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

Abstract

The present application provides a kind of driving assistance device, driving assistance method, vehicle and storage medium, to detect the situation that other vehicles exist in front with high precision.The driving assistance device for assisting the driving of the driver of the vehicle is provided with: a recognition unit, which recognizes the environment around the vehicle;Travel wheel detection unit, which detects the travel wheel contained in the environment around the vehicle;Working determination unit, which determines whether the travel wheel meets the working condition of the safety device of the vehicle;And working unit, in the case where it is determined that the travel wheel meets the working condition, the working unit makes the safety device work.

Description

TECHNICAL FIELD

[0001] The present application relates to a driving assistance device, a driving assistance method, a vehicle, and a storage medium. BACKGROUND

[0002] Various technologies for assisting a driver of a vehicle have been proposed. In Patent Literature 1, a technology for reporting to a driver a possibility of collision with another vehicle that has started a right turn or a left turn in front of the vehicle is proposed.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2013-254296 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] In a case where a front of a surrounding vehicle faces the vehicle, the vehicle is able to detect the surrounding vehicle with high accuracy. However, in a case where a side of the surrounding vehicle faces the vehicle, there is a possibility that the detection accuracy of the surrounding vehicle decreases. An object of some aspects of the present application is to provide a technology for detecting with high accuracy a case where another vehicle exists in front.

[0008] MEANS FOR SOLVING THE PROBLEMS

[0009] In one embodiment, a driving assistance device for assisting driving by a driver of a vehicle is provided, wherein the driving assistance device includes an identifying unit that identifies an environment around the vehicle, a traveling wheel detecting unit that detects a traveling wheel included in the environment around the vehicle, a working determination unit that determines whether the traveling wheel satisfies a working condition of a safety device of the vehicle, and a working unit that causes the safety device to work in a case where it is determined that the traveling wheel satisfies the working condition. In another embodiment, a driving assistance method for assisting driving by a driver of a vehicle is provided, wherein the driving assistance method includes an identifying step of identifying an environment around the vehicle, a traveling wheel detecting step of detecting a traveling wheel included in the environment around the vehicle, a working determination step of determining whether the traveling wheel satisfies a working condition of a safety device of the vehicle, and a working step of causing the safety device to work in a case where it is determined that the traveling wheel satisfies the working condition.

[0010] EFFECTS OF THE INVENTION

[0011] According to the above means, it is possible to detect with high accuracy the presence of another vehicle in front. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 FIG. 1 is a diagram illustrating a hardware configuration example of a vehicle according to an embodiment of the present application.

[0013] Figure 2 FIG. 2 is a diagram illustrating a functional configuration example of a control device of the vehicle according to the embodiment of the present application.

[0014] Figure 3 FIG. 3 is a diagram illustrating an action example of the control device of the vehicle according to the embodiment of the present application.

[0015] Figure 4 FIG. 4 is a diagram illustrating an action example of the control device of the vehicle according to the embodiment of the present application.

[0016] Figure 5 FIG. 5 is a diagram illustrating an example of a working condition according to the embodiment of the present application.

[0017] Figure 6 FIG. 6 is a diagram illustrating an example of a working condition according to the embodiment of the present application.

[0018] Figure 7 FIG. 7 is a diagram illustrating an example of a working condition according to the embodiment of the present application.

[0019] Figures 8A-8C FIG. 8 is a diagram illustrating an example of a situation in which the embodiment of the present application is applied.

[0020] BRIEF DESCRIPTION OF DRAWINGS

[0021] 1: vehicle; 2: control device; 201: environment recognition unit; 202: vehicle body detection unit; 203: running wheel detection unit; 204: notification determination unit; 205: notification unit. DETAILED DESCRIPTION

[0022] Hereinafter, the embodiments will be described in detail with reference to the drawings. Furthermore, the following embodiments are not intended to limit the application covered by the claims, and of course, not all combinations of features described in the embodiments are essential to the application. Two or more features described in the embodiments can be arbitrarily combined. In addition, the same reference numerals are assigned to the same or similar components throughout the drawings, and repeated description is omitted.

[0023] Figure 1 FIG. 1 is a block diagram of a vehicle 1 according to an embodiment of the present application. In Figure 1 In FIG. 1, an outline of the vehicle 1 is indicated by a plan view and a side view. As one example, the vehicle 1 is a four-wheel passenger car of a sedan type. The vehicle 1 can be a four-wheel vehicle, or a two-wheel vehicle, or another type of vehicle.

[0024] The vehicle 1 includes a vehicle control device 2 (hereinafter, simply referred to as a control device 2) that controls the vehicle 1. The control device 2 includes a plurality of ECUs 20 to 29 communicably connected through an in-vehicle network. Each ECU includes a processor typified by a CPU, a memory such as a semiconductor memory, an interface with an external device, and the like. In the memory, a program executed by the processor, data used in processing by the processor, and the like are stored. Each ECU can also be provided with a plurality of processors, memories, interfaces, and the like. For example, the ECU 20 is provided with a processor 20a and a memory 20b. The processor 20a executes an instruction included in a program stored in the memory 20b, thereby performing processing based on the ECU 20. Instead, the ECU 20 can be provided with a dedicated integrated circuit such as an ASIC for performing processing based on the ECU 20. The same applies to the other ECUs.

[0025] Hereinafter, functions and the like assumed by each of the ECUs 20 to 29 will be described. Furthermore, the number of ECUs, functions assumed thereby can be appropriately designed, and can be more refined or integrated than in the present embodiment.

[0026] The ECU 20 performs control related to automatic travel of the vehicle 1. In automatic driving, at least either of steering and acceleration and deceleration of the vehicle 1 is automatically controlled. The automatic travel based on the ECU 20 can include automatic travel (may also be referred to as automatic driving) that does not require a travel operation by a driver and automatic travel (may also be referred to as driving assistance) for assisting a travel operation by a driver.

[0027] The ECU 21 controls an electric power steering device 3. The electric power steering device 3 includes a mechanism that steers front wheels in accordance with a steering operation (steering operation) of a driver on a steering wheel 31. In addition, the electric power steering device 3 includes a motor that generates a driving force for assisting the steering operation or automatically steering the front wheels, a sensor that detects a steering angle, and the like. In a case where a driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in correspondence with an instruction from the ECU 20, and controls a traveling direction of the vehicle 1.

[0028] The ECUs 22 and 23 perform control of detection units 41 to 43 that detect a surrounding situation of the vehicle and information processing of a detection result. The detection unit 41 is a camera (hereinafter, sometimes referred to as a camera 41) that captures a front of the vehicle 1, and in the case of the present embodiment, is installed in a vehicle cabin inner side of a front window at a front portion of a roof of the vehicle 1. By analysis of an image captured by the camera 41, a contour of an object, a division line (white line or the like) of a lane on a road can be extracted.

[0029] The detection units 42 are Light Detection and Ranging (hereinafter, sometimes expressed as optical radars 42) that detect a target object around the vehicle 1 or measure a distance to the target object. In the case of the present embodiment, the optical radars 42 are provided five, one at each corner portion of the front portion of the vehicle 1, one at the center of the rear portion, and one at each side portion of the rear portion. The detection units 43 are millimeter wave radars (hereinafter, sometimes expressed as radars 43) that detect a target object around the vehicle 1 or measure a distance to the target object. In the case of the present embodiment, the radars 43 are provided five, one at the center of the front portion of the vehicle 1, one at each corner portion of the front portion, and one at each corner portion of the rear portion.

[0030] The ECU 22 performs control of the one side camera 41 and the optical radars 42 and information processing of the detection results. The ECU 23 performs control of the other side camera 41 and the radars 43 and information processing of the detection results. By having two sets of devices that detect the situation around the vehicle, it is possible to improve the reliability of the detection results, and by having different kinds of detection units such as a camera, an optical radar, and a radar, it is possible to analyze the environment around the vehicle in various ways.

[0031] The ECU 24 performs control of the gyro sensor 5, the GNSS (global navigation satellite system) sensor 24b, and the communication device 24c and information processing of the detection results or the communication results. The gyro sensor 5 detects the rotational motion of the vehicle 1. It is possible to determine the route of travel of the vehicle 1 from the detection result of the gyro sensor 5, the wheel speed, and the like. The GNSS sensor 24b detects the current position of the vehicle 1. The communication device 24c performs wireless communication with a server that provides map information and traffic information and acquires these information. The ECU 24 can access a database 24a of map information constructed in a memory, and the ECU 24 performs route search from the current location to a destination and the like. The ECU 24, the map database 24a, and the GNSS sensor 24b constitute a so-called navigation device.

[0032] The ECU 25 has a communication device 25a for vehicle-to-vehicle communication. The communication device 25a performs wireless communication with other vehicles in the vicinity and performs information exchange between vehicles.

[0033] The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force to rotate the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls the output of the engine in correspondence with a driving operation (an accelerator operation or an acceleration operation) of the driver detected by an operation detection sensor 7a provided to an accelerator pedal 7A, for example, or switches the shift stage of the transmission based on information such as a vehicle speed detected by a vehicle speed sensor 7c. In a case where the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in correspondence with the instruction from the ECU 20, and controls the acceleration and deceleration of the vehicle 1.

[0034] The ECU 27 controls illuminating devices (headlamps, tail lamps, and the like) including the direction indicator 8 (turn signal). In a case where the vehicle 1 is equipped with the direction indicator 8, the direction indicator 8 is provided to the front portion of the vehicle 1, the door mirror, and the rear portion. Figure 1

[0035] The ECU 28 performs control of the input and output device 9. The input and output device 9 performs output of information to the driver and acceptance of input of information from the driver. The voice output device 91 reports information to the driver by voice. The display device 92 reports information to the driver by display of an image. The display device 92 is provided to the front of the driver's seat, for example, and constitutes an instrument panel or the like. Furthermore, voice and display are exemplified here, but information can also be reported by vibration or light. In addition, information can also be reported in combination of a plurality of voice, display, vibration, or light. Further, the combination or the reporting method can be made different in accordance with the level (for example, the degree of urgency) of the information to be reported. The input device 93 is provided to a position operable by the driver, and is a switch group that performs an instruction to the vehicle 1, but can also include a voice input device.

[0036] The ECU 29 controls the brake device 10 and a parking brake (not shown). The brake device 10 is a disc brake device, for example, and is provided to each wheel of the vehicle 1, and decelerates or stops the vehicle 1 by applying a resistance to the rotation of the wheel. The ECU 29 controls the operation of the brake device 10 in correspondence with a driving operation (a brake operation) of the driver detected by an operation detection sensor 7b provided to a brake pedal 7B, for example. In a case where the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in correspondence with the instruction from the ECU 20, and controls the deceleration and stop of the vehicle 1. The brake device 10 and the parking brake can also operate in order to maintain the stopped state of the vehicle 1. In addition, in a case where the transmission of the power plant 6 is equipped with a parking lock mechanism, the parking lock mechanism can also operate in order to maintain the stopped state of the vehicle 1.

[0037] Reference will be made to Figure 2 ​An example of the functional configuration of the control device 2 will be described. In the embodiment described below, the control device 2 has a function of assisting driving performed by the driver of the vehicle 1. Therefore, the control device 2 can also be referred to as a driving assistance device. In Figure 2 , functions of the control device 2 related to driving assistance are shown. The control device 2 can also have functions not shown in Figure 2 . The control device 2 includes an environment recognition section 201, a vehicle body detection section 202, a traveling wheel detection section 203, a work determination section 204, and a work section 205. These functional sections can also be implemented by the processor 20a of one or more ECUs included in the control device 2. Specifically, the actions of these functional sections can also be performed by the processor 20a executing a program read out to the memory 20b. Alternatively, part or all of these functional sections can also be implemented by a dedicated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0038] The environment recognition section 201 recognizes the environment around the vehicle 1, for example, by analyzing the detection results of the detection units 41 to 43. For example, the environment recognition section 201 can also recognize an object included in the environment around the vehicle 1 by analyzing an image captured by the camera 41. The recognition of the environment around the vehicle 1 can be performed using existing technology, and thus detailed description is omitted.

[0039] The vehicle body detection section 202 detects a vehicle body included in the environment around the vehicle 1, based on the recognition result of the environment recognition section 201. The environment around the vehicle 1 can include the environment in front of the vehicle 1, or the environment in the direction of travel of the vehicle 1. The vehicle body can also be the entire outer shape of the vehicle. The vehicle body detected by the vehicle body detection section 202 can be the vehicle body of a four-wheeled vehicle, or the vehicle body of a two-wheeled vehicle, or the vehicle body of another vehicle.

[0040] The traveling wheel detection section 203 detects a traveling wheel included in the environment around the vehicle 1, based on the recognition result of the environment recognition section 201. The environment around the vehicle 1 can include the environment in front of the vehicle 1, or the environment in the direction of travel of the vehicle 1. The traveling wheel can also be a wheel of a vehicle that is traveling (i.e., a wheel that is rotating). The traveling wheel detection section 203 can also not detect a wheel of a vehicle that is stopped as a traveling wheel. The wheel detected by the traveling wheel detection section 203 can be a wheel of a four-wheeled vehicle, or a wheel of a two-wheeled vehicle, or a wheel of another vehicle. The wheel is a part of the vehicle body.

[0041] The operation determination section 204 determines whether or not to operate a safety device (hereinafter, simply referred to as a safety device) of the vehicle 1. The specific determination criterion will be described later. In a case where it is determined to operate the safety device, the operation section 205 operates the safety device. The safety device refers to a device for improving the safety of the occupant (driver and fellow passenger) of the vehicle 1, such as a seat belt of the vehicle 1 (for example, a seat belt 32 of a driver's seat), the brake device 10, and a warning indicator in the display device 92. By operating the safety device, the safety of the occupant of the vehicle 1 is improved. For example, operating the safety device can include turning on the warning indicator of the display device 92, outputting an alarm sound from the sound output device 91. Instead of or in addition to this, it can also include operating the safety device, automatically operating the brake device 10 of the vehicle 1. Instead of or in addition to this, it can also include operating the safety device, increasing the tension of the seat belt of the vehicle 1. For example, the operation section 205 can increase the tension of the seat belt during a period until it is determined to be a safe situation. Instead of this, the operation section 205 can give a driver a sense of impact by repeatedly operating to increase the tension of the seat belt 32 in a pulse shape (for example, 0.1 seconds) a plurality of times (for example, 5 times), thereby warning the driver. The operation section 205 can increase the tension of the seat belt 32 by transmitting a control signal to a motor for increasing the tension of the seat belt 32.

[0042] Reference Signs List Figure 3 An example of the driving assistance method based on the control device 2 will be described. Figure 3 The method of Figure 3 may be started when the vehicle 1 starts driving. The control device 2 can continuously execute the method of until the driving of the vehicle 1 ends.

[0043] In S301, the environment recognition section 201 recognizes the environment around the vehicle 1 as described above. In S302, the vehicle body detection section 202 determines whether or not a vehicle body is included in the environment around the vehicle 1. In a case where it is determined that the vehicle body is included in the environment around the vehicle 1 (YES in S302), the process proceeds to S303, and in other cases (NO in S302), the process returns to S301. In a case where a plurality of vehicle bodies are detected, the process after S303 is performed for each vehicle body.

[0044] In S303, the work determination unit 204 determines whether the detected vehicle body satisfies the work condition related to the vehicle body. In a case where it is determined that the work condition related to the vehicle body is satisfied (YES in S303), the process moves to S304, and in other cases (NO in S303), the process returns to S301. The work condition related to the vehicle body can also be an existing condition. For example, it can be determined that the work condition related to the vehicle body is satisfied in a case where the possibility that the vehicle 1 collides with a vehicle having the detected vehicle body is equal to or higher than a threshold. In S304, the work unit 205 works the safety device as described above. This working can be used to notify the driver that the vehicle 1 is likely to collide with a vehicle having the detected vehicle body, and can be used to mitigate the impact on the occupant of the vehicle 1 at the time of collision.

[0045] Reference Figure 4 One example of the driving assistance method based on the control device 2 will be described. Figure 4 The method of Figure 4 may also be started in accordance with the start of the driving of the vehicle 1. The control device 2 can also continuously execute the method of Figure 3 until the end of the driving of the vehicle 1. The control device 2 can also execute the method of Figure 4 in parallel with the method of

[0046] In S401, the environment recognition unit 201 recognizes the environment around the vehicle 1 as described above. In a case where the method of Figure 3 and the method of Figure 4 are executed in parallel, S301 of the method of

[0047] and S401 of the method of may be integrated.

[0048] In S402, the vehicle body detection unit 202 determines whether a running wheel is included in the environment around the vehicle 1. In a case where it is determined that a running wheel is included in the environment around the vehicle 1 (YES in S402), the process moves to S403, and in other cases (NO in S402), the process returns to S401. The appearance of the side surface of the vehicle greatly varies depending on the type of the vehicle. On the other hand, the appearance of the wheel of the vehicle varies less depending on the type of the vehicle as compared with the appearance of the side surface of the vehicle. Therefore, in a case where a vehicle around the vehicle 1 has its side surface facing the vehicle 1, even in a case where the vehicle body detection unit 202 cannot detect the vehicle body of the vehicle around, the running wheel detection unit 203 can sometimes detect the wheel of the vehicle. Therefore, in some embodiments, in addition to detecting the vehicle body of the vehicle, the wheel speed of the vehicle is also detected, whereby it is possible to accurately detect the presence of another vehicle around (for example, in front of) the vehicle 1. In a case where a plurality of running wheels are detected, the process after S403 is performed for each running wheel. Figure 3 Figure 3In S403, the operation determination section 204 determines whether the vehicle body having the running wheel detected in S402 has been detected by the S302 detection. In the case where such a vehicle body has been detected (YES in S403), the process returns to S401, and in the case where otherwise (NO in S403), the process shifts to S404. In the case where the vehicle body having the running wheel detected in S402 has been detected by the S302 detection, in S404, the running wheel detection section 203 determines whether the running wheel detected in S402 is a front wheel or a rear wheel. In the case where the running wheel detected is determined to be a front wheel (YES in S404), the process returns to S401, and in the case where otherwise (NO in S404), the process shifts to S404. In the case where the running wheel detected is determined to be a rear wheel, and in the case where it is not possible to determine whether the running wheel detected is a front wheel or a rear wheel, the process shifts to S404. In the case where the running wheel detection section 203 has detected a front wheel of another vehicle, the control device 2 can recognize a high possibility that the front of the vehicle having the front wheel is in front. In such a case, it is considered that the operation condition based on the vehicle body of S303 of the control device 2 is determined with high accuracy, and the presence of another vehicle is determined with high accuracy. Therefore, the control device 2 does not perform the process of S404 and S405 on the running wheel in the case where the running wheel is determined to be a front wheel. Thereby, the processing load of the control device 2 is reduced, and the over operation of the safety device is suppressed. Figure 3 Figure 3 Figure 3 Figure 4 Figure 3

[0049] Figure 3

[0050] ​​​​​​​Even if the wheel detection unit 203 cannot determine whether a single wheel is a front or rear wheel when only one wheel is detected, it is not a problem. When multiple wheels are detected, the wheel detection unit 203 can also identify wheels belonging to the same vehicle body. For example, the wheel detection unit 203 can identify two wheels that move in approximately the same direction while maintaining a roughly constant interval as wheels belonging to the same vehicle body. The wheel detection unit 203 can also identify the wheel located on the direction of travel of these two wheels as a front wheel, and the wheel located on the opposite side as a rear wheel.

[0051] In S405, the operation determination unit 204 determines whether the detected driving wheel meets the operating conditions related to the driving wheel. If it is determined that the operating conditions related to the driving wheel are met ("Yes" in S405), the process proceeds to S406; otherwise ("No" in S405), the process returns to S401. In S406, the operation unit activates the safety device as described above. This activation can be used to notify the driver that vehicle 1 may collide with a vehicle having the detected driving wheel, or to mitigate the impact on the occupants of vehicle 1 during a collision.

[0052] Reference Figure 5 , for Figure 4 The operating conditions related to the traveling wheels used in S405 will be explained. Figure 5 This describes an embodiment in a country where regulations mandate that vehicles travel on the left side of the road. However, the technology described in this specification can also be applied to countries where regulations mandate that vehicles travel on the right side of the road.

[0053] Operating conditions related to the traveling wheels (hereinafter, in Figure 5 as well as Figures 8A-8C The description (only referring to operating conditions) can also include conditions related to the position of the driving wheel. For example, operating conditions could also include: the detected driving wheel is located in front of vehicle 1 and within the vehicle width, and the distance between the detected driving wheel and vehicle 1 is below a threshold distance. Specifically, operating conditions could also be that the detected driving wheel is contained within region 505. Region 505 is located in front of vehicle 1. The width 507 of region 505 is equal to the width of vehicle 1. The length 506 of region 505 is equal to the threshold distance.

[0054] The threshold distance can be a value (e.g., 50 m) set in advance and stored in the memory 20b or the like. Alternatively, the threshold distance can be a value determined by the operation determination portion 204 based on the running state of the vehicle 1. For example, the operation determination portion 204 can determine the threshold distance based on the speed of the vehicle 1. For example, the threshold distance can be a distance estimated for a predetermined time (e.g., 3 seconds) in which the vehicle 1 is expected to run hereafter.

[0055] In Figure 5 In the example of FIG. 5, assume that the vehicle 502 is crossing in front of the vehicle 1. In this case, the vehicle 1 has a high possibility of colliding with the vehicle 502. In this case, the running wheel detection portion 203 detects the rear wheel 504 on the left side of the vehicle 502. Since the rear wheel 504 is a running wheel (i.e., a wheel of the vehicle 502 that is running), the rear wheel 504 is located in front of the vehicle 1 and within the range of the vehicle width, and the distance between the rear wheel 504 and the vehicle 1 is below the threshold distance (below the length 506), the operation determination portion 204 determines in S405 of FIG. 5 that the operation condition is satisfied. Figure 4

[0056] The operation condition can include a condition related to the advancing direction of the detected running wheel. For example, the operation condition can further include that the angle formed by the advancing direction of the detected running wheel and the advancing direction 501 of the vehicle 1 is above a threshold angle. The angle formed by the two advancing directions can be an angle of 0 degrees or more and 90 degrees or less among two angles formed by the two advancing directions. The advancing direction of the running wheel can be considered to be the same as the advancing direction of the vehicle having the running wheel.

[0057] In Figure 5 In the example of FIG. 5, assume that the vehicle 502 is crossing in front of the vehicle 1. In this case, the vehicle 1 has a high possibility of colliding with the vehicle 502. In this case, the running wheel detection portion 203 detects the rear wheel 504 on the left side of the vehicle 502. Since the rear wheel 504 is a running wheel (i.e., a wheel of the vehicle 502 that is running), the rear wheel 504 is located in front of the vehicle 1 and within the range of the vehicle width, and the distance between the rear wheel 504 and the vehicle 1 is below the threshold distance (below the length 506), the operation determination portion 204 determines in S405 of FIG. 5 that the operation condition is satisfied.

[0058] The operation condition can satisfy both of the condition related to the position of the running wheel (e.g., included in the area 505) and the condition related to the advancing direction of the running wheel (e.g., the angle 508 is above the threshold angle), or can satisfy only one of them.

[0059] ​The traveling direction 503 of the rear wheel 504 can also be determined based on the change in the position of the rear wheel 504 over time. Alternatively, the traveling direction 503 of the rear wheel 504 can also be determined based on the camber of the wheel of the traveling wheel. The smaller the angle between the traveling direction of the traveling wheel and the traveling direction 501 of the vehicle 1, the greater the camber of the wheel of the traveling wheel recognized by the environment recognition unit 201.

[0060] Referring to Figure 6 Another example of the working condition will be described. In the above-described embodiment, in Figure 4 S404, it is determined whether the detected traveling wheel is a front wheel. S404 can also be omitted, in which case S405 can be executed regardless of whether the detected traveling wheel is a front wheel. In this working condition, as shown in Figure 6 the working unit 205 also causes the safety device to work in a case where the front wheel 601 of the vehicle 502 is included in the area 505. In Figure 6 the traveling direction 503 indicates the traveling direction of the front wheel 601.

[0061] Referring to Figure 7 Another example of the working condition will be described. In a case where the vehicle that is crossing the front of the vehicle 1 is a large vehicle such as a truck, there is a case where the vehicle body is included in the area 505 in front of the vehicle 1 although the area 505 in front of the vehicle 1 does not include a traveling wheel. For example, as shown in Figure 7 the vehicle 700 is assumed to be crossing the front of the vehicle 1. The front wheel 701 of the vehicle 700 is located on the left side of the area 505, and the rear wheel 702 of the vehicle 700 is located on the right side of the area 505. In this way, both the front wheel 701 and the rear wheel 702 are located outside the area 505. However, the vehicle body of the vehicle 700 is included in the area 505. In this situation, the likelihood of the vehicle 1 colliding with the vehicle 700 is high.

[0062] In order to cause the safety device to work in such a situation, the working condition can also include that two traveling wheels, which are traveling wheels of the same vehicle body, are detected, and the range in front of the vehicle 1 and the vehicle width is located between the two traveling wheels. For example, in S402, it is assumed that the traveling wheel detection unit 203 detects two traveling wheels (the front wheel 701 and the rear wheel 702). At this point, it is not determined whether the two traveling wheels are front wheels or rear wheels. Further, as described above, it is assumed that it is determined by the traveling wheel detection unit 203 that the two traveling wheels are included in the same vehicle body. In this case, in S405, the working determination unit 204 can also determine whether the range in front of the vehicle 1 and the vehicle width is located between the two traveling wheels. In a case where it is determined that the range in front of the vehicle 1 and the vehicle width is located between the two traveling wheels, in S406, the working unit 205 causes the safety device to work. In this working condition, a condition related to the traveling direction 703 of the traveling wheel can or can not be provided.

[0063] Referring to Figures 8A-8C , specific examples of the situation in which it is easy to determine in S405 of the above-described Figure 4 embodiment that the working condition is satisfied will be described. As shown in Figure 8A , the vehicle 801 is crossing the front of the vehicle 1 when entering a road on which the vehicle 1 is traveling (for example, when leaving a garage or turning at an intersection). In this case, the control device 2 can detect the running wheels of the vehicle 801 and cause the safety device to work on the basis of the detection result. As shown in Figure 8B , the vehicle 802 is traveling on a roundabout, and the vehicle 1 is about to enter the roundabout. In this case, the control device 2 can detect the running wheels of the vehicle 802 and cause the safety device to work on the basis of the detection result. As shown in Figure 8C , the lane on which the vehicle 803 is traveling merges with the lane on which the vehicle 1 is traveling. In this case, the control device 2 can detect the running wheels of the vehicle 803 and cause the safety device to work on the basis of the detection result.

[0064] In the above-described embodiment, in S403, it is determined whether the vehicle body having the detected running wheels is detected. S403 can also be omitted, and in this case, S404 can also be executed regardless of the detection situation of the vehicle body. Figure 4

[0065] <Summary of Embodiment>

[0066] <Project 1>

[0067] A driving assistance device (2) for assisting driving performed by a driver of a vehicle (1), wherein the driving assistance device includes an identification unit (201) that identifies an environment around the vehicle, a running wheel detection unit (203) that detects a running wheel (504) included in the environment around the vehicle, a working determination unit (204) that determines whether the running wheel satisfies a working condition of a safety device of the vehicle, and a working unit (205) that causes the safety device to work in a case where it is determined that the running wheel satisfies the working condition.

[0068] According to this project, it is possible to accurately detect the presence of another vehicle in front.

[0069] <Project 2>

[0070] The driving assistance device according to Project 1, wherein the working condition includes that the running wheel is located in front of the vehicle and in a range (505) of a vehicle width, and a distance between the running wheel and the vehicle is below a threshold distance (506).

[0071] ​According to this item, it is possible to suppress overwork of the safety device.

[0072] Item 3

[0073] The driving assist device according to item 2, wherein the operation determination unit decides the threshold distance based on a speed of the vehicle.

[0074] According to this item, it is possible to suppress overwork of the safety device.

[0075] Item 4

[0076] The driving assist device according to item 2 or 3, wherein the operation condition further includes that an angle (508) formed by a traveling direction of the traveling wheel and a traveling direction of the vehicle is equal to or larger than a threshold angle.

[0077] According to this item, it is possible to suppress overwork of the safety device.

[0078] Item 5

[0079] The driving assist device according to any one of items 1 to 4, wherein the traveling wheel detection unit determines whether the traveling wheel is a front wheel or a rear wheel,

[0080] In a case where it is determined that the traveling wheel is a front wheel, the operation determination unit does not perform determination of whether the traveling wheel satisfies the operation condition,

[0081] In a case where it is determined that the traveling wheel is a rear wheel, the operation determination unit performs determination of whether the traveling wheel satisfies the operation condition.

[0082] According to this item, it is possible to suppress overwork of the safety device.

[0083] Item 6

[0084] The driving assist device according to any one of items 1 to 5, wherein the operation condition includes that two traveling wheels (701, 702) are detected, the two traveling wheels being traveling wheels of the same vehicle body (700), and a range of a front of the vehicle and a vehicle width is located between the two traveling wheels.

[0085] Item 7

[0086] The driving assist device according to any one of items 1 to 6, wherein the driving assist device further includes a vehicle body detection unit (202) that detects a vehicle body included in an environment around the vehicle,

[0087] The operation determination unit does not determine whether the traveling wheel satisfies the operation condition, in a case where the vehicle body detection unit detects a vehicle body having the traveling wheel detected by the traveling wheel detection unit.

[0088] According to this item, it is possible to suppress overwork of the safety device.

[0089] Item 8

[0090] The driving assistance device according to any one of items 1 to 7, wherein causing the safety device to operate includes enhancing a tensile force of a seat belt (32) of the vehicle.

[0091] According to this item, it is possible to reduce an impact on an occupant of the vehicle at the time of a collision.

[0092] Item 9

[0093] A vehicle (1) provided with the driving assistance device according to any one of items 1 to 8.

[0094] According to this item, it is possible to realize the above items in the form of a vehicle.

[0095] Item 10

[0096] A program for causing a computer to function as each unit of the driving assistance device (2) according to any one of items 1 to 8.

[0097] According to this item, it is possible to realize the above items in the form of a program.

[0098] Item 11

[0099] A driving assistance method for assisting driving performed by a driver of a vehicle (1), the driving assistance method including: an environment recognition step (S401) of recognizing an environment around the vehicle; a traveling wheel detection step (S402) of detecting a traveling wheel (504) included in the environment around the vehicle; an operation determination step (405) of determining whether the traveling wheel satisfies an operation condition of a safety device of the vehicle; and an operation step (406) of causing the safety device to operate in a case where it is determined that the traveling wheel satisfies the operation condition.

[0100] According to this item, it is possible to accurately detect a situation in which another vehicle is present in front.

[0101] The present application is not limited to the above-described embodiments, and various modifications and changes can be made within the scope of the present application.

Claims

1. A driving assistance device for assisting driving performed by a driver of a vehicle, wherein the driving assistance device comprises: a recognition unit that recognizes an environment around the vehicle; a traveling wheel detection unit that detects a traveling wheel included in the environment around the vehicle; a vehicle body detection unit that detects a vehicle body included in the environment around the vehicle; a working determination unit that determines whether the traveling wheel satisfies a working condition of a safety device of the vehicle, in a case where the vehicle body having the traveling wheel detected by the traveling wheel detection unit is not detected by the vehicle body detection unit; and a working unit that causes the safety device to work, in a case where it is determined that the traveling wheel satisfies the working condition. The working condition includes that the traveling wheel is located in front of the vehicle and in a range of a vehicle width, and a distance between the traveling wheel and the vehicle is a threshold distance or less. The working determination unit decides the threshold distance based on a speed of the vehicle. The working condition further includes that an angle formed by a traveling direction of the traveling wheel and a traveling direction of the vehicle is a threshold angle or more.

5. The driving assistance device according to claim 1, wherein the traveling wheel detection unit determines whether the traveling wheel is a front wheel or a rear wheel, the working determination unit does not perform determination of whether the traveling wheel satisfies the working condition, in a case where it is determined that the traveling wheel is a front wheel, the working determination unit performs determination of whether the traveling wheel satisfies the working condition, in a case where it is determined that the traveling wheel is a rear wheel. The working condition includes that two traveling wheels, which are traveling wheels of the same vehicle body, are detected, and a range of a front of the vehicle and a vehicle width is located between the two traveling wheels.

7. The driving assistance device according to claim 1, wherein the working determination unit does not perform determination of whether the traveling wheel satisfies the working condition, in a case where the vehicle body having the traveling wheel detected by the traveling wheel detection unit is detected by the vehicle body detection unit. The causing the safety device to work includes enhancing a tensile force of a seat belt of the vehicle.

9. A vehicle that comprises the driving assistance device according to any one of claims 1 to 8.

10. A storage medium that stores a program for causing a computer to function as each unit of the driving assistance device according to any one of claims 1 to 8.

11. A driving assistance method for assisting driving performed by a driver of a vehicle, wherein the driving assistance method comprises: a recognition step of recognizing an environment around the vehicle; a traveling wheel detection step of detecting a traveling wheel included in the environment around the vehicle; a vehicle body detection step of detecting a vehicle body included in the environment around the vehicle; a working determination step of determining whether the traveling wheel satisfies a working condition of a safety device of the vehicle, in a case where the vehicle body having the traveling wheel detected by the traveling wheel detection step is not detected by the vehicle body detection step; and a working step of causing the safety device to work, in a case where it is determined that the traveling wheel satisfies the working condition. ​ ​ ​ ​ ​ ​ ​ 2. The driving assist apparatus according to claim 1, wherein ​ 3. The driving assist apparatus according to claim 2, wherein ​ 4. The driving assist apparatus according to claim 2, wherein ​ ​ ​ ​ ​ 6. The driving assist apparatus according to claim 1, wherein ​ ​ ​ 8. The driving assist apparatus according to claim 1, wherein ​ ​ ​ ​ ​ ​ ​ ​ a work determination step in which it is determined whether the traveling wheel satisfies a work condition of a safety device of the vehicle, in a case where a vehicle body having the traveling wheel detected in the traveling wheel detection step is not detected in the vehicle body detection step; and a work step in which the safety device is caused to work in a case where it is determined that the traveling wheel satisfies the work condition.

12. A driving assistance device for assisting driving performed by a driver of a vehicle, wherein the driving assistance device is provided with: an identifying unit that identifies an environment around the vehicle; a traveling wheel detection unit that detects a traveling wheel included in the environment around the vehicle; a work determination unit that determines whether the traveling wheel satisfies a work condition of a safety device of the vehicle; and a work unit that causes the safety device to work in a case where it is determined that the traveling wheel satisfies the work condition, the work condition includes that the traveling wheel is located in front of the vehicle and in a range of a vehicle width, and a distance between the traveling wheel and the vehicle is a threshold distance or less.

13. A driving assistance method for assisting driving performed by a driver of a vehicle, wherein the driving assistance method is provided with: an identifying step in which an environment around the vehicle is identified; a traveling wheel detection step in which a traveling wheel included in the environment around the vehicle is detected; a work determination step in which it is determined whether the traveling wheel satisfies a work condition of a safety device of the vehicle; and a work step in which the safety device is caused to work in a case where it is determined that the traveling wheel satisfies the work condition, the work condition includes that the traveling wheel is located in front of the vehicle and in a range of a vehicle width, and a distance between the traveling wheel and the vehicle is a threshold distance or less. ​ ​

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