Driver assistance device for a vehicle

Abstract

A control device (30) according to one aspect of the present disclosure includes a vehicle information acquisition unit (32), an obstacle information acquisition unit (34), and an emergency braking detection unit (36). When the host vehicle performs an emergency braking, a warning information transmission unit (38) transmits warning information including the obstacle information to other vehicles. When receiving warning information from other vehicles, an object vehicle determination unit (40) confirms that the other vehicle is the warning target vehicle, a risk level calculation unit (42) determines the cause of the emergency braking of the other vehicle based on the obstacle information, calculates the risk of the host vehicle colliding with the obstacle, and a collision avoidance unit (44) performs collision avoidance control according to the risk level.

Description

[0001] Cross - reference to related applications

[0002] This international application claims priority based on Japanese Patent Application No. 2020 - 170067 filed with the Japan Patent Office on October 7, 2020, and the entire contents of Japanese Patent Application No. 2020 - 170067 are incorporated herein by reference. Technical field

[0003] The present disclosure relates to a driving assistance device for a vehicle suitable for avoiding collisions between a vehicle and other vehicles or obstacles. Background art

[0004] As described in Patent Document 1, there is known a driving assistance device for a vehicle, which is configured to: when the vehicle makes an emergency stop, send a warning message to surrounding vehicles through vehicle - to - vehicle communication, and on the side of the vehicle that receives the warning message, generate an alarm for the occupant or automatically brake the vehicle.

[0005] In this driving assistance device, based on the vehicle speed of the own vehicle, the inclination angle of the driving road, the weather, etc., a detection area for the warning message is set, and warning messages from other vehicles that make an emergency stop within the detection area are selectively acquired, thereby suppressing unnecessary driving assistance.

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2019 - 40441

[0007] However, as a result of the inventors' detailed research, the following problem has been found: in the above - mentioned driving assistance device, each vehicle only sets a detection area for the warning message, so if a danger message is received from another vehicle within the detection area, driving assistance such as alarm generation is always performed.

[0008] That is, in the above - mentioned driving assistance device, if a danger message is obtained from a vehicle within the detection area, driving assistance such as alarm generation is performed without considering the reason for the emergency braking of the vehicle. Therefore, for example, when another vehicle in a different driving lane from the own vehicle makes an emergency stop to avoid an obstacle such as a ball flying from the side of the driving lane of the own vehicle, unnecessary driving assistance is performed although the own vehicle can drive safely. Summary of the invention

[0009] One aspect of the present disclosure desires that in a driving assistance device that performs driving assistance such as alarm generation upon receiving a warning message sent from another vehicle that makes an emergency stop, appropriate driving assistance can be performed according to the reason for the emergency braking of the other vehicle.

[0010] A driving assistance device according to one aspect of the present disclosure is for being mounted on a vehicle to suppress the occurrence of collision accidents.

[0011] The driving assistance device includes a communication device (10), a vehicle information acquisition unit (32), an obstacle information acquisition unit (34), an emergency braking detection unit (36), a warning information transmission unit (38), a target vehicle determination unit (40), a risk calculation unit (42), and a collision avoidance control unit (44).

[0012] Here, the communication device is configured to perform wireless communication with other vehicles, and the vehicle information acquisition unit is configured to acquire vehicle information including the position and speed of the own vehicle.

[0013] Furthermore, the obstacle information acquisition unit is configured to acquire obstacle information including the position and speed of an obstacle that hinders the travel of the host vehicle, and the emergency braking detection unit is configured to detect emergency braking of the host vehicle.

[0014] Then, when the emergency braking detection unit detects emergency braking of the host vehicle, the warning information transmission unit transmits warning information including vehicle information and obstacle information from the communication device to the other vehicle.

[0015] On the other hand, when receiving warning information transmitted from another vehicle via the communication device, the target vehicle determination unit determines whether the other vehicle that transmitted the warning information is a warning target vehicle that is present in the warning target area.

[0016] In other words, the target vehicle determination unit determines whether the other vehicle to which the warning information is sent is present in the warning target area based on the vehicle information of the other vehicle included in the warning information received via the communication device and the vehicle information of the own vehicle acquired by the vehicle information acquisition unit.

[0017] If the target vehicle determination unit determines that the other vehicle to which the warning information is sent is a warning target vehicle existing in the warning target area, the risk calculation unit determines the cause of the emergency braking of the other vehicle based on the vehicle information and obstacle information of the other vehicle included in the warning information.

[0018] For example, the cause of the emergency braking of the other vehicle is determined as described above, such as a preceding vehicle existing as an obstacle in the same lane or an object serving as an obstacle moving toward the other vehicle.

[0019] Moreover, the risk calculation unit calculates the risk of collision between the vehicle and other vehicles or obstacles based on the determined cause of emergency braking, and the collision avoidance control unit generates an alarm or automatically brakes the vehicle based on the risk calculated by the risk calculation unit.

[0020] In this way, in the driving assistance device of the present disclosure, if warning information is received from another vehicle present in the warning target area, the cause of the emergency braking is determined based on the vehicle information and obstacle information of the other vehicle included in the warning information, and driving assistance such as alarm generation and automatic braking is performed.

[0021] Therefore, for example, when the host vehicle and another vehicle are traveling in different lanes and there is no obstacle moving from the lane side of the other vehicle to the lane side of the host vehicle, unnecessary driving assistance due to the emergency braking of the other vehicle can be suppressed.

[0022] In addition, for example, when the host vehicle and another vehicle are traveling in different lanes and there is an obstacle moving from the lane side of the other vehicle to the lane side of the host vehicle, the cause of the emergency braking of the other vehicle is the obstacle, and the obstacle becomes an obstacle to the travel of the host vehicle, so driving assistance is implemented.

[0023] Thus, according to the driving assistance device of the vehicle of the present disclosure, when another vehicle traveling in front of the host vehicle performs emergency braking, driving assistance such as alarm generation and automatic braking can be appropriately implemented, and discomfort to the driver due to unnecessary driving assistance can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a block diagram showing the structure of the driving assistance device of the vehicle according to the embodiment.

[0025] Figure 2 It is a block diagram showing the functional structure of the control device.

[0026] Figure 3 It is a flowchart showing the warning information sending process executed by the control device.

[0027] Figure 4 It is a flowchart showing the warning information receiving process executed by the control device.

[0028] Figure 5 It is an explanatory diagram showing the transmission and reception of warning information between vehicles traveling in the same lane.

[0029] Figure 6 It is an explanatory diagram showing the transmission and reception of warning information implemented between vehicles with different driving lanes when the cause of the emergency braking is an obstacle.

[0030] Figure 7 It is an explanatory diagram showing the transmission and reception of warning information implemented between vehicles with different driving lanes when the cause of the emergency braking is an oncoming vehicle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] An exemplary embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0032] [Structure]

[0033] First, the structure of the driving assistance device 1 of the present embodiment will be described. In addition, the driving assistance device 1 is mounted on each of a plurality of vehicles constituting a driving assistance system.

[0034] As Figure 1 shown, the driving assistance device 1 includes a communication device 10, an alarm device 12, a braking device 14, a braking operation detection device 20, a GPS receiver 22, an in-vehicle camera 24, a radar device 26, a vehicle speed sensor 28, and a control device 30.

[0035] The communication device 10 performs wireless communication with other vehicles around the own vehicle. In the present embodiment, it is used to transmit and receive vehicle information indicating the vehicle speed and position of the own vehicle, warning information generated during emergency braking of the vehicle, and the like.

[0036] The alarm device 12 generates an alarm for the occupant through sound output, image display, etc. In the present embodiment, it is used to generate an alarm for preventing collisions.

[0037] The braking device 14 is a so-called brake device that generates braking force on the wheels. The braking device 14 is configured to be able to generate braking force not only through the braking operation of the driver but also through braking control that pressurizes the brake hydraulic pressure.

[0038] The braking operation detection device 20 detects the operation amount of the braking device 14 by the driver and the brake hydraulic pressure. In the present embodiment, based on the change amounts of these parameters, it is determined whether the own vehicle is performing emergency braking.

[0039] The GPS receiver 22 detects the current position, moving speed, etc. of the vehicle based on the transmitted radio waves from artificial satellites. In addition, in the present embodiment, the GPS receiver 22 is used to detect the position and speed of the vehicle, but the detection results can also be interpolated using the vehicle speed sensor 28 and a gyro sensor.

[0040] The in-vehicle camera 24 is used to photograph the surroundings of the vehicle and is composed of a CCD camera, a CMOS image sensor, a near-infrared camera, etc. The in-vehicle camera 24 is used to detect obstacles and road conditions based on the captured image in front of the vehicle in the traveling direction.

[0041] In addition, the obstacles include all objects that hinder the vehicle's travel, such as other vehicles traveling in front of the vehicle, fixed objects set in front of the vehicle, and objects crossing in front of the vehicle.

[0042] The radar device 26 is used to detect the position of an obstacle, the distance to the obstacle, the relative speed with respect to the obstacle, etc., and is constituted by, for example, a millimeter-wave radar. In addition, differently from the radar device 26, radar and sonar may be used to detect an obstacle.

[0043] In addition, for the radar device 26, it is possible to detect the left and right walls of the road and guardrails in combination with the captured image based on the in-vehicle camera 24, and thus it is also used for measuring the curvature of a curve ahead in the traveling direction. In addition, since the inclination angle of the traveling road can be detected based on the reflected wave from the road surface, it is also used for measuring the inclination angle.

[0044] The vehicle speed sensor 28 detects the vehicle speed, for example, by measuring the rotational speed of a wheel or a drive shaft using a MER element.

[0045] Next, the control device 30 is constituted by a microcomputer including a CPU and semiconductor memories such as a RAM and a ROM, and is connected to the above-described respective units.

[0046] As Figure 2 shown, the control device 30 has functions as a vehicle information acquisition unit 32, an obstacle information acquisition unit 34, an emergency braking detection unit 36, a warning information transmission unit 38, an object vehicle determination unit 40, a risk level calculation unit 42, a collision avoidance control unit 44, and a road condition acquisition unit 46.

[0047] The functions of these respective units 32 to 46 are realized by the CPU executing a program stored in a non-removable solid-state recording medium. In addition, in this example, semiconductor memories such as a ROM and a RAM correspond to the non-removable solid-state recording medium storing the program.

[0048] In addition, by executing this program, a method corresponding to the program is executed. In addition, the control device 30 may include one microcomputer or may include a plurality of microcomputers.

[0049] Here, the vehicle information acquisition unit 32 acquires the position and speed of the own vehicle as vehicle information based on input signals from the GPS receiver 22 and the vehicle speed sensor 28.

[0050] The obstacle information acquisition unit 34 acquires the position and speed of an obstacle that obstructs the travel of the vehicle as obstacle information based on the captured image of the front of the vehicle by the in-vehicle camera 24 and the measurement result based on the radar device 26.

[0051] The road condition acquisition unit 46 uses the captured image based on the in-vehicle camera 24 and the measurement result based on the radar device 26 to recognize the lanes of the road in front of the own vehicle and determine the lanes in which the own vehicle and the preceding vehicle are traveling. In addition, the road condition acquisition unit 46 also measures the curvature and inclination angle of the road.

[0052] [Control Processing]

[0053] As the functions of these vehicle information acquisition unit 32, obstacle information acquisition unit 34, and road condition acquisition unit 46, they are implemented by information acquisition processing repeatedly executed in the CPU at each specified time.

[0054] Next, as the functions of the emergency braking detection unit 36 and warning information sending unit 38, they are implemented by the warning information sending processing repeatedly executed by the CPU at each specified time Figure 3 as shown.

[0055] In this warning information sending processing, first in S110, based on the detection signal from the braking operation detection device 20, it is determined whether the vehicle is in emergency braking due to the driver's braking operation.

[0056] Then, in the case where the vehicle is in emergency braking due to the driver's braking operation, it transfers to S120, confirms whether the obstacle information at the time of emergency braking is acquired in the obstacle information acquisition unit 34, and transfers to S130.

[0057] On the other hand, if in S110 it is determined that there is no emergency braking based on the driver's braking operation, it transfers to S140 and determines whether obstacle information is acquired in the obstacle information acquisition unit 34.

[0058] If in S140 it is determined that obstacle information is acquired, it is possible that the vehicle may collide with an obstacle. Therefore, it transfers to S150, pressurizes the braking hydraulic pressure to make the braking device 14 operate, makes the vehicle automatically brake, and transfers to S130.

[0059] Then, in S130, the obstacle information confirmed in S120, or the obstacle information that causes the automatic braking in S150, is sent from the communication device 10 together with the warning information, and this warning information sending processing ends.

[0060] In addition, in the case where it is determined in S140 that no obstacle information is detected, the processing of S130 is not executed, and this warning information ends.

[0061] Furthermore, when sending the warning information in S130, the vehicle information acquired by the vehicle information acquisition unit 32 is given to the warning information. And the warning information is sent from the communication device 10 together with the obstacle information.

[0062] In this way, in the warning information sending processing, if the vehicle is in emergency braking due to the driver's braking operation or automatic braking accompanied by obstacle detection, the warning information is sent from the communication device 10, thereby notifying other vehicles around the vehicle of the emergency stop of this vehicle.

[0063] Moreover, in the process of sending the warning message, the processes of S110 and S140 function as the emergency braking detection unit 36, and the process of S130 functions as the warning message sending unit 38.

[0064] Next, when the communication device 10 receives a warning message from another vehicle, the functions of the target vehicle determination unit 40, the risk level calculation unit 42, and the collision avoidance control unit 44 are realized by executing the Figure 4 warning message reception process shown.

[0065] In this warning message reception process, first in S210, the following determination process as the target vehicle determination unit 40 is implemented: determining whether the warning message received by the communication device 10 is a message sent from another vehicle existing in the warning target area.

[0066] That is, in S210, based on the speed of the own vehicle acquired by the vehicle information acquisition unit 32, a warning target area for avoiding collision is set, and the warning target area is corrected according to the curvature and inclination angle of the road acquired by the road condition acquisition unit 46.

[0067] Then, in S210, based on the vehicle information included in the warning message received by the communication device 10, the position of the other vehicle that sent the warning message is determined, and it is determined whether the other vehicle exists in the warning target area. In addition, the warning target area can be set in the same order as in Patent Document 1, so the detailed description is omitted here.

[0068] If in S210, it is determined that the other vehicle that sent the warning message is a warning target vehicle existing in the warning target area, the process proceeds to S220, and the driving lane of the own vehicle and the driving lane of the warning target vehicle are acquired from the road condition acquisition unit 46.

[0069] Then, in S220, based on the acquired driving lanes of the respective vehicles, it is determined whether the warning target vehicle is traveling in the same driving lane as the own vehicle. In addition, when it is determined in S210 that the other vehicle that sent the warning message is not a warning target vehicle, the subsequent processes are not executed, and this warning message reception process is ended.

[0070] If in S220, it is determined that the own vehicle and the warning target vehicle are traveling in the same lane, the process proceeds to S230, and based on the vehicle speed of the own vehicle and the distance between the own vehicle and the warning target vehicle, the collision risk level for the warning target vehicle is calculated. In addition, the higher the vehicle speed, the higher the collision risk level, and the shorter the distance, the higher the collision risk level.

[0071] Next, in S240, it is determined whether the calculated collision risk in S230 is higher than a preset threshold TH1.

[0072] Then, when the collision risk is higher than the threshold TH1, in order to avoid a collision, it is necessary to quickly stop the own vehicle. Therefore, the process proceeds to S250 to drive the braking device 14 to automatically brake the vehicle, and this warning message reception process ends.

[0073] In addition, when the collision risk is equal to or lower than the threshold TH1, the process proceeds to S260, and an alarm is generated by driving the alarm device 12 according to the collision risk, and this warning message reception process ends. That is, in S260, the driver is notified of the risk of collision, and this warning message reception process ends. In addition, in S260, when the collision risk is equal to "0" or lower than the lowest value near "0", no alarm is generated.

[0074] Next, when it is determined in S220 that the own vehicle and the warning target vehicle are traveling in different lanes, the process proceeds to S270 to determine whether the warning message sent from the warning target vehicle contains obstacle information indicating an obstacle that is the cause of an emergency brake.

[0075] Then, if it is determined in S270 that the obstacle information is not included, since there is no collision with an obstacle, this warning message reception process ends.

[0076] On the other hand, if it is determined in S270 that the obstacle information is included, the process proceeds to S280, and based on the vehicle speed of the own vehicle, the distance between the own vehicle and the warning target vehicle, and the obstacle information obtained from the warning target vehicle, the obstacle risk is calculated.

[0077] Based on the position and speed of the obstacle obtained from the obstacle information, it is determined whether the obstacle is moving toward the driving lane of the own vehicle, and the obstacle risk is calculated when it is moving toward the driving lane of the own vehicle.

[0078] That is, when the obstacle is moving in a direction away from the driving lane of the own vehicle or when the obstacle is not in the driving lane of the own vehicle, the own vehicle will not collide with the obstacle, so the obstacle risk is set to "0".

[0079] On the other hand, when the obstacle is moving toward the driving lane of the own vehicle, there is a possibility of collision with the obstacle. Therefore, based on the position and speed of the obstacle and the position and speed of the own vehicle, the probability of collision is obtained, and the obstacle risk is set accordingly.

[0080] Then, if the obstacle risk level is set in S280 like this, the process proceeds to S290 to determine whether the obstacle risk level is higher than a preset threshold TH2.

[0081] When the obstacle risk level is higher than the threshold TH2, in order to avoid a collision with the obstacle, it is necessary to quickly stop the own vehicle. Therefore, the process proceeds to S300 to drive the braking device 14 to automatically brake the vehicle, and this warning message reception process ends.

[0082] In addition, when the obstacle risk level is equal to or lower than the threshold TH2, the process proceeds to S310. An alarm is generated by driving the alarm device 12 according to the obstacle risk level, and this warning message reception process ends. That is, in S310, the driver is notified of the risk of collision, and this warning message reception process ends. Further, in S310, when the obstacle risk level is equal to "0" or lower than the lowest value near "0", no alarm is generated.

[0083] In the warning message reception process, the processes of S220, S230, S270, and S280 function as the risk level calculation unit 42, and the processes of S240 to S260 and S290 to S310 function as the collision avoidance control unit 44.

[0084] [Effect]

[0085] As described above, according to the vehicle driving assistance device 1 of the present embodiment, if a warning message is acquired from the driving assistance device 1 of another vehicle that makes an emergency stop in the warning target area, it is determined whether the driving lane of the own vehicle is the same as that of the other vehicle.

[0086] Moreover, as Figure 5 illustrated in, if the driving lane of the own vehicle 4 is the same as the driving lane of the other vehicle 2, the collision risk level is calculated based on the vehicle speed of the own vehicle 4 and the distance from the other vehicle 2, and collision avoidance control for generating an alarm or automatically braking is implemented according to the calculated collision risk level.

[0087] In addition, when the driving lane is different from that of the other vehicle, it is determined whether obstacle information indicating the position and speed of the obstacle that is the cause of the emergency braking is given in the warning message acquired from the other vehicle. If the obstacle information is not given, collision avoidance control based on the warning message is not implemented.

[0088] Therefore, according to the driving assistance device 1 of the present embodiment, when the driving lane is different from that of the other vehicle and there is no obstacle that may cause a collision, it is possible to suppress unnecessary collision avoidance control such as generating an alarm.

[0089] In addition, when in a situation different from the driving lanes of other vehicles and when obstacle information is given in the warning information obtained from other vehicles, the obstacle risk level indicating the risk of collision with the obstacle is calculated using the obstacle information, and collision avoidance control is implemented based on this obstacle risk level.

[0090] Therefore, when there is no possibility of the obstacle colliding with the own vehicle and the obstacle risk level is low, it is possible to suppress the implementation of unnecessary collision avoidance control such as an alarm.

[0091] On the other hand, in a case like Figure 6 illustrated, when an object 6 crosses in front of another vehicle 2 and enters the driving lane of the own vehicle 4, or in a case like Figure 7 illustrated, when an oncoming vehicle 8 crosses in front of another vehicle 2 and enters the driving lane of the own vehicle 4, the obstacle risk level becomes high.

[0092] Moreover, when the obstacle risk level is high, collision avoidance control is implemented so that the own vehicle 4 does not collide with the object 6 or the oncoming vehicle 8, and thus appropriate driving assistance can be provided to the driver.

[0093] In addition, in the present embodiment, when automatic braking of the vehicle is implemented in S250 and S300 of the warning information reception process, the own vehicle performs emergency braking. In addition, when an alarm is generated in S260 and S310, the own vehicle performs emergency braking by the driver's braking operation.

[0094] Moreover, when such emergency braking occurs, in the warning information transmission process, a warning information including obstacle information is transmitted, so the warning information is sequentially transmitted to subsequent vehicles, and collision avoidance control is appropriately implemented in each vehicle.

[0095] Accordingly, if the driving assistance device 1 of the present embodiment is mounted on a vehicle traveling on a road, it is possible to better suppress the occurrence of collision accidents.

[0096] [Modification Example]

[0097] The embodiments of the present disclosure have been described above, but the present disclosure is not limited to the above-described embodiments and can be implemented in various modified forms.

[0098] For example, in the above embodiment, it has been described that the obstacle information indicating the position and speed of the obstacle that is the cause of the emergency braking is transmitted from the driving assistance device 1 of the vehicle performing emergency braking. However, it is also possible not to transmit the obstacle information when the obstacle stops in the driving lane of the vehicle performing emergency braking.

[0099] In addition, in the above-described embodiment, when the driving lane is different from the warning target vehicle that has sent the warning information, if it is determined that obstacle information is not given in the warning information, collision avoidance control is not performed. However, even when the driving lane is different from the warning target vehicle, collision avoidance control such as an alarm may be performed when the curvature of the road is equal to or greater than a specified threshold value.

[0100] That is, when a vehicle is traveling on a road with a large curvature, it may roll over or skid due to emergency braking and enter another lane from the driving lane. Therefore, even when the driving lane is different from the vehicle that performs emergency braking, collision avoidance control may be performed when the curvature of the road is high.

[0101] Next, the driving assistance device 1 and its method of the above-described embodiment can also be implemented by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the driving assistance device 1 and its method can also be implemented by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the driving assistance device 1 and its method can also be implemented by one or more dedicated computers provided by combining a processor programmed to execute one or more functions and a memory with a processor configured by one or more hardware logic circuits. In addition, the computer program can also be stored as instructions executable by a computer in a non-transitory tangible recording medium readable by the computer. In addition, the driving assistance device 1 and its method do not necessarily include software, and all of its functions can also be implemented using one or more hardware.

[0102] Multiple functions of one component of the above-described embodiment can also be implemented by multiple components, or one function of one component can be implemented by multiple components. In addition, multiple functions of multiple components can also be implemented by one component, or one function implemented by multiple components can be implemented by one component. In addition, a part of the structure of the above-described embodiment can also be omitted. In addition, at least a part of the structure of the above-described embodiment can also be added to or replaced with the structure of other above-described embodiments.

[0103] In addition, in addition to the above-described driving assistance device 1, the present disclosure can also be implemented in various forms such as a system including the driving assistance device 1 as a component, a program for causing a computer to function as the driving assistance device 1, a non-transitory entity recording medium such as a semiconductor memory recording the program, and a display control method.

Claims

1. A driving assistance device for a vehicle, mounted on the vehicle to suppress the occurrence of collision accidents, wherein, The driving assistance device of the vehicle includes: A communication device configured to perform wireless communication with other vehicles; A vehicle information acquisition unit configured to acquire vehicle information including the position and speed of the own vehicle; An obstacle information acquisition unit configured to acquire obstacle information including the position and speed of an obstacle that obstructs the travel of the own vehicle; An emergency braking detection unit configured to detect the emergency braking of the own vehicle; A warning information transmission unit configured to: if the emergency braking of the own vehicle is detected by the emergency braking detection unit, cause warning information including the vehicle information and the obstacle information to be transmitted from the communication device to other vehicles; An object vehicle determination unit configured to: if the warning information transmitted from other vehicles is received via the communication device, determine whether the other vehicle that transmitted the warning information is an object vehicle existing in the warning target area based on the vehicle information of the other vehicle included in the warning information and the vehicle information of the own vehicle acquired by the vehicle information acquisition unit; A risk level calculation unit configured to: if the other vehicle that transmitted the warning information is determined by the object vehicle determination unit to be the object vehicle, determine the cause of the emergency braking of the other vehicle based on the vehicle information of the other vehicle and the obstacle information included in the warning information, and calculate the risk of collision between the own vehicle and the other vehicle or the obstacle; A collision avoidance control unit configured to generate an alarm or automatically brake the own vehicle according to the risk level calculated by the risk level calculation unit; and A road condition acquisition unit that acquires the road condition in front of the own vehicle, The risk level calculation unit is configured to: Based on the road condition in front of the own vehicle acquired by the road condition acquisition unit, determine whether the other vehicle that transmitted the warning information and the own vehicle are traveling in the same lane, When the other vehicle and the own vehicle are traveling in the same lane, calculate the collision risk with the other vehicle based on the distance between the other vehicle and the own vehicle obtained from the vehicle information and the speed of the own vehicle, When the other vehicle and the own vehicle are traveling in different lanes, based on the position and speed of the obstacle obtained from the obstacle information of the other vehicle included in the warning information, determine whether the obstacle is moving towards the travel lane of the own vehicle. When the obstacle is moving towards the travel lane of the own vehicle, calculate the probability of collision between the own vehicle and the obstacle as the obstacle risk level based on the position and speed of the obstacle and the position and speed of the own vehicle, The collision avoidance control unit is configured to: generate an alarm or automatically brake the own vehicle according to the collision risk level or the obstacle risk level calculated by the risk level calculation unit.

2. The driving assistance device of the vehicle according to claim 1, wherein, The object vehicle determination unit is configured to set the warning target area based on the position and speed of the host vehicle acquired by the vehicle information acquisition unit and the road condition in front of the host vehicle acquired by the road condition acquisition unit.

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