0118] If the predicted arrival time TTC is longer than the first determination time TTC1, the vehicle driving assistance device 10 performs normal driving control. Furthermore, the vehicle driving assistance device 10 also performs normal driving control during the period up to the start of the deceleration control described later.

[0119] When Figure 4A When the vehicle 100 approaches the object 200 in front and the predicted arrival time TTC shortens to the first determination time TTC1, the vehicle driving assistance device 10 determines that the alarm condition C_AT is established.

[0120] <Alarm Control>

[0121] When the alarm condition C_AT is determined to be met, the vehicle driving assistance device 10 initiates alarm control as one of the collision avoidance controls. Alarm control is the control that causes a notification sound (or alarm sound) or notification voice (or alarm voice) to be output from the alarm device 40, or to cause a notification image (or alarm image) to be displayed on the alarm device 40.

[0122] The alarm control outputs a notification sound (or alarm sound) from the alarm device 40 to alert the driver DR to the presence of an object (object 200) in front of the vehicle 100 or the possibility of the vehicle 100 colliding with the object (object 200). Furthermore, the notification voice (or alarm voice) output from the alarm device 40 via the alarm control may indicate the presence of an object (object 200) in front of the vehicle 100, indicate the possibility of the vehicle 100 colliding with the object (object 200), or indicate the driving actions required to avoid a collision between the vehicle 100 and the object (object 200).

[0123] In addition, the notification image (or alarm image) displayed on the alarm device 40 by the alarm control is an image that indicates the presence of an object (object 200) in front of the vehicle 100, an image that indicates the possibility of the vehicle 100 colliding with the object (object 200), or an image that indicates the driving operation required to avoid a collision between the vehicle 100 and the object (object 200).

[0124] <Deceleration Control>

[0125] Furthermore, after the alarm condition C_AT is established, the vehicle driving assistance device 10 determines whether the deceleration condition C_DE is established.

[0126] <Deceleration Conditions>

[0127] The deceleration condition C_DE is true if the acceleration operation condition C2 is true when the predicted arrival time condition C1 is true. Furthermore, the deceleration condition C_DE is also true if the non-deceleration operation condition C3 is true when the predicted arrival time condition C1 is true.

[0128] It should be noted that in this example, when the acceleration operation condition C2 is met, the object recognition condition C_OBJ, in which the driver DR recognizes the existence of the object 200 in front, is not met. In addition, when the non-deceleration operation condition C3 is met, the object recognition condition C_OBJ is also not met.

[0129] <Predicted arrival time conditions>

[0130] The predicted arrival time condition C1 is satisfied when the collision index value IC decreases to a predetermined value (second index value IC2) that is smaller than the first index value IC1. In this example, the predicted arrival time condition C1 is satisfied when the predicted arrival time TTC decreases to a predetermined time (second determination time TTC2) that is shorter than the first determination time TTC1.

[0131] During alarm control execution, the vehicle driving assistance device 10 also acquires the object distance D200, relative speed ΔV200, and predicted arrival time TTC in a prescribed calculation cycle, and determines whether the predicted arrival time TTC has shortened to the second determination time TTC2 each time the predicted arrival time TTC is acquired.

[0132] <Accelerated Operation Conditions>

[0133] Acceleration operation condition C2 is met when the brake pedal 53 is not operated and the accelerator pedal 51 is operated. That is, acceleration operation condition C2 is met when the brake pedal non-operation condition C4 (brake pedal 53 is not operated) is met and the accelerator pedal operation condition C5 (accelerator pedal 51 is operated) is met.

[0134] It is assumed that when an alarm is triggered via alarm control, and the driver DR recognizes the presence of object 200 ahead through the alarm, the driver DR would want to slow down the vehicle 100 by operating the brake pedal 53 to avoid a collision with object 200. Therefore, despite the alarm being triggered via alarm control, the driver DR not only does not operate the brake pedal 53 but is also operating the accelerator pedal 51, indicating that the driver DR has not recognized the presence of object 200 ahead. Therefore, as described above, when the brake pedal non-operation condition C4 is met and the accelerator pedal operation condition C5 is met, it can be determined that the object recognition condition C_OBJ, which indicates that the driver DR has recognized the presence of object 200 ahead, is not met.

[0135] It should be noted that when the brake pedal operation amount BP is zero, the vehicle driving assistance device 10 determines that the brake pedal 53 is not operated, and when the brake pedal operation amount BP is greater than zero, it determines that the brake pedal 53 is operated. Similarly, when the accelerator pedal operation amount AP is zero, the vehicle driving assistance device 10 determines that the accelerator pedal 51 is not operated, and when the accelerator pedal operation amount AP is greater than zero, it determines that the accelerator pedal 51 is operated.

[0136] <Non-deceleration operating conditions>

[0137] The non-deceleration operation condition C3 is established when the accelerator pedal 51 is not operated, but the brake pedal 53 is also not operated, and the state in which neither the accelerator pedal 51 nor the brake pedal 53 is operated continues for a predetermined time (non-operation duration TNO). That is, the non-deceleration operation condition C3 is established when the brake pedal non-operation condition C4 (brake pedal 53 is not operated) is established, the accelerator pedal operation condition C5 (accelerator pedal 51 is operated) is not established, and the state in which neither the accelerator pedal 51 nor the brake pedal 53 is operated continues for a non-operation duration TNO (non-operation time condition C7) is established.

[0138] If a driver operating the accelerator pedal 51 recognizes the presence of an object 200 ahead through an alarm controlled by the alarm system, and if the driver (DR) intends to operate the brake pedal 53 to slow down the vehicle 100, then the driver (DR) should stop operating the accelerator pedal 51. Therefore, the driver (DR) stopping the operation of the accelerator pedal 51 after the alarm control is initiated is evidence that the driver (DR) has recognized the object 200 ahead. However, even after a certain period of time, if the driver (DR) does not operate the brake pedal 53, then the driver (DR) may not have recognized the object 200 ahead.

[0139] Therefore, after the alarm control begins, if the driver DR does not operate the accelerator pedal 51, nor the brake pedal 53, and this state of neither operating the accelerator pedal 51 nor the brake pedal 53 continues for a certain period of time, it indicates that the driver DR has not recognized the existence of the object 200 ahead. Therefore, as described above, if the accelerator pedal operation condition C5 is not met, but the brake pedal non-operation condition C4 is met, and the non-operation time condition C7 is met, it can be determined that the object recognition condition C_OBJ, which indicates that the driver DR has recognized the existence of the object 200 ahead, is not met.

[0140] When the deceleration condition C_DE is met, the vehicle driving assistance device 10 starts deceleration control as one of the collision avoidance controls.

[0141] Deceleration control is a control that reduces the driving force applied to the vehicle 100 to decelerate the vehicle 100, or reduces the driving force applied to the vehicle 100 to zero and applies braking force to the vehicle 100 to decelerate the vehicle 100, regardless of the accelerator pedal operation performed by the driver DR.

[0142] Furthermore, the deceleration of the vehicle 100 obtained through deceleration control is controlled to be a deceleration that does not stop the vehicle 100 in front of the object 200, but rather a deceleration that makes the driver DR notice the existence of the object 200 (i.e., makes the driver DR recognize the existence of the object 200). Therefore, in this example, the deceleration of the vehicle 100 achieved through deceleration control is a positioning based on the driver DR's warning.

[0143] It should be noted that the vehicle driving assistance device 10 continues to perform alarm control while deceleration control is being executed.

[0144] <Stop Control>

[0145] Furthermore, the vehicle driving assistance device 10 determines whether the stopping condition C_ST is met after the deceleration condition C_DE is met.

[0146] <Stop Conditions>

[0147] The stop condition C_ST is triggered when the collision index value IC becomes smaller than a specified value (the third index value IC3) that is smaller than the second index value IC2. In this example, the stop condition C_ST is triggered when the predicted arrival time TTC becomes shorter than a specified time (the third decision time TTC3) that is shorter than the second decision time TTC2.

[0148] Therefore, as Figure 4BAs shown, when the collision avoidance driving operation (driving operation to avoid collision between the vehicle 100 and the object 200 in front) is not performed by the driver DR as before, and the vehicle 100 approaches the object 200 in front, and the predicted arrival time TTC shortens to the third determination time TTC3, the vehicle driving assistance device 10 determines that the stop condition C_ST is met.

[0149] When the stopping condition C_ST is met, the vehicle driving assistance device 10 starts stopping control as one of the collision avoidance controls.

[0150] Stop control is a control that sets the driving force applied to the vehicle 100 to zero and forcibly applies braking force to the vehicle 100 to stop in front of the object 200, regardless of the driver's (DR) operation of the accelerator pedal or brake pedal.

[0151] When stop control is initiated, the vehicle driving assistance device 10 sets the deceleration of the vehicle 100 required to stop the vehicle 100 in front of the object 200 as the target deceleration, and controls the braking force applied to the vehicle 100 in such a way that the vehicle 100 decelerates at the target deceleration.

[0152] Therefore, as Figure 5A As shown, the driving force applied to the vehicle 100 is set to zero, and braking force is applied to the vehicle 100. Then, as... Figure 5B As shown, the vehicle 100 stops in front of the object 200. This avoids a collision between the vehicle 100 and the object 200.

[0153] It should be noted that the vehicle driving assistance device 10 can also be configured to continue alarm control during the execution of stop control, but stop alarm control when stop control begins.

[0154] In addition, the vehicle driving assistance device 10 can also be configured to: when the stop condition C_ST is met, and it is determined that the vehicle 100 should be steered in a way that avoids the object 200 in front, not only stop control is executed, but also steering avoidance control is executed together with the stop control.

[0155] In this situation, when the stopping condition C_ST is met, the vehicle driving assistance device 10 obtains the target avoidance path R_TGT based on the surrounding detection information INF_S. The target avoidance path R_TGT is the path that the vehicle 100 travels to avoid a collision with the object 200 in front, such as... Figure 6 The diagram shows the path that allows vehicle 100 to travel within lane LN and pass beside object 200. It should be noted that... Figure 6In the example shown, the target avoidance path R_TGT is the path that passes the right side of the object 200 in front. However, if there is space on the left side of the object 200 in front, allowing the vehicle 100 to travel within the lane LN and pass beside the object 200, sometimes the path that passes the left side of the object 200 in front is also taken as the target avoidance path R_TGT.

[0156] When a target avoidance path R_TGT is obtained, the vehicle driving assistance device 10 begins to control the steering force applied to the vehicle 100 in a manner that the vehicle 100 travels along the target avoidance path R_TGT. The vehicle driving assistance device 10 controls the steering force applied to the vehicle 100 through steering avoidance control in a manner that the vehicle 100 travels along the target avoidance path R_TGT.

[0157] Therefore, this vehicle 100 firstly Figure 7A Begin turning as shown, then immediately turn in the opposite direction, making its direction of travel parallel to lane LN, and as shown... Figure 7B As shown, the vehicle passes beside the object 200 in front. This avoids a collision between the vehicle 100 and the object 200. During this movement, stopping control is also implemented, causing the vehicle 100 to decelerate. Finally, the vehicle 100... Figure 7C Stop next to the object 200 in front, as shown.

[0158] Stop and Hold Control

[0159] When the vehicle 100 comes to a stop via stop control, the vehicle driving assistance device 10 terminates the stop control and alarm control, and begins stop-and-hold control. Stop-and-hold control is a control that keeps the vehicle 100 in a stopped state; more specifically, it is control that continuously applies sufficient braking force to the vehicle 100 to keep it in a stopped state via an electric parking brake or similar device. It should be noted that, regarding the vehicle driving assistance device 10, when it is configured to also perform steering avoidance control along with stop control, when the vehicle 100 comes to a stop via stop control, stop control and steering avoidance control terminate, and stop-and-hold control begins.

[0160] <Effect>

[0161] Even if a warning is issued to the driver (DR) when there is a possibility of a collision between the vehicle 100 and the object 200 ahead, the driver (DR) may not notice the object 200. Therefore, it is preferable to issue a further warning, such as deceleration control, to the driver (DR) if the driver (DR) does not recognize the presence of the object 200 ahead. In this case, as a method to determine whether the driver (DR) recognizes the presence of the object 200 ahead, one could consider mounting a camera that captures the driver (DR)'s face on the vehicle 100 and using the image of the driver (DR) captured by that camera. However, if this is done, the cost would increase accordingly, which is not preferable.

[0162] On the other hand, if an alarm is triggered and the driver (DR) recognizes the presence of the object 200 ahead through the alarm, the driver (DR) should want to avoid a collision between the vehicle 100 and the object 200. Furthermore, it is assumed that if the driver (DR) wants to avoid a collision between the vehicle 100 and the object 200, they will operate the brake pedal 53, and in order to operate the brake pedal 53, they will stop operating the accelerator pedal 51. Therefore, it is possible to determine whether the driver (DR) has recognized the presence of the object 200 ahead based on the operating states of the brake pedal 53 and the accelerator pedal 51 after the alarm has been triggered.

[0163] The vehicle driving assistance device 10 determines whether the driver has recognized the presence of an object ahead (i.e., whether the object recognition condition C_OBJ is met) based on the driver's (DR's) operation of the brake pedal 53 and accelerator pedal 51. Then, if the vehicle driving assistance device 10 determines that the object recognition condition C_OBJ is not met when the collision index value IC decreases to the second index value IC2, it performs deceleration control. Conversely, even if the collision index value IC decreases to the second index value IC2, it does not perform deceleration control if the object recognition condition C_OBJ is met. Therefore, the vehicle driving assistance device 10 can appropriately determine whether deceleration control is needed without capturing the driver DR's face using a camera.

[0164] It should be noted that the present invention is not limited to the above embodiments, and various modifications can be used within the scope of the present invention.

[0165] <First Variation>

[0166] For example, if an alarm is triggered via alarm control, and the driver DR recognizes the presence of an object 200 ahead and wants to avoid a collision between the vehicle 100 and the object 200, the driver DR would want to increase the gear ratio of the vehicle 100 by operating the gear shift lever 61 to slow down the vehicle 100.

[0167] Therefore, it can be determined that the driver DR recognized the presence of the object 200 ahead by performing an operation to increase the gear ratio of the vehicle 100 (gear ratio increase operation) after the alarm control is initiated. Conversely, it can be determined that the driver DR did not recognize the presence of the object 200 ahead by not performing a gear ratio increase operation after the alarm control is initiated.

[0168] Therefore, the vehicle driving assistance device 10 can also be configured such that even if the predicted arrival time condition C1 is met, and the gear ratio increase operation condition C8 (such as the operation of the shift lever 61 to increase the gear ratio) is met, the deceleration condition C_DE is determined not to be met. That is, the vehicle driving assistance device 10 can also be configured such that when the gear ratio increase operation condition C8 is met, the object recognition condition C_OBJ is determined to be met.

[0169] Furthermore, in this case, the vehicle driving assistance device 10 is configured to determine that the deceleration condition C_DE is met when the gear ratio increase operation condition C8 is not met, even though the predicted arrival time condition C1 is met. That is, the vehicle driving assistance device 10 is configured to determine that the object recognition condition C_OBJ is not met when the gear ratio increase operation condition C8 is not met.

[0170] Therefore, a camera can appropriately determine whether deceleration control needs to be implemented without filming the driver's (DR) face.

[0171] <Second Variation>

[0172] Furthermore, it is believed that when an alarm is triggered by alarm control and the driver DR recognizes the presence of the object 200 ahead through the alarm, the driver DR would want to change the course of the vehicle 100 by operating the turn signal lever 63 and the steering wheel 55 to avoid a collision between the vehicle 100 and the object 200 ahead.

[0173] Therefore, if, after the alarm control is initiated, the driver DR performs an operation to change the route of the vehicle 100 (route change operation), it can be determined that the driver DR has recognized the presence of the object 200 ahead. Conversely, if, after the alarm control is initiated, the driver DR does not perform a route change operation, it can be determined that the driver DR has not recognized the presence of the object 200 ahead.

[0174] Therefore, the vehicle driving assistance device 10 can also be configured such that, even if the predicted arrival time condition C1 is met, if at least one route change operation condition C9 (such as operating the turn signal lever 63, rotating the steering wheel 55 at a predetermined angle θ_TH or greater, or rotating the steering wheel 55 at a predetermined angular velocity Δθ_TH or greater) is met, the deceleration condition C_DE is determined not to be met. That is, the vehicle driving assistance device 10 can also be configured such that, if the route change operation condition C9 is met, the object recognition condition C_OBJ is determined to be met.

[0175] Furthermore, in this case, the vehicle driving assistance device 10 is configured to determine that the deceleration condition C_DE is met when the route change operation condition C9 is not met, even though the predicted arrival time condition C1 is met. That is, the vehicle driving assistance device 10 is configured to determine that the object recognition condition C_OBJ is not met when the route change operation condition C9 is not met.

[0176] Therefore, a camera can appropriately determine whether deceleration control needs to be implemented without filming the driver's (DR) face.

[0177] It should be noted that the vehicle driving assistance device 10 can be configured to use only one of the above-mentioned acceleration operation condition C2, non-deceleration operation condition C3, gear ratio increase operation condition C8, and route change operation condition C9 when determining whether the deceleration condition C_DE is met. Alternatively, the vehicle driving assistance device 10 can be configured to use any two or more of the above-mentioned acceleration operation condition C2, non-deceleration operation condition C3, gear ratio increase operation condition C8, and route change operation condition C9 when determining whether the deceleration condition C_DE is met.

[0178] <The specific operation of vehicle driver assistance devices>

[0179] Next, the specific operation of the vehicle driving assistance device 10 will be described. The CPU of the ECU 90 of the vehicle driving assistance device 10 according to the embodiment of the present invention executes operations in a predetermined calculation cycle. Figure 8 The example shown. Therefore, when the specified timing is reached, the CPU starts from... Figure 8 The process begins at step 800 and proceeds to step 805, where it is determined whether the alarm condition C_AT is met.

[0180] If the CPU determines "Yes" in step 805, the process proceeds to step 810 to execute alarm control. Next, the CPU proceeds to step 815 to determine whether stop control has not been executed.

[0181] If the CPU determines "yes" in step 815, the process proceeds to step 820 and execution begins. Figures 9-11 Any of the routines shown. However, the CPU can also be configured to execute Figures 9-11 Any two or all of the routines shown.

[0182] On the other hand, if the CPU determines "No" in step 815, the process proceeds directly to step 825.

[0183] CPU is executing Figure 9 In the case of the routine shown, when the process enters step 820, from Figure 9 The process begins at step 900 and proceeds to step 905, where it is determined whether the predicted arrival time condition C1 is met.

[0184] If the CPU determines "yes" in step 905, the process proceeds to step 910 to determine whether the brake pedal non-operation condition C4 is met.

[0185] If the CPU determines "yes" in step 910, the process proceeds to step 915 to determine whether the accelerator pedal operation condition C5 is met.

[0186] If the CPU determines "yes" in step 915, the process proceeds to step 920 to execute deceleration control. Next, the CPU proceeds via step 925... Figure 8 Step 825.

[0187] On the other hand, if the CPU determines "no" in step 915, the process proceeds to step 930 to determine whether the non-operation time condition C7 is met.

[0188] If the CPU determines "yes" in step 930, the process proceeds to step 935 to execute deceleration control. Next, the CPU enters step 925... Figure 8 Step 825.

[0189] On the other hand, if the CPU determines "no" in step 930, the process will proceed directly to step 995, temporarily ending the current routine.

[0190] Furthermore, if the CPU determines "no" in step 905 or step 910, the process proceeds to step 940, ending the collision avoidance control.

[0191] Next, the CPU causes the process to proceed to step 995, temporarily terminating this routine.

[0192] In addition, the CPU is executing Figure 10 In the case of the routine shown, when the process enters step 820, from Figure 10 The process begins at step 1000 and proceeds to step 1005, where it is determined whether the predicted arrival time condition C1 is met.

[0193] If the CPU determines "yes" in step 1005, the process proceeds to step 1010 to determine whether the gear ratio increase operation condition C8 is not met.

[0194] If the CPU determines "yes" in step 1010, the process proceeds to step 1015 to execute deceleration control. Next, the CPU proceeds via step 1020... Figure 8 Step 825.

[0195] On the other hand, if the CPU determines "no" in step 1010, it proceeds to step 1025, ending the collision avoidance control. Next, the CPU proceeds to step 1095, temporarily terminating this routine.

[0196] Furthermore, if the determination in step 1005 is "no", the CPU also causes the process to proceed to step 1025, ending the collision avoidance control. Next, the CPU causes the process to proceed to step 1095, temporarily ending this routine.

[0197] In addition, the CPU is executing Figure 11 In the case of the routine shown, when the process enters step 820, from Figure 11 The process begins at step 1100 and proceeds to step 1105, where it is determined whether the predicted arrival time condition C1 is met.

[0198] If the CPU determines "yes" in step 1105, the process proceeds to step 1110 to determine whether the route change operation condition C9 is not met.

[0199] If the CPU determines "yes" in step 1110, the process proceeds to step 1115 to execute deceleration control. Next, the CPU proceeds via step 1120... Figure 8 Step 825.

[0200] On the other hand, if the CPU determines "no" in step 1110, it proceeds to step 1125, ending the collision avoidance control. Next, the CPU proceeds to step 1195, temporarily terminating this routine.

[0201] Furthermore, if the determination in step 1105 is "no", the CPU also causes the process to proceed to step 1125, ending the collision avoidance control. Next, the CPU causes the process to proceed to step 1195, temporarily ending this routine.

[0202] When processing enters Figure 8In step 825, the CPU determines whether the stop condition C_ST is met.

[0203] If the CPU determines "yes" in step 825, it proceeds to step 830 to stop deceleration control and execute stop control. Next, the CPU proceeds to step 835 to determine whether the vehicle 100 has stopped.

[0204] If the CPU determines "yes" in step 835, it causes the process to proceed to step 840, stopping alarm control and stop control, and executing stop-hold control. Next, the CPU causes the process to proceed to step 895, temporarily terminating this routine.

[0205] On the other hand, if the CPU determines "no" in step 835, the process will proceed directly to step 895, temporarily ending the current routine.

[0206] Furthermore, if the CPU determines "no" in step 825, it proceeds to step 845, ending the collision avoidance control. Next, the CPU proceeds to step 895, temporarily terminating this routine.

[0207] Furthermore, if the CPU determines "no" in step 805, it proceeds to step 850, ending the collision avoidance control. Next, the CPU proceeds to step 895, temporarily terminating this routine.

[0208] The above describes the specific operation of the vehicle driving assistance device 10.

Claims

1. A vehicle driving assistance device, characterized in that, Includes an electronic control unit, which is configured as follows: Set collision index values, where the higher the probability of the vehicle colliding with an object in front of the vehicle, the lower the collision index value. The determination of whether the object recognition condition meets the specified conditions is based on the operation state of the vehicle's operating components performed by the driver of the vehicle, wherein the specified conditions mean that the driver of the vehicle recognizes the existence of the object; If the collision index value is less than the first index value, an alarm control is executed to issue an alarm to the driver; If the collision index value is less than a second index value that is smaller than the first index value, and the electronic control unit determines that the object recognition condition does not meet the specified conditions, it executes deceleration control to slow down the vehicle; and If the collision index value is less than the second index value, and the electronic control unit determines that the object recognition condition meets the specified conditions, the deceleration control is not executed. The electronic control unit is configured to determine whether the object recognition conditions meet the specified conditions based on the operating states of the vehicle's acceleration control device and the operating states of the vehicle's braking control device. The electronic control unit is configured to determine that the object recognition condition does not meet the specified conditions when the braking actuator is not operated and the acceleration actuator is operated.

2. The vehicle driving assistance device according to claim 1, characterized in that, The electronic control unit is configured to determine that the object recognition condition does not meet the specified condition if the acceleration operation is not operated for a specified time and the braking operation is not operated.

3. The vehicle driving assistance device according to claim 1 or 2, characterized in that, The electronic control unit is configured to determine that the object recognition condition meets the specified conditions when an operation is performed on the vehicle's operating components to increase the vehicle's gear ratio. If the vehicle's operating mechanism is not operated to increase the vehicle's gear ratio, it is determined that the object recognition condition does not meet the specified condition.

4. The vehicle driving assistance device according to claim 1 or 2, characterized in that, The electronic control unit is configured to determine that the object recognition condition meets the specified conditions when an operation is performed on the vehicle's operating components to change the vehicle's route. If no operation is performed on the vehicle's control components to change the vehicle's route, it is determined that the object recognition condition does not meet the specified conditions.

5. The vehicle driving assistance device according to claim 1 or 2, characterized in that, The electronic control unit is configured to execute a stop control to bring the vehicle to a stop if the collision index value is less than a third index value that is smaller than the second index value after the deceleration control has started.

6. A storage medium storing commands, wherein, The command is an executable command that can be executed by one or more electronic control units, and the command causes the one or more electronic control units to perform the following functions: Set collision index values, where the higher the probability of the vehicle colliding with an object in front of the vehicle, the lower the collision index value. The determination of whether the object recognition condition meets the specified conditions is based on the operation state of the vehicle's operating components performed by the driver of the vehicle, wherein the specified conditions mean that the driver of the vehicle recognizes the existence of the object; If the collision index value is less than the first index value, an alarm control is executed to issue an alarm to the driver; If the collision index value is less than a second index value that is smaller than the first index value, and it is determined that the object recognition condition does not meet the specified condition, deceleration control is performed to reduce the speed of the vehicle; and If the collision index value is less than the second index value, and the object recognition condition is determined to meet the specified conditions, the deceleration control will not be executed. The determination of whether the object recognition conditions meet the specified conditions is based on the operating state of the vehicle's acceleration control device and the operating state of the vehicle's braking control device. In determining whether the object recognition condition meets the specified conditions, if the braking operation is not operated and the acceleration operation is operated, it is determined that the object recognition condition does not meet the specified conditions.

7. The storage medium according to claim 6, characterized in that, In determining whether the object recognition condition meets the specified conditions, if the acceleration operation component remains in a state of not being operated for a specified time and the braking operation component remains in a state of not being operated, it is determined that the object recognition condition does not meet the specified conditions.

8. A vehicle driving assistance method, characterized in that, include: Set collision index values, where the higher the probability of the vehicle colliding with an object in front of the vehicle, the lower the collision index value. The determination of whether the object recognition condition meets the specified conditions is based on the operation state of the vehicle's operating components performed by the driver of the vehicle, wherein the specified conditions mean that the driver of the vehicle recognizes the existence of the object; If the collision index value is less than the first index value, an alarm control is executed to issue an alarm to the driver; If the collision index value is less than a second index value that is smaller than the first index value, and it is determined that the object recognition condition does not meet the specified condition, deceleration control is performed to reduce the speed of the vehicle; and If the collision index value is less than the second index value, and the object recognition condition is determined to meet the specified conditions, the deceleration control will not be executed. The determination of whether the object recognition conditions meet the specified conditions is based on the operating state of the vehicle's acceleration control device and the operating state of the vehicle's braking control device. In determining whether the object recognition condition meets the specified conditions, if the braking operation is not operated and the acceleration operation is operated, it is determined that the object recognition condition does not meet the specified conditions.

Images