Driving assistance devices

Abstract

The driving assistance device (10) implements driving assistance for the vehicle (40) based on object information around the vehicle, and comprises: a stopping factor determination unit (11) for determining whether the stopping factor of the vehicle has been released based on object information of objects (41, 42, 43) identified as stopping factors of the vehicle; an obstruction object determination unit (12) for determining the presence of an obstruction object (50) that hinders the starting of the vehicle based on object information of other objects identified as not stopping factors; and a report determination unit (13) for setting a determination (S103, S113, S121) that the stopping factor determination unit has released the stopping factor as a condition for allowing the implementation of a report urging the starting of the vehicle when the vehicle stops, and even if the stopping factor has been released when the vehicle stops, if the obstruction object determination unit has determined that an obstruction object exists (S104, S114, S122), the implementation of the report urging the starting of the vehicle is suppressed.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Japanese application No. 2020-129542, filed on July 30, 2020, which is hereby incorporated by reference in its entirety. Technical Field

[0003] The present invention relates to a driving assistance device for assisting driving of a vehicle based on information about objects around the vehicle. Background Art

[0004] As described in Patent Document 1, a driving assistance device is known that reports that the vehicle can start due to a change in the signal light, etc., while the vehicle is stopped at a signal. To avoid driver discomfort caused by reporting a signal light change even when the driver intentionally fails to observe the signal light, the driving assistance device of Patent Document 1 determines whether to report a signal light change based on information such as the presence of a passenger in the passenger seat, steering wheel grip detection information, whether the driver is observing the signal light, and the presence of vehicles behind the vehicle.

[0005] Patent Document 1: Japanese Patent No. 4438583

[0006] As described in Patent Document 1, if the warning light's indication changes from "no start" to "yes start," and the vehicle starts in response to the warning, there is a risk of a dangerous collision with an object between the light and the vehicle. The technology in Patent Document 1 considers information deemed useful for avoiding driver discomfort during the warning process, but does not consider information regarding objects that could hinder the vehicle's safe start. Summary of the Invention

[0007] In view of the above, an object of the present disclosure is to provide a driving assistance device capable of issuing a notification urging the start of the vehicle in consideration of safety.

[0008] The present disclosure provides first and second driving assistance devices for providing driving assistance to a vehicle based on information about objects surrounding the vehicle. The first driving assistance device includes: a stopping factor determination unit for determining whether the stopping factor of the vehicle has been removed based on object information of an object identified as a stopping factor; an obstruction determination unit for determining the presence of an obstruction that prevents the vehicle from starting based on object information of another object identified as not being the stopping factor; and a notification determination unit for setting a determination by the stopping factor determination unit that the stopping factor has been removed as a condition for permitting the issuance of a notification urging the vehicle to start when the vehicle is stopped, and for suppressing the issuance of the notification urging the vehicle to start when the obstruction determination unit determines the presence of the obstruction even if the stopping factor has been removed when the vehicle is stopped.

[0009] In the first driving assistance device disclosed herein, a notification determination unit sets a determination by the stopping factor determination unit that a stopping factor has been removed as a condition for permitting the implementation of a notification urging the vehicle to start when the vehicle is stopped. Furthermore, the first driving assistance device includes an obstruction determination unit that can determine the presence of an obstruction that impedes the vehicle's start based on object information identified as other objects that are not stopping factors. Furthermore, even if the notification determination unit determines that a stopping factor has been removed when the vehicle is stopped, if the obstruction determination unit determines that an obstruction exists, the notification urging the vehicle to start is suppressed. According to the first driving assistance device, even if the conditions for permitting the implementation of a notification urging the vehicle to start are met, the implementation of a notification urging the vehicle to start can be suppressed if, based on the determination result of the obstruction determination unit, there is concern about the safe start of the vehicle. Therefore, it is possible to implement a notification urging the vehicle to start that takes safety into consideration.

[0010] In addition, the second driving assistance device provided by the present disclosure includes: a stopping factor determination unit, which determines the removal of the stopping factor of the above-mentioned vehicle based on object information of an object identified as the stopping factor of the above-mentioned vehicle; an obstruction object determination unit, which determines the presence of an obstruction object that hinders the starting of the above-mentioned vehicle based on object information of other objects identified as not being the above-mentioned stopping factor; and a report determination unit, which sets a determination by the above-mentioned stopping factor determination unit that the stopping factor has been removed as a condition for permitting the implementation of a report urging the starting of the above-mentioned vehicle when the above-mentioned vehicle is stopped, and even if the above-mentioned stopping factor has been removed when the above-mentioned vehicle is stopped, if the above-mentioned obstruction object is determined to be present by the above-mentioned obstruction object determination unit, the implementation of the report urging the starting of the above-mentioned vehicle is retained for a prescribed retention time, and if the presence of the obstruction object is eliminated and the stopping factor is removed during the period until the above-mentioned retention time has passed, the report is implemented.

[0011] The second driving assistance device allows for the issuance of a notification urging the vehicle to start even when the conditions for permitting the issuance of a notification urging the vehicle to start are met, but if the obstacle determination unit determines that the vehicle's safe start is unsafe, the issuance of the notification urging the vehicle to start can be withheld. This allows for the issuance of a notification urging the vehicle to start while taking safety into consideration. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above-mentioned object and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings.

[0013] Figure 1 1 is a diagram showing various components of a driving assistance system including a driving assistance device mounted on a vehicle according to a first embodiment.

[0014] Figure 2 is a flowchart of the report determination process of the first embodiment.

[0015] Figure 3 FIG. 1 is a diagram illustrating the stopping factors and obstruction object determination recognized by the preceding vehicle determination unit.

[0016] Figure 4 FIG. 1 is a diagram illustrating the determination of stopping factors and obstructing objects recognized by the signal determination unit.

[0017] Figure 5 This figure explains the stopping factors and obstruction object determination recognized by the crossing determination unit.

[0018] Figure 6 is a detailed flowchart of the obstructing object determination process of the second embodiment.

[0019] Figure 7 FIG. 1 is a diagram showing an example of setting an obstacle detection area based on driving information of the vehicle.

[0020] Figure 8 FIG. 1 is a diagram showing an example of setting an obstacle detection area based on the road information of the vehicle.

[0021] Figure 9 FIG. 1 is a diagram illustrating an obstructing object determination for an object moving outside an obstructing object detection area.

[0022] Figure 10 is a diagram illustrating an example of a non-obstructing object detected in an obstructing object detection area.

[0023] Figure 11 is a diagram illustrating an example of a non-obstructing object detected in an obstructing object detection area.

[0024] Figure 12FIG. 1 is a diagram illustrating the determination of releasing the stopping factor when the preceding vehicle identified as the stopping factor is closer than the signal.

[0025] Figure 13 This is a diagram illustrating a case where, in addition to the signal recognized as a stopping factor, information indicating the possibility of a vehicle intruding into the road on which the vehicle is traveling is obtained on the vehicle side.

[0026] Figure 14 FIG. 1 is a diagram illustrating the determination of releasing the stopping factor when the signal recognized as the stopping factor is closer than the preceding vehicle.

[0027] Figure 15 FIG. 1 is a diagram showing a setting example of an obstructing object detection area according to a modified example.

[0028] Figure 16 This is a flowchart of the report determination process of the modification example. DETAILED DESCRIPTION

[0029] (First embodiment)

[0030] exist Figure 1 The driving support system of this embodiment is mounted on a vehicle and includes an ECU 10 , a sensor group 20 , and a notification device 30 .

[0031] The sensor group 20 includes a camera sensor 21 , a radar sensor 22 , a steering angle sensor 23 , a yaw rate sensor 24 , and a GNSS receiver 25 .

[0032] The camera sensor 21 and radar sensor 22 are examples of object detection sensors that acquire information about the vehicle's surroundings. Other object detection sensors, such as ultrasonic sensors and LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), can also be used.

[0033] The camera sensor 21 can be, for example, a single-lens camera such as a CCD camera, a CMOS image sensor, or a near-infrared camera, or a stereo camera. Only one camera sensor 21 can be provided in the vehicle, or multiple cameras can be provided. The camera sensor 21 is installed, for example, at a specified height in the center of the vehicle in the width direction, and captures an area extending in a specified angle range toward the front of the vehicle from a bird's-eye viewpoint. The camera sensor 21 extracts feature points representing the existence of objects in the captured image. Specifically, edge points are extracted based on the brightness information of the captured image, and the extracted edge points are subjected to a Hough transform. In the Hough transform, for example, points on a straight line where multiple edge points are arranged continuously, and points where the straight lines are orthogonal to each other are extracted as feature points. The camera sensor 21 outputs the captured images sequentially as sensing information to the ECU 10 in sequence.

[0034] The radar sensor 22 is, for example, a well-known millimeter wave radar that uses a high-frequency signal in the millimeter wave band as a transmission wave. Only one radar sensor 22 may be provided in the vehicle, or multiple radar sensors may be provided. The radar sensor 22 is, for example, provided at the front end of the vehicle, and uses the area within the specified detection angle as the detection range in which object detection can be performed, and detects the position of the object within the detection range. Specifically, the detection wave is transmitted at a specified period, and the reflected wave is received by multiple antennas. The distance to the object can be calculated based on the transmission time of the detection wave and the reception time of the reflected wave. In addition, the relative speed can be calculated based on the frequency of the reflected wave reflected by the object that changes due to the Doppler effect. In addition, the direction of the object can be calculated based on the phase difference of the reflected waves received by multiple antennas. In addition, if the position and direction of the object can be calculated, the relative position of the object with respect to the vehicle can be determined.

[0035] A sensor that transmits detection waves, such as the radar sensor 22 , a millimeter-wave radar, sonar, or LIDAR, sequentially outputs scanning results based on reception signals obtained when receiving reflected waves reflected by obstacles to the ECU 10 as sensing information.

[0036] The various object detection sensors mentioned above are not limited to objects in front of the vehicle, but can also detect objects behind or to the side of the vehicle and use them as position information. In addition, the target object to be monitored can be changed according to the type of object detection sensor used. For example, when the camera sensor 21 is used, it is preferred to use stationary objects such as road signs and buildings as the target objects. In addition, when the radar sensor 22 is used, it is preferred to use objects with large reflection power as the target objects. In addition, the object detection sensor to be used can also be selected according to the type, position, and moving speed of the target object. In addition, the object detection sensor to be used can be any sensor device that can obtain the surrounding information and position information of the vehicle by detecting objects around the vehicle, and is not limited to the above-mentioned object detection sensors.

[0037] The steering angle sensor 23 is mounted on a steering column of the vehicle, for example, and outputs a steering angle signal corresponding to changes in the steering angle of the steering wheel as the driver operates the steering wheel to the ECU 10. The yaw rate sensor 24 outputs a yaw rate signal corresponding to the speed of change in the steering amount of the vehicle to the ECU 10.

[0038] The GNSS receiver 25 is a device capable of receiving GNSS (Global Navigation Satellite System) signals. It is capable of receiving positioning signals from a satellite positioning system that uses artificial satellites to determine the current position on the ground. An example of the GNSS receiver 25 is a GPS receiver that receives GPS signals from GPS satellites to calculate the vehicle's position information. The GNSS receiver 25 receives positioning signals at a predetermined interval. Based on the received positioning signals, etc., the vehicle's position information can be calculated. By sequentially receiving positioning signals through the GNSS receiver 25, the vehicle's position can be sequentially measured.

[0039] The notification device 30 operates based on control commands from the ECU 10. The notification device 30 may also be configured to operate based on the driver's operational input. In this case, the driver's operational input may be appropriately processed by the ECU 10 and then input into the notification device 30 as a control command to the ECU 10.

[0040] The notification device 30 is a device for providing an auditory or visual notification to the driver, etc., and may be, for example, a speaker, buzzer, or display located within the vehicle cabin. The notification device 30 is configured to notify the driver of a vehicle start by emitting an alarm sound or displaying an alarm message based on a control command from the ECU 10.

[0041] The ECU 10 includes a stopping factor determination unit 11, an obstructing object determination unit 12, and a notification determination unit 13. The stopping factor determination unit 11 determines whether the stopping factor of the vehicle has been removed based on object information of an object identified as a stopping factor. The obstructing object determination unit 12 determines the presence of an obstructing object that hinders the vehicle's start based on object information of other objects identified as non-stop factors. The notification determination unit 13 is configured to refer to the determination results of the stopping factor determination unit 11 and the obstructing object determination unit 12 and, based on these determination results, determine whether a notification urging the vehicle to start should be issued.

[0042] The ECU 10 includes a CPU, ROM, RAM, and I / O. These functions are achieved by the CPU executing programs installed in the ROM. Thus, the ECU 10 generates control commands based on information acquired from the sensor group 20 and outputs them to the reporting device 30, thereby functioning as a driving assistance device that assists the vehicle.

[0043] The stopping factor determination unit 11 determines whether a detected object is a stopping factor based on the object's type, position, speed, state, etc. The stopping factor determination unit 11 includes a preceding vehicle determination unit 14 , a signal determination unit 15 , and a road crossing determination unit 16 .

[0044] The preceding vehicle determination unit 14 identifies a preceding vehicle as a stopping factor and determines whether the stopping factor has been removed based on the object information of the preceding vehicle. For example, if the object detected in the direction of travel of the preceding vehicle is a vehicle, and if the preceding vehicle determination unit 14 determines, based on its position and speed, that the vehicle is a possible stopping factor for the preceding vehicle 40, it identifies the vehicle as the preceding vehicle that is the stopping factor. Furthermore, if the object information of the preceding vehicle identified as a stopping factor changes, indicating that it is no longer a stopping factor, the preceding vehicle determination unit 14 determines that the stopping factor has been removed.

[0045] The signal determination unit 15 identifies a traffic light in the vehicle's travel direction as a stopping factor and determines whether the stopping factor has been removed based on the object information of the traffic light. For example, if the type of object detected in the vehicle's travel direction is a traffic light, the signal determination unit 15 identifies the traffic light as a stopping factor if, based on the location of the traffic light and the state of the signal displayed, the traffic light is determined to be a possible stopping factor for the vehicle 40. Furthermore, if the object information of the traffic light identified as a stopping factor changes, indicating that it is no longer a stopping factor, the signal determination unit 15 determines that the stopping factor has been removed.

[0046] The road crossing determination unit 16 identifies a road crossing in the vehicle's travel direction as a stopping factor and determines whether the stopping factor has been removed based on the object information at the road crossing. For example, if the type of object detected in the vehicle's travel direction is a road crossing, and if the road crossing's location, barrier, or alarm status indicate that the crossing is a possible stopping factor for the vehicle 40, the road crossing determination unit 16 identifies the crossing as a stopping factor. Furthermore, if the object information at the crossing identified as a stopping factor changes, indicating that it is unlikely to be a stopping factor, the determination that the stopping factor has been removed is made.

[0047] Basically, the stopping factor determination unit 11 determines whether to remove a stopping factor based on the results of the determinations regarding the removal of the stopping factor performed by the preceding vehicle determination unit 14, the signal determination unit 15, and the road crossing determination unit 16. The stopping factor determination unit 11 may determine that the stopping factor has been removed based on the absence of any non-removed stopping factors in any of the preceding vehicle determination unit 14, the signal determination unit 15, and the road crossing determination unit 16. Alternatively, the stopping factor determination unit 11 may prioritize the determination results of the preceding vehicle determination unit 14, the signal determination unit 15, and the road crossing determination unit 16 and use the priority determination result as the determination result. Furthermore, the stopping factor determination unit 11 may determine not to remove a stopping factor under predetermined conditions, regardless of the results of the determinations regarding the removal of the stopping factor performed by the preceding vehicle determination unit 14, the signal determination unit 15, and the road crossing determination unit 16.

[0048] The obstructing object determination unit 12 includes an object recognition unit 17 , a detection area setting unit 18 , and an obstructing object detection unit 19 .

[0049] The object recognition unit 17 performs object recognition based on information about objects around the vehicle acquired from the camera sensor 21 and the radar sensor 22. Specifically, the object recognition unit 17 uses feature points acquired from the camera sensor 21 and object position information acquired from the radar sensor 22 to identify the presence of an object at that location. Furthermore, the object recognition unit 17 associates the relative position and relative speed of each object with respect to the vehicle. Based on these associated relative positions and speeds, the object recognition unit 17 calculates the lateral speed (in a direction perpendicular to the vehicle's direction of travel) and the longitudinal speed (in the direction of travel). Furthermore, the object recognition unit 17 determines the type of detected object based on image information acquired from the camera sensor 21 and pre-prepared dictionary information for object recognition.

[0050] The detection area setting unit 18 sets an obstructing object detection area for detecting obstructing objects based on the potential for collision between the vehicle and objects surrounding the vehicle. Preferably, the detection area setting unit 18 is configured to set the obstructing object detection area based on at least one of driving information indicating the vehicle's driving state, road information regarding the road on which the vehicle is traveling, and object information regarding objects identified as stopping factors. By setting the obstructing object detection area based on this information, the obstructing object detection area can be appropriately set according to the conditions of the vehicle and its surroundings.

[0051] If the obstructing object detection unit 19 detects another object within the obstructing object detection area that is not identified as a stopping factor, it determines that an obstructing object is present. By limiting the detection of obstructing objects to the obstructing object detection area, the burden on the obstructing object detection process can be reduced, and decisions related to reporting can be made more quickly. Alternatively, the obstructing object detection unit 19 can determine, based on its position, movement, or speed, whether an object detected outside the obstructing object detection area is likely to have entered the obstructing object detection area. Furthermore, the obstructing object detection unit 19 can determine that an obstructing object is present if it detects an object that is likely to have entered the obstructing object detection area.

[0052] The notification determination unit 13 sets the conditions for permitting the issuance of a notification urging the vehicle to start when the vehicle is stopped, namely, that the stopping factor determination unit 11 determines that the stopping factor has been removed, and that the obstruction determination unit 12 does not determine that an obstruction is present. If the stopping factor determination unit 11 determines that the stopping factor has been removed, and the obstruction determination unit 12 does not determine that an obstruction is present, the notification determination unit 13 issues a notification without suppressing it. In this case, the notification determination unit 13 outputs a control command to the notification device 30 to issue a normal notification, and the notification device 30 issues a normal notification.

[0053] Even if it is determined that the stopping factor is released when the vehicle stops, the report determination unit 13 suppresses the implementation of the report to urge the vehicle to start when the obstruction determination unit 12 determines that there is an obstruction. The suppression of the implementation of the report refers to the concept of reducing the degree of the report compared with the usual level, such as reducing the report sound, reducing the number of units when there are multiple reporting units, and stopping the execution of the report. In addition, in this specification, etc., the suppression of the implementation of the report is sometimes omitted as simply the suppression of the report. In addition, the report determination unit 13 can also be configured to be able to perform the process of retaining the implementation of the report before the process of implementing or suppressing the report. In addition, in this specification, etc., the retention of the implementation of the report is sometimes omitted as simply the retention of the report. The report determination unit 13 can be configured to output a control signal to the reporting device 30 to suppress the implementation of the report, or can be configured not to output a control instruction to the reporting device 30 when the report is not implemented.

[0054] exist Figure 2 This is a flowchart showing the report determination process executed by the ECU 10. Figure 2 The processing shown.

[0055] First, as shown in step S101, it is determined whether the vehicle is stopped. If it is stopped, the process proceeds to step S102. If it is not stopped, the process ends.

[0056] In step S102 , based on the object information around the vehicle acquired from the camera sensor 21 and the radar sensor 22 , it is determined whether or not there is a preceding vehicle recognized as a stopping factor.

[0057] like Figure 3 As shown, if vehicle 40 is traveling in lane S1 between white lines WL and WC in the positive direction of the y-axis, and there is a preceding vehicle 41 stopped in lane S1 in the direction of travel of vehicle 40 (the positive direction of the y-axis), it can be estimated that vehicle 40 stopped due to the presence of preceding vehicle 41 stopped in the direction of travel of lane S1. Therefore, preceding vehicle 41 is identified as a stopping factor. As a result, a positive determination is made in step S102, and the process proceeds to step S103. If there is no preceding vehicle 41 identified as a stopping factor, a negative determination is made in step S102, and the process proceeds to step S110.

[0058] In step S103, it is determined whether the preceding vehicle identified as a stopping factor in step S102 has been released from the situation of being a stopping factor. Figure 3If the preceding vehicle 41 identified as a stopping factor starts moving, the preceding vehicle 41 is no longer considered a stopping factor. Consequently, a positive determination is made in step S103, and the process proceeds to step S104. For example, if the preceding vehicle 41 identified as a stopping factor continues to stop and is not considered a stopping factor, a negative determination is made in step S103, and the process is repeated until a positive determination is reached.

[0059] In step S104, it is determined whether there is an obstructing object that prevents the vehicle from starting. Figure 3 As shown, in lane S1, the area between the rear end (end in the negative direction of the y-axis) position y1 of the preceding vehicle 41 and the front end (end in the positive direction of the y-axis) position y0 of the host vehicle 40 is set as the obstruction object detection area A1. Then, it is determined whether there is an object in the obstruction object detection area A1. If an obstruction object 50 (at Figure 3 If the obstructing object is detected in the obstructing object detection area A1, a negative determination is made in step S104, and the process proceeds to step S106. In step S106, a determination is made to issue a notification, and the process ends.

[0060] In step S110 , based on the object information around the vehicle acquired from the camera sensor 21 and the radar sensor 22 , it is determined whether or not there is a traffic light recognized as a stopping factor.

[0061] like Figure 4 As shown, if vehicle 40 is traveling in lane S1 in the positive direction of the y-axis, and a traffic light 42 indicating a stop signal (e.g., a red light) is present in the direction of travel of vehicle 40 relative to vehicles traveling in lane S1, it can be estimated that vehicle 40 stopped due to traffic light 42 indicating a stop signal. Therefore, traffic light 42 is identified as a stopping factor. As a result, a positive determination is made in step S110, and the process proceeds to step S111. If traffic light 42 is not present, a negative determination is made in step S110, and the process proceeds to step S120.

[0062] In step S111, it is determined whether there is a vehicle in front of the signal light identified as the stop factor. Figure 4Whether there is a vehicle closer to the host vehicle 40 than the position y2 immediately before the signal light 42 (the position in the negative direction of the y-axis) is shown in step S111. In step S111, the situation is not limited to the case where there is a vehicle in lane S1. Even if there is a vehicle on the left side of the host vehicle 40 (in the negative direction of the x-axis) in lane S2 between white lines WC and WR, it is determined that there is a vehicle immediately before the signal light 42 identified as the stopping factor, and an affirmative determination is made in step S111.

[0063] If a positive determination is made in step S111, the process proceeds to step S112, where a determination is made as to whether the notification is to be suppressed, and the process ends. If a negative determination is made in step S111, the process proceeds to step S113.

[0064] In step S113, a determination is made as to whether the preceding vehicle, identified as a stopping factor in step S110, has been released from being a stopping factor. If the signal indicated by traffic light 42 changes from a stop signal to a permissive signal (e.g., green), traffic light 42 is no longer a stopping factor. As a result, a positive determination is made in step S113, and the process proceeds to step S114. For example, if traffic light 42, identified as a stopping factor, has not been released from being a stopping factor due to, for example, maintaining a stop signal, a negative determination is made in step S113, and step S113 is repeated until a positive determination is made.

[0065] In step S114, it is determined whether there is an obstructing object that prevents the vehicle from starting. Figure 4 As shown, in lane S1, the area between the near front position y2 of the signal light 42 and the front end position y0 of the vehicle 40 is set as the obstruction object detection area A2. Then, it is determined whether there is an object in the obstruction object detection area A2. If an obstruction object 50 is detected in the obstruction object detection area A2 ( Figure 4 If the obstructing object is detected in the obstructing object detection area A2, a negative determination is made in step S114, and the process proceeds to step S116. In step S116, a determination is made to issue a notification, and the process ends.

[0066] In step S120 , based on the object information around the vehicle acquired from the camera sensor 21 and the radar sensor 22 , it is determined whether or not there is a road junction for which the decision to cancel the stopping factor has been made.

[0067] like Figure 5As shown, when the vehicle 40 is traveling in the positive direction of the y-axis on the lane S1, if there is a road crossing 43 indicating a stop signal (for example, a state where the blocking bar is lowered) for the vehicle traveling in the lane S1 in the direction of travel of the vehicle 40, it can be estimated that the vehicle 40 stopped due to the road crossing 43 indicating a stop signal. Therefore, the road crossing 43 is identified as a stopping factor. As a result, a positive judgment is made in step S120, and the process proceeds to step S121. In the case where there is no road crossing 43 identified as a stopping factor, a negative judgment is made in step S120, and the process proceeds to step S124. In step S124, a judgment is made on the purpose of implementing the report, and the process ends.

[0068] In step S121, it is determined whether the intersection identified as a stop factor in step S120 has been released from the state of being a stop factor. Figure 5 If the signal indicated by crossing 43 changes from a stop signal to a permission signal (for example, when the barrier is raised), crossing 43 is no longer considered a stop factor. As a result, a positive determination is made in step S121, and the process proceeds to step S122. If crossing 43, identified as a stop factor, has not been considered a stop factor due to, for example, maintaining a stop signal, a negative determination is made in step S121, and step S121 is repeated until a positive determination is reached.

[0069] In step S122, it is determined whether there is an obstructing object that prevents the vehicle from starting. Figure 5 As shown, in lane S1, the area between the near front position y3 of the intersection 43 and the front end position y0 of the vehicle 40 is set as the obstruction object detection area A3. Then, it is determined whether there is an object in the obstruction object detection area A3. Figure 5 If the obstructing object is detected in the obstructing object detection area A3, a negative determination is made in step S123, and the process proceeds to step S124. In step S124, a determination is made to issue a notification, and the process ends.

[0070] As described above, the ECU 10 determines that the stopping factor has been removed, as shown in steps S103, S113, and S121, as a condition for permitting the issuance of a notification urging the vehicle 40 to start when the vehicle 40 is stopped. Furthermore, the ECU 10 can determine the presence of an obstructing object 50 that is hindering the start of the vehicle 40, based on object information identified as other objects that are not stopping factors, as shown in steps S104, S114, and S122. Furthermore, even if the stopping factor has been removed, as shown in steps S103, S113, and S121, if the obstructing object 50 is determined to be present, as shown in steps S104, S114, and S122, the issuance of the notification urging the vehicle 40 to start is suppressed. Specifically, for example, the ECU 10 determines that the notification indicating that the vehicle 40 is ready to start is not issued. Even when the conditions for permitting the issuance of a notification urging the vehicle 40 to start are met, the ECU 10 can suppress the issuance of the notification urging the vehicle 40 to start if there is a concern about the safe start of the vehicle 40 due to the presence of an obstacle 50. Therefore, the notification urging the vehicle 40 to start can be issued with safety in mind.

[0071] Furthermore, as shown in steps S102, S110, and S120, ECU 10 is configured to identify a preceding vehicle 41 of vehicle 40, a traffic light 42, or a road crossing 43 in the direction of travel of vehicle 40, as stopping factors. Furthermore, based on the position of vehicle 40 and the positions of preceding vehicle 41, traffic light 42, or road crossing 43 identified as stopping factors, obstruction detection areas A1, A2, and A3 are respectively set within lane S1 in which vehicle 40 is traveling. Furthermore, if an obstruction 50 is identified within obstruction detection areas A1, A2, or A3, notification is suppressed. This avoids suppressing notifications due to detection of objects with a low probability of obstructing the vehicle 40's start, such as stationary objects located far from vehicle 40, and allows for appropriate selection of the suppression and implementation of notifications.

[0072] Furthermore, if, as shown in step S110, the ECU 10 identifies the signal light 42 as a stopping factor, and, as shown in step S111, receives information indicating the possibility of a vehicle intruding into lane S1 in which the vehicle 40 is traveling, closer to the signal light 42 than the vehicle 40, the ECU 10 does not proceed with the determination of whether the signal light 42 should be removed as a stopping factor, but rather determines not to remove the stopping factor and suppresses the notification. Therefore, for example, if the driver of the vehicle 40 visually recognizes a vehicle intruding into lane S1 from a side street, etc., regardless of the signal indicated by the signal light 42, and is waiting, the ECU 10 can decide not to issue a notification indicating that the vehicle 40 is ready to start. This results in a less uncomfortable feeling for the driver and a safety-conscious notification urging the vehicle 40 to start.

[0073] (Second embodiment)

[0074] In the first embodiment, the ECU 10 is exemplified as follows: Figures 3-5 As shown, obstructing object detection areas A1, A2, and A3 are set within lane S1 in which vehicle 40 is traveling based on position y0 of vehicle 40 and positions y1, y2, and y3 of preceding vehicle 41, signal light 42, or intersection 43 identified as a stopping factor. However, the present invention is not limited to this. Obstructing object detection areas may also be set based on information other than information about an object identified as a stopping factor.

[0075] As shown in the second embodiment, the detection area setting unit 18 can appropriately set the obstruction detection area based on driving information indicating the driving state of the vehicle, road information regarding the road on which the vehicle is traveling, object information regarding the object identified as a stopping factor, etc. Furthermore, the obstruction detection unit 19 can be configured to detect as an obstruction an object that is detected outside the obstruction detection area and that has the potential to intrude into the obstruction detection area.

[0076] exist Figure 6 A flowchart of the obstruction object detection process of the second embodiment is shown. Figure 6 In addition, Figure 6 The process shown can be applied to Figure 2 Each process of steps S104, S114, and S122 shown in FIG. Figure 1 The process is executed in the ECU 10 shown.

[0077] In step S201 , the ECU 10 acquires driving information of the driving state of the vehicle, road information of the road on which the vehicle is traveling, and object information of an object recognized as a stopping factor, and proceeds to step S202 .

[0078] In step S202, based on at least one of the driving information, road information, and object information acquired in step S201, a first detection area and a second detection area are set. The first detection area corresponds to the obstructing object detection area. The second detection area is set around the first detection area. The process then proceeds to step S203.

[0079] For example, the first detection area may be set using at least one of the steering angle information and the yaw rate information obtained as the driving information of the vehicle. The steering angle information can be obtained from the steering angle sensor 23, and the yaw rate information can be obtained from the yaw rate sensor 24. Figure 7As shown by the arrow R, when the vehicle 40 takes a non-straight route relative to the current lane S1 by steering, the first detection area A4 is set using the steering angle of the vehicle 40 obtained from the steering angle sensor 23.

[0080] In addition, for example, the first detection area may be set using at least one of white line information, road shape information, and map information obtained as road information of the road on which the vehicle is traveling. The white line information and road shape information can be obtained from the camera sensor 21, and the map information can be obtained from the GNSS receiving device 25. For example, Figure 8 As shown, at the point where the white lines WL and WC curve to the right and the lane S1 becomes a right-hand curve, a first detection area A5 is set along the lane S1 regardless of the current direction of the vehicle 40. Figure 7 、 8 As shown, by setting the first detection area based on the driving information and the road information, it is possible to set an appropriate obstacle detection area corresponding to the future route of the vehicle 40 .

[0081] Furthermore, in step S202, a second detection area is set outside the obstructing object detection area for detecting objects that may intrude into the obstructing object detection area. Figure 9 As shown, in addition to the first detection area A2, a second detection area A22 is set. Figure 9 The vehicle 40, traffic light 42, lane S1, etc. are shown in FIG. Figure 4 same, Figure 9 The first detection area A2 shown is equivalent to Figure 4 The obstruction object detection area A2 is shown. Figure 9 As shown, the second detection area A22 is set outside the first detection area A2, adjacent to the first detection area A2 in both the x-axis and y-axis directions. It is configured to surround the outer perimeter of the first detection area A2. The second detection area A22 is configured to extend wider in the x-axis direction than in the y-axis direction relative to the first detection area A2. After setting the detection areas in step S202, the process proceeds to step S203.

[0082] In steps S203 to S210, objects detected within the first detection area are determined. First, in step S203, it is determined whether an object is detected within the first detection area. If an object is detected within the first detection area, the process proceeds to step S204. If no object is detected within the first detection area, the process proceeds to step S211.

[0083] In step S204, the object type is determined based on the object information obtained for the detected object to determine whether the object type has been determined. Specifically, the type of the detected object is determined based on the image information obtained from the camera sensor 21 and pre-prepared dictionary information for object identification. If the object type has been determined, the process proceeds to step S205. If the object type has not been determined, the process proceeds to step S208.

[0084] In step S205, a determination is made as to whether the type of object determined in step S204 corresponds to an obstructing object. For example, if the object detected in step S203 is identified in step S204 as a pedestrian, vehicle (including four-wheeled vehicles, two-wheeled vehicles, etc.), or bicycle, then it is determined to be an obstructing object in step S205, and the process proceeds to step S206, where it is determined to be "obstructing object present," and the process ends.

[0085] For example, in step S204, the object detected in step S203 is identified as Figure 10 As shown, the manhole 52 is provided in the lane S1. Figure 11 In the case of a guardrail 53 installed on the shoulder of the left side of lane S1 (on the side of white line WL), it is determined in step S205 that it is not an obstructing object, and the process proceeds to step S207 where it is determined that "there is no obstructing object." The processing in step S203 is useful in situations where object information detected by the camera sensor 21 cannot be utilized. In particular, it can prevent unnecessary identification of metal structures easily detected by the radar sensor 22, such as manholes 52 and guardrails 53, as obstructing objects.

[0086] On the other hand, in step S208, it is determined whether the movement amount M1 of the object whose type cannot be identified in step S204 exceeds the prescribed movement amount threshold Mth1. For example, based on the object information obtained from the camera sensor 21 and the radar sensor 22, the relative speed in the direction perpendicular to the direction of travel of the vehicle, that is, the lateral speed, and the relative speed in the direction of travel of the vehicle, that is, the longitudinal speed, can be calculated for each object, and the movement amount M1 can be calculated based on the lateral speed and the longitudinal speed. The movement amount threshold Mth1 can be set to, for example, about zero. In this case, in step S208, it can be determined whether the object whose type cannot be identified can be regarded as a stationary object. In the case of M1>Mth1, step S209 is entered to determine that "there is an obstructing object", and the processing is terminated. In the case of M1≤Mth1, step S210 is entered to determine that "there is no obstructing object", and the processing is terminated. According to steps S208 to S210, when the object whose type cannot be identified can be regarded as a stationary object, it can be processed as an object that does not correspond to an obstructing object. Specifically, it can be Figure 10As shown, the manhole 52 is provided in the lane S1. Figure 11 As shown, a stationary object such as the guardrail 53 provided on the shoulder of the road on the left side (white line WL side) of the lane S1 is handled as an object that does not correspond to an obstruction object.

[0087] In steps S211 to S214, the objects detected in the second detection area are determined. First, in step S211, it is determined whether an object is detected in the second detection area. For example, Figure 9 As shown, the object 51 is detected in the second detection area A22 ( Figure 9 If a pedestrian is detected in the second detection area, the process proceeds to step S212. If no object is detected in the second detection area A22, the process proceeds to step S214 and determines that there is no obstructing object.

[0088] In step S212, a determination is made as to whether the movement amount M2 of the object detected within the second detection area in step S211 exceeds a predetermined movement amount threshold Mth2. Movement amount M2, like movement amount M1, can be calculated based on, for example, object information acquired from the camera sensor 21 or the radar sensor 22. Movement amount threshold Mth2 can be set to a movement amount sufficient for an object detected within the second detection area to intrude into the first detection area. Movement amount threshold Mth2 can be set to a fixed value or based on, for example, the distance between the object detected within the second detection area and the first detection area.

[0089] For example, in Figure 9In the process, the direction toward the first detection area A2 (positive direction of the x-axis) is set to be positive. The movement amount M2 of the object 51 detected in the negative direction of the x-axis relative to the first detection area A2 is calculated and compared with the movement amount threshold Mth2 which is a positive movement amount. In the case where M2>Mth2, the process proceeds to step S213 to determine that "there is an obstructing object" and ends the process. In the case where M2≤Mth2, the process proceeds to step S214 to determine that "there is no obstructing object" and ends the process. According to steps S211 to S214, when the object 51 is detected in the second detection area A22, when the movement amount M2 of the object 51 is large enough to have the possibility of intruding into the first detection area A2, the object 51 can be treated as an object equivalent to an obstructing object. Therefore, a positive determination is made in the determination of the existence of an obstructing object as shown in steps S104, S114, and S122, and the report is suppressed. As a result, when an object 51 detected outside the obstructing object detection area has the potential to intrude into the obstructing object detection area, notification can be avoided, and a notification urging the vehicle 40 to start can be issued with greater consideration for safety. Furthermore, even when the setting of the obstructing object detection area is not adequately suited to the conditions of the vehicle 40 and its surroundings, consideration of the object 51 detected outside the obstructing object detection area allows for a more reliable, safe, and appropriate selection of whether to issue or suppress a notification.

[0090] Furthermore, in the second embodiment, the determination of whether an object is detected in the second detection area is performed based on the condition that no object is detected in the first detection area. However, the present invention is not limited to this. The determination of whether an object is detected in the second detection area may also be performed regardless of the result of the determination of whether an object is detected in the first detection area.

[0091] Furthermore, in the second embodiment, for objects detected outside the first detection area and within the second detection area, the movement amount M2 is compared with the movement amount threshold Mth2, thereby determining whether an object detected outside the obstructing object detection area is likely to have entered the obstructing object detection area. However, the present invention is not limited to this. Alternatively, the second detection area may not be defined, and the determination of whether an object detected outside the first detection area is likely to have entered the obstructing object detection area may be performed for all objects detected outside the first detection area.

[0092] (Variation)

[0093] The stopping factor determination unit 11 may be configured to comprehensively determine whether to release the stopping factor based on the results of the determinations regarding the release of the stopping factor executed by the preceding vehicle determination unit 14, the signal determination unit 15, and the road crossing determination unit 16. For example, the stopping factor determination unit 11 may be configured to prioritize the determination results of the preceding vehicle determination unit 14, the signal determination unit 15, and the road crossing determination unit 16 based on the positional relationship of the objects identified as stopping factors by the preceding vehicle determination unit 14, the signal determination unit 15, and the road crossing determination unit 16, respectively. The notification determination unit 13 may utilize the prioritized determination result as the determination result of the stopping factor determination unit 11.

[0094] like Figure 12 As shown, the example in which a leading vehicle 41 stops at a position near the front side of a traffic light 42 (closer to the host vehicle 40) and the leading vehicle determination unit 14 recognizes the leading vehicle 41 and the signal determination unit 15 recognizes the traffic light 42 as a stopping factor is specifically described. In this case, the stopping factor determination unit 11 prioritizes the determination result of the leading vehicle determination unit 14 over the determination result of the signal determination unit 15 to determine whether the stopping factor has been removed. Specifically, even if the signal determination unit 15 determines that the stopping factor has been removed, if the leading vehicle determination unit 14 does not determine that the stopping factor has been removed, the stopping factor determination unit 11 determines that the stopping factor has not been removed. In a situation where the leading vehicle 41 near the front does not start even after the traffic light 42 changes to a permission signal, it is inappropriate to start the host vehicle 40. In such a situation, the issuance of an announcement urging the host vehicle 40 to start can be suppressed.

[0095] In addition, if Figure 14 As shown, in Figure 12 Conversely, if the preceding vehicle 41 stops at a position on the inner side of traffic light 42 (away from the host vehicle 40), and the preceding vehicle determination unit 14 identifies the preceding vehicle 41 and the signal determination unit 15 identifies the signal light 42 as a stopping factor, the stopping factor determination unit 11 prioritizes the determination result of the signal determination unit 15 over the determination result of the preceding vehicle determination unit 14 and determines that the stopping factor has been resolved. Specifically, even if the preceding vehicle determination unit 14 determines that the stopping factor has been resolved, if the signal determination unit 15 does not determine that the stopping factor has been resolved, the stopping factor determination unit 11 determines that the stopping factor has not been resolved. Even if the preceding vehicle 41 has not started, the host vehicle 40 can still reach the signal light 42 if the preceding vehicle 41 is located on the inner side of traffic light 42, so starting the host vehicle 40 is appropriate. In this situation, suppressing the notification urging the host vehicle 40 to start can be avoided.

[0096] Furthermore, the stopping factor determination unit 11 may be configured to determine not to cancel the stopping factor under predetermined conditions, regardless of the determination results of canceling the stopping factor executed by the preceding vehicle determination unit 14 , the signal determination unit 15 , and the road crossing determination unit 16 .

[0097] For example, Figure 13 As shown, when there is a possibility that another vehicle 60 may intrude into the lane S1 due to the presence of a branch road S3 merging with the lane S1 on the side of the vehicle 40 compared to the traffic light 42 identified as a stopping factor by the signal determination unit 15, the stopping factor determination unit 11 may be configured to not perform the determination of canceling the stopping factor performed by the preceding vehicle determination unit 14, the signal determination unit 15, and the road crossing determination unit 16 under predetermined conditions, and decide not to cancel the stopping factor. For example, Figure 2 In the flowchart in Figure 13 In step S111, a positive determination is made when there is actually another vehicle 60, as shown in FIG. 6 , and the process proceeds to step S112 to suppress the notification. In addition, although in step S111, a positive determination is made when there is actually another vehicle 60, a positive determination may be made when information indicating the possibility of a vehicle intruding into the lane S1 in which the vehicle 40 is traveling is obtained. For example, a positive determination may be made when only a vehicle 60 is detected. Figure 13 Even if the vehicle 40 is not detected at the intersection S3 shown in FIG4 , a positive determination is made and the notification is suppressed. In addition to the intersection S3, if a store parking lot entrance or exit is detected, this may also be treated as a case where a vehicle may intrude into the lane S1 in which the vehicle 40 is traveling.

[0098] In addition, in each of the above embodiments, as the obstacle detection area, a rectangular area set in the direction of travel (front) of the vehicle 40 is exemplified, but the present invention is not limited thereto. The obstacle detection area can be any area set based on the possibility of collision between the surrounding objects of the vehicle 40 and the vehicle 40. For example, Figure 15 As shown, an elliptical obstruction detection area A7 may be set around the vehicle 40. Like the obstruction detection area A7, it is not limited to the front of the vehicle 40 and may also include the sides and rear. However, since objects in front of the vehicle 40 are more likely to collide with the vehicle 40, it is preferable to set a wider obstruction detection area in front of the vehicle 40 than in the sides and rear. Furthermore, the obstruction detection area may extend beyond the white lines WL and WC that divide the lane S1.

[0099] In addition, Figure 2In the flowchart shown, after the preceding vehicle starts or the signal changes from red to green and the stopping factor is removed, if there is an obstacle in front of the vehicle, the report is suppressed. However, instead of this, after the stopping factor is removed, the vehicle may wait for a certain period of time until the obstacle no longer exists. If the obstacle no longer exists, the report is implemented if the stopping factor remains in the removed state. In this case, the report may be suppressed even if an obstacle still exists after a certain period of time has passed. In addition, the report may be suppressed even if there is no obstacle during the period until a certain period of time has passed, if the stopping factor returns to an unremoved state from a removed state. In addition, the suppression of the implementation of the report refers to the concept of reducing the degree of the report compared to the usual level, such as reducing the reporting sound, reducing the number of reporting units when there are multiple reporting units, and stopping the execution of the report.

[0100] exist Figure 16 The flowchart of the report determination process of the modification example will be described in detail. Figure 16 The report determination process shown is the same as Figure 2 The notification determination process shown is the same and is repeatedly executed in the ECU 10 at a predetermined cycle.

[0101] In steps S301 to S304, Figure 2 Steps S101 to S104 are identical and determine whether the vehicle is stopped, whether there is a preceding vehicle identified as a stopping factor, whether the preceding vehicle has been released from being a stopping factor, and whether there is an obstruction.

[0102] If a positive decision is made in step S304, the process proceeds to step S305, where the execution of the hold report is determined, and then proceeds to step S306. If a negative decision is made in step S304, the process proceeds to step S310, where the Figure 2 The same as step S106 shown above, the purpose of the report is determined, and the processing ends.

[0103] In step S306, it is determined whether the object detected as an obstruction object in step S304 is also an obstruction object at the current stage. Figure 3 If the obstructing object 50 detected within the obstructing object detection area A1 is also detected within the obstructing object detection area A1 at step S306, a positive determination is made in step S306, and the process proceeds to step S307. If the object detected as the obstructing object 50 is detected outside the obstructing object detection area A1 at step S306, a negative determination is made in step S306, and the process proceeds to step S308. Whether there is an obstructing object that would prevent the vehicle from starting is determined.

[0104] In step S307, it is determined whether the hold time HL has passed while the report is being held. Specifically, for example, it is determined whether the time HP elapsed from the start of the hold report exceeds the hold time HL. In addition, the hold time HL refers to the upper limit of the hold time for the report, and can be set according to the state of the vehicle, the state of the surroundings of the vehicle, etc. If the hold time HL has passed (for example, if HP>HL), a positive determination is made in step S307, and the process proceeds to step S309, and the process proceeds to step S309. Figure 2 If the hold time HL has not passed (for example, if HP≤HL), a negative determination is made in step S307, and the process returns to step S305 to continue holding the report.

[0105] In step S308, it is determined whether the preceding vehicle identified as a stopping factor in step S302 and determined to have been released from the situation of being a stopping factor in step S303 is also released from the situation of being a stopping factor at the current stage. Figure 3 In the case where the preceding vehicle 41 starts from a stopped state and the stopping factor is removed, and then the preceding vehicle 41 returns to a stopped state, the preceding vehicle 41 returns from the stopped state to the unresolved state, and a negative determination is made in step S308, and the process proceeds to step S309. If the preceding vehicle 41 continues to travel after starting from a stopped state, and thus remains in a state where the stopping factor is removed, the determination in step S308 is positive, and the process proceeds to step S310.

[0106] according to Figure 16 In the modified example shown, even if it is determined in step S303 that the stopping factor has been resolved when the vehicle 40 stops, as shown in steps S304 and S305, if the obstruction determination unit 12 determines that an obstruction exists, the implementation of the report urging the vehicle to start is retained. Furthermore, as shown in steps S305 to S308 and S310, if it is determined that there is no obstruction until the retention time HL has passed, and if it is determined that the situation of the stopping factor has been resolved, the report is implemented. On the other hand, as shown in steps S305 to S307 and S309, if an obstruction exists even after the retention time HL has passed, the implementation of the report is suppressed. Furthermore, as shown in steps S305 to S309, if there is no obstruction until the retention time HL has passed, the implementation of the report is suppressed if the situation of the stopping factor has not been resolved.

[0107] like Figure 16As shown in the modified example shown, the ECU 10 may also be configured to withhold a notification urging the vehicle 40 to start if there is a concern about the safe start of the vehicle based on the determination result of the obstructing object determination unit 12, and to determine whether to issue or withhold the notification during the withholding time TL. With this configuration, it is also possible to issue a notification urging the vehicle 40 to start, also while taking safety into consideration.

[0108] Furthermore, in step S306, a determination may be made as to whether or not an object other than the object detected as an obstruction in step S304 is an obstruction. Furthermore, in step S308, a determination may be made as to whether or not a stopping factor identified other than the preceding vehicle identified as a stopping factor in step S302 has been released from its status as a stopping factor.

[0109] Furthermore, holding the report for a predetermined holding time HL means that the upper limit of the holding time is the holding time HL. For example, as shown in steps S305 to S310, even if a negative determination is made in step S306 and a positive determination is made in step S308 before the holding time HL has elapsed, the report may still be issued as shown in step S310. Alternatively, the determinations shown in steps S306 and S308 may be made after the holding time HL has elapsed, and the issuance or suppression of the report may be determined.

[0110] In addition, although Figure 16 The variation shown illustrates the application of the retention report process to Figure 2 The case of the report determination processing of identifying the preceding vehicle as the stop factor as shown in steps S102 to S106 is not limited to this. The processing of the hold report can also be applied to Figure 2 The report determination process of recognizing a traffic light or a crossing as a stop factor as shown in steps S110 to S116 and S120 to S124 is performed.

[0111] According to each of the above-described embodiments, the following effects can be obtained.

[0112] The ECU 10 includes a stopping factor determination unit 11 , an obstruction object determination unit 12 , and a notification determination unit 13 , and functions as a driving assistance device that assists driving of the vehicle 40 based on information about objects surrounding the vehicle 40 .

[0113] The stopping factor determination unit 11 determines whether the stopping factor of the vehicle 40 has been resolved based on object information of an object recognized as a stopping factor of the vehicle 40 (eg, a preceding vehicle 41 , a traffic light 42 , a crossing 43 ).

[0114] The obstructing object determination unit 12 determines the presence of an obstructing object (e.g., obstructing object 50) that impedes the start of the host vehicle 40 based on object information regarding other objects identified as non-stopping factors. Furthermore, the notification determination unit 13 sets a determination by the stopping factor determination unit 11 that the stopping factor has been removed as a condition for permitting the issuance of a notification urging the start of the host vehicle 40 when the host vehicle 40 is stopped, as shown in steps S103, S113, and S121, for example. Furthermore, even if the stopping factor has been removed when the host vehicle 40 is stopped, the notification determination unit 13 suppresses the issuance of a notification urging the start of the host vehicle 40 if the obstructing object determination unit 12 determines that an obstructing object is present, as shown in steps S104, S114, and S122, for example. The ECU 10 can suppress the issuance of a notification urging the start of the host vehicle 40 even if the determination result of the stopping factor determination unit 11 satisfies the conditions for permitting the issuance of a notification urging the start of the host vehicle 40, if the determination result of the obstructing object determination unit 12 raises concerns about the safe start of the host vehicle 40. Therefore, it is possible to issue a notification urging the vehicle 40 to start in consideration of safety.

[0115] As shown in ECU 10, stopping factor determination unit 11 preferably includes at least one of preceding vehicle determination unit 14, signal determination unit 15, and road crossing determination unit 16, and more preferably includes preceding vehicle determination unit 14 and signal determination unit 15. Preceding vehicle determination unit 14 identifies preceding vehicle 41 of host vehicle 40 as a stopping factor and determines whether to remove the stopping factor based on object information of preceding vehicle 41. Signal determination unit 15 identifies traffic light 42 in the direction of travel of host vehicle 40 as a stopping factor and determines whether to remove the stopping factor based on object information of traffic light 42. Road crossing determination unit 16 identifies road crossing 43 in the direction of travel of host vehicle 40 as a stopping factor and determines whether to remove the stopping factor based on object information of road crossing 43. In this case, for example, the obstructing object determination unit 12 may also be configured to determine that an obstructing object exists based on object information of objects around the vehicle 40 obtained from an object detection sensor (e.g., a camera sensor 21, a radar sensor 22), when there is another object identified as not a stopping factor between the object identified as a stopping factor and the vehicle.

[0116] Furthermore, as shown in the ECU 10, the obstructing object determination unit 12 may also include a detection area setting unit 18 and an obstructing object detection unit 19. Specifically, the detection area setting unit 18 sets an obstructing object detection area for detecting obstructing objects based on the potential for collision between the vehicle 40 and surrounding objects. In this case, the obstructing object detection unit 19 is preferably configured to determine the presence of an obstructing object if it detects another object that is not a stopping factor within the set obstructing object detection area. By detecting obstructing objects within the obstructing object detection area, the burden of obstructing object detection processing can be reduced, allowing for swifter reporting decisions.

[0117] The detection area setting unit 18 preferably sets the obstructing object detection area based on at least one of driving information indicating the vehicle's driving state, road information regarding the road on which the vehicle is traveling, and object information regarding the object identified as a stopping factor. For example, the detection area setting unit 18 may use at least one of white line information, road shape information, and map information regarding the road on which the vehicle is traveling as the driving information and the road information regarding the vehicle 40.

[0118] The obstructing object detection unit 19 may also be configured to determine that an obstructing object is present when another object 51 detected outside the obstructing object detection area (e.g., the first detection area A2) and identified as not being a stopping factor has the potential to enter the obstructing object detection area. This avoids issuing a notification even though an object 51 detected outside the obstructing object detection area has the potential to enter the obstructing object detection area, and allows for a notification urging the vehicle 40 to start, further taking safety into consideration.

[0119] Furthermore, even if another object that is not a stopping factor is present within the obstruction detection area, the obstruction detection unit 19 may be configured to determine the presence of an obstruction if the amount of movement of the other object exceeds a predetermined movement threshold, even if the type of the other object cannot be identified. Objects that do not constitute obstructions, such as manholes 52 and guardrails 53, can be appropriately excluded.

[0120] Furthermore, the stopping factor determination unit 11 may be configured to comprehensively determine whether to remove a stopping factor. This allows for more appropriate selection of whether to issue or suppress a notification based on the conditions of the vehicle 40 and its surroundings. For example, the stopping factor determination unit 11 may be configured not to remove a stopping factor if, in contrast to the signal light 42 identified as a stopping factor by the signal determination unit 15, the vehicle 40 receives information indicating the possibility of a vehicle (e.g., another vehicle 60) intruding on the road on which the vehicle 40 is traveling.

[0121] Furthermore, for example, the stopping factor determination unit 11 may be configured to prioritize the determination result of the preceding vehicle determination unit 14 over the determination result of the signal determination unit 15 and determine that the stopping factor has been released if the preceding vehicle 41, which has been identified as a stopping factor by the preceding vehicle determination unit 14, is closer to the host vehicle 40 than the traffic light 42, which has been identified as a stopping factor by the signal determination unit 15. Conversely, the stopping factor determination unit 11 may be configured to prioritize the determination result of the signal determination unit 15 over the determination result of the preceding vehicle determination unit 14 and determine that the stopping factor has been released if the traffic light 42, which has been identified as a stopping factor, is closer to the host vehicle 40 than the preceding vehicle 41, which has been identified as a stopping factor.

[0122] The report determination unit 13 may also be configured to be able to perform a process of withholding the implementation of the report before implementing or suppressing the process of the report. For example, the report determination unit 13 may also be configured to, for example, as shown in step S303, even if there is a determination that the stop factor is lifted when the vehicle 40 stops, for example, as shown in steps S304 to S310, when the obstruction determination unit 12 determines that there is an obstruction, withhold the implementation of the report urging the vehicle to start until the prescribed retention time HL, and implement the report when the obstruction disappears and the stop factor is lifted during the period until the retention time HL passes. In this case, the report determination unit 13 may also be configured to suppress the implementation of the report when the obstruction exists even after the retention time HL passes. In addition, the report determination unit 13 may also be configured to suppress the implementation of the report when the stop factor is not lifted even if the obstruction does not exist during the period until the retention time HL passes.

[0123] The control unit and method described in the present disclosure may also be implemented by a dedicated computer provided by a processor programmed to execute one or more functions embodied by a computer program and a memory. Alternatively, the control unit and method described in the present disclosure may also be implemented by a dedicated computer provided by a processor composed of one or more dedicated hardware logic circuits. Alternatively, the control unit and method described in the present disclosure may also be implemented by one or more dedicated computers composed of a combination of a processor programmed to execute one or more functions and a memory and a processor composed of one or more hardware logic circuits. In addition, the computer program may also be stored as an instruction executed by a computer in a non-migratable tangible recording medium that can be read by a computer.

[0124] While the present disclosure is described based on embodiments, it should be understood that the present disclosure is not limited to such embodiments or configurations. Various modifications and variations within the same scope are also encompassed. Furthermore, various combinations and methods, including combinations and methods that include only one element, more elements, or fewer elements, are also encompassed within the scope and spirit of the present disclosure.

Claims

1. A driving assistance device that performs driving assistance for the vehicle based on information about objects around the vehicle, wherein: have: a stopping factor determination unit configured to determine whether to release the stopping factor of the vehicle based on object information of an object identified as a stopping factor of the vehicle, wherein the object identified as a stopping factor of the vehicle includes at least one of a preceding vehicle, a traffic light, and a road crossing; an obstructing object determining unit that determines the presence of an obstructing object that hinders the starting of the vehicle based on object information of another object recognized as not being the stopping factor; and The report determination unit sets the condition that the stopping factor determination unit determines that the stopping factor has been removed as a condition for permitting the implementation of the report urging the starting of the vehicle when the vehicle stops. Even if it is determined that the stopping factor has been removed when the vehicle stops, if the obstruction determination unit determines that the obstruction exists, the implementation of the report urging the starting of the vehicle is retained for a prescribed retention time. During the period until the prescribed retention time has passed, if the existence of the obstruction is eliminated and the stopping factor is removed, the report is implemented.

2. The driving assistance device according to claim 1, wherein: If the obstructing object still exists even after the holding time has elapsed, the notification determination unit refrains from issuing a notification.

3. The driving assistance device according to claim 2, wherein: Even if the obstructing object disappears before the holding time elapses, the notification determination unit refrains from issuing a notification if the stop factor is not resolved.

4. The driving assistance device according to any one of claims 1 to 3, wherein: The stopping factor determination unit includes: a preceding vehicle determination unit that identifies a preceding vehicle of the host vehicle as the stopping factor and determines whether to release the stopping factor based on object information of the preceding vehicle; a signal determination unit that recognizes a signal light existing in the traveling direction of the vehicle as the stopping factor and determines whether the stopping factor is released based on object information of the signal light; as well as a road crossing determination unit that identifies a road crossing existing in the traveling direction of the vehicle as the stopping factor and determines whether to release at least one of the stopping factors based on object information at the road crossing; The obstructing object determination unit determines that the obstructing object exists based on object information of objects around the vehicle acquired from an object detection sensor when another object identified as not being the stopping factor exists between the object identified as the stopping factor and the vehicle.

5. The driving assistance device according to any one of claims 1 to 4, wherein: The above-mentioned obstacle determination unit includes: a detection area setting unit that sets an obstructing object detection area for detecting the obstructing object based on a possibility of collision between the object surrounding the vehicle and the vehicle; as well as The obstructing object detection unit determines that the obstructing object exists when detecting another object recognized as not being the stopping factor within the obstructing object detection area.

6. The driving assistance device according to claim 5, wherein: The detection area setting unit sets the obstructing object detection area based on at least any one of driving information of the driving state of the vehicle, road information of the road on which the vehicle is traveling, and object information of the object recognized as the stopping factor.

7. The driving assistance device according to claim 6, wherein: The detection area setting unit sets the obstacle detection area using at least one of steering angle information and yaw rate information of the vehicle as the driving information.

8. The driving assistance device according to claim 6 or 7, wherein: The detection area setting unit sets the obstacle detection area using at least one of white line information, road shape information, and map information of the road on which the vehicle is traveling as the road information.

9. The driving assistance device according to any one of claims 5 to 8, wherein: The obstructing object detection unit determines that the obstructing object exists when another object detected outside the obstructing object detection area and recognized as not being the stopping factor has a possibility of intruding into the obstructing object detection area.

10. The driving assistance device according to any one of claims 5 to 9, wherein: Even if there are other objects in the obstructing object detection area that are identified as not the above-mentioned stopping factors, if the type of the above-mentioned other objects cannot be identified, the above-mentioned obstructing object detection unit will use the movement amount of the above-mentioned other objects exceeding the prescribed movement amount threshold as a condition to determine that the above-mentioned obstructing object exists.

11. The driving assistance device according to any one of claims 4 to 10, wherein: The stopping factor determination unit includes a signal determination unit that identifies a traffic light in the traveling direction of the vehicle as the stopping factor and determines whether the stopping factor is released based on object information of the traffic light. When information indicating the possibility that the vehicle on the host vehicle side is intruding into the road on which the host vehicle is traveling is obtained compared to the traffic light identified as the stopping factor by the signal determination unit, the stopping factor is not cancelled.

12. The driving assistance device according to any one of claims 4 to 11, wherein: The stopping factor determination unit includes: a preceding vehicle determination unit that identifies a preceding vehicle of the host vehicle as the stopping factor and determines whether to release the stopping factor based on object information of the preceding vehicle; and a signal determination unit that identifies a traffic light in the direction of travel of the host vehicle as the stopping factor and determines whether to release the stopping factor based on object information of the traffic light. When the preceding vehicle identified as the stopping factor by the preceding vehicle determination unit is closer to the vehicle than the traffic light identified as the stopping factor by the signal determination unit, the determination result of the preceding vehicle determination unit is given priority over the determination result of the signal determination unit to determine whether the stopping factor has been released.

13. The driving assistance device according to any one of claims 4 to 11, wherein: The stopping factor determination unit includes: a preceding vehicle determination unit that identifies a preceding vehicle of the host vehicle as the stopping factor and determines whether to release the stopping factor based on object information of the preceding vehicle; and a signal determination unit that identifies a traffic light in the direction of travel of the host vehicle as the stopping factor and determines whether to release the stopping factor based on object information of the traffic light. When the traffic light identified as the stopping factor by the signal determination unit is closer to the vehicle than the preceding vehicle identified as the stopping factor by the preceding vehicle determination unit, the determination result of the signal determination unit is given priority over the determination result of the preceding vehicle determination unit to determine whether the stopping factor has been released.

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