Driving assistance apparatus, driving assistance method, and storage medium storing program

Abstract

The present application relates to a driving assistance device (6) intended to perform appropriate avoidance control when avoiding a collision between a reversing vehicle and a moving object. The driving assistance apparatus (6) includes an area recognition unit (621) that recognizes an entry area into which a moving object enters from among a plurality of areas provided along an estimated path of the reversing vehicle, and an avoidance control unit (627) that causes the reversing vehicle to perform avoidance control corresponding to a risk level corresponding to the entry area on the basis of control information, in the control information, i) a risk level indicating a collision between a reversing vehicle and a moving object and ii) an avoidance control capable of avoiding a collision between the reversing vehicle and the moving object are associated with each other.

Description

Technical Field

[0001] The present disclosure relates to a driving assistance device, a driving assistance method, and a storage medium storing a program for assisting vehicle driving. Background Art

[0002] A technology for avoiding a collision between a reversing vehicle and a moving object approaching the vehicle is known. Japanese Unexamined Patent Application Publication No. 2017-128213 discloses a technology for activating automatic braking of a vehicle when an estimated path of a reversing vehicle intersects an estimated path of a moving object. Summary of the invention

[0003] Problems to be solved by the present invention

[0004] However, even if the reversing vehicle and a moving object approaching the reversing vehicle are sufficiently separated to allow collision avoidance by turning, etc., if the estimated path of the reversing vehicle and the estimated path of the moving object intersect with each other, the technology of Patent Document 1 sometimes activates the automatic brake to avoid a collision between the reversing vehicle and the moving object.

[0005] The present disclosure focuses on this point, and an object of the present disclosure is to perform appropriate avoidance control when avoiding a collision between a backing vehicle and a moving object.

[0006] Means to solve this problem

[0007] A first aspect of the present disclosure provides a driving assistance device, the driving assistance device comprising: a memory storing control information in which i) each of a plurality of risk levels indicating the risk of a collision between a reversing vehicle that is reversing and a moving object is associated with ii) an avoidance control capable of avoiding the collision between the reversing vehicle and the moving object; an area recognition unit that recognizes, from a plurality of areas set along an estimated path of the reversing vehicle, an entry area into which a moving object existing around the reversing vehicle enters; and an avoidance control unit that, based on the control information, causes the reversing vehicle to execute the avoidance control associated with the risk level corresponding to the recognized entry area.

[0008] The plurality of areas may be assigned higher risk levels as the distance between the area and the reversing vehicle becomes shorter, and the avoidance control portion may cause the reversing vehicle to perform avoidance control associated with the risk level assigned to the area identified as the entry area among the plurality of areas by referring to the control information.

[0009] The driving assistance device includes: a determination unit that determines a speed level corresponding to a speed of a moving object, wherein the speed of the moving object is determined based on i) a speed of a reversing vehicle and ii) a relative speed of the moving object with respect to the reversing vehicle, wherein a memory can store control information in which i) each of a plurality of risk levels, ii) each of a plurality of speed levels corresponding to the speed of the moving object, and iii) avoidance control are associated with each other, and the avoidance control unit causes the reversing vehicle to perform avoidance control associated with the risk level and the speed level of an entry area.

[0010] A driving assistance device includes: an estimation unit that estimates a time until a collision between a reversing vehicle and a moving object, wherein a memory stores control information in which i) each of a plurality of risk levels, ii) each of a plurality of speed levels according to a speed of the moving object, iii) each of a plurality of levels according to the time until the collision, and iv) avoidance control are associated with each other, the estimation unit may estimate a time determined based on i) a distance between a position of an intersection where an estimated path of the reversing vehicle and an estimated path of the moving object intersect with each other and a position of the reversing vehicle and ii) the speed of the reversing vehicle as the time until the collision, and the avoidance control unit may cause the reversing vehicle to perform avoidance control associated with the risk level corresponding to an entry area, the speed level, and the level of the estimated time until the collision.

[0011] A speed level may be associated with each of the plurality of speed ranges, and the determination section may determine the speed level associated with the speed range including the speed of the moving object as the speed level of the moving object.

[0012] The area identification unit can identify an area among multiple areas in which the estimated path of the mobile object is included as an entry area of ​​the mobile object, and the determination unit can determine the speed level of the mobile object for which the entry area has been identified, and determine the speed level of the mobile object for which the entry area has not been identified.

[0013] Each of multiple avoidance controls of the control information can be assigned a priority, the area recognition unit can identify an entry area entered by each of multiple moving objects around the reversing vehicle, and the avoidance control unit can cause the reversing vehicle to perform an avoidance control with the highest priority among multiple avoidance controls associated with the risk level of the entry area of ​​each moving object.

[0014] Multiple avoidance controls may include: braking control, which is a control for causing the reversing vehicle to generate a braking force capable of avoiding a collision between the reversing vehicle and a moving object, and has the highest priority; alarm control, which is a control for outputting an alarm sound notifying that a moving object is approaching the reversing vehicle, and has the lowest priority; and warning control, which is a control for outputting a warning sound notifying that a collision is about to occur between the reversing vehicle and the moving object, and has a priority between the highest priority and the lowest priority.

[0015] The driving assistance device includes: a type identification unit that identifies the type of a moving object, wherein an avoidance control unit can cause a reversing vehicle to perform avoidance control associated with a risk level of an entry area and the type of the moving object by referring to control information in which the type of the moving object is associated with the avoidance control.

[0016] The risk level can be associated with i) vehicles and pedestrians as types of moving objects and ii) avoidance control corresponding to vehicles and avoidance control corresponding to pedestrians. The type identification unit can identify whether the type of the moving object is a vehicle or a pedestrian, and if the type of the moving object is identified as a vehicle, the avoidance control unit causes the reversing vehicle to perform avoidance control associated with the identified risk level of entry into the area and the vehicle, and if the type of the moving object is identified as a pedestrian, the avoidance control unit causes the reversing vehicle to perform avoidance control associated with the identified risk level of entry into the area and the pedestrian.

[0017] A second aspect of the present disclosure provides a driving assistance method, which is executed by a processor installed on a reversing vehicle that is reversing, and the method includes the following steps: identifying an entry area into which a moving object enters from a plurality of areas set along an estimated path of the reversing vehicle; and causing the reversing vehicle to perform avoidance control associated with a risk level corresponding to the identified entry area based on control information, in which i) each of a plurality of risk levels indicating the risk of a collision between the reversing vehicle and the moving object is associated with ii) an avoidance control capable of avoiding a collision between the reversing vehicle and the moving object.

[0018] A third aspect of the present disclosure provides a storage medium storing a program for causing a processor installed on a reversing vehicle that is reversing to function as: an identification unit that identifies an entry area into which a mobile object enters from a plurality of areas set along an estimated path of the reversing vehicle; and an avoidance control unit that causes the reversing vehicle to perform avoidance control associated with a risk level corresponding to the identified entry area based on control information, wherein i) each of a plurality of risk levels indicating a risk of collision between the reversing vehicle and the mobile object is associated with ii) an avoidance control capable of avoiding a collision between the reversing vehicle and the mobile object.

[0019] Effects of the Invention

[0020] According to the present disclosure, appropriate avoidance control can be performed when avoiding a collision between a backing vehicle and a moving object. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 An overview of driving assistance equipment is shown.

[0022] Figure 2 The configuration of the driving assistance device is shown.

[0023] Figure 3 is a data table showing an example of the level designation information.

[0024] Figure 4 is a data table showing an example of level designation information.

[0025] Figure 5 is a data table showing an example of the control information.

[0026] Figure 6 is a flow chart illustrating an example of a collision avoidance process. DETAILED DESCRIPTION

[0027] [Configuration of driving assistance device 6]

[0028] The following will refer to Figure 1 and Figure 2 The configuration of the driving assist device 6 mounted on the reversing vehicle 1 is described. Figure 1 An overview of the driving assistance device 6 is shown. Figure 2 The configuration of the driving assistance device 6 is shown.

[0029] The reversing vehicle 1 is a vehicle that is reversing. The reversing vehicle 1 is, for example, a truck, but may also be a bus. The reversing vehicle 1 has a detection device 3, a braking device 4, a speaker 5, and a driving assistance device 6 mounted thereon. A mobile object 21, a mobile object 22, and a mobile object 23 are objects that exist around the reversing vehicle 1. In the following description, if the mobile object 21, the mobile object 22, and the mobile object 23 do not need to be distinguished from each other, they are referred to as the mobile object 2. The mobile object 2 is, for example, another vehicle (a motorcycle or a bus), a pedestrian, or a bicycle, but is not limited thereto. It should be noted that in the present embodiment, the mobile object 2 is a bus.

[0030] The detection device 3 detects the moving object 2 around the reversing vehicle 1. For example, the detection device 3 detects the relative position, relative distance, and relative speed of the moving object 2 relative to the reversing vehicle 1 by analyzing a captured image of the area behind the reversing vehicle 1 in the traveling direction of the reversing vehicle 1. The detection device 3 may detect the relative position and relative speed of the moving object 2 relative to the reversing vehicle 1 by analyzing scanning data of a laser imaging detection and ranging (LIDAR) that scans the area behind the reversing vehicle 1 in the traveling direction of the reversing vehicle 1, or may use other methods to detect the relative position and relative speed of the moving object 2 relative to the reversing vehicle 1. In addition, the detection device 3 may detect the type of the moving object 2 by analyzing the captured image or the scanning data. Specifically, the detection device 3 detects whether the moving object 2 is a pedestrian or a light vehicle such as a bicycle, or detects whether the moving object 2 is a vehicle.

[0031] The brake device 4 is a brake for decelerating the reverse vehicle 1. For example, the brake device 4 is at least one of a drum brake or an auxiliary brake. The drum brake achieves braking force by pressing brake shoes against a drum that rotates together with the wheel of the reverse vehicle 1. The auxiliary brake is at least any one of the following: i) a retarder that achieves braking force by directly applying a load to the output shaft of the engine of the reverse vehicle 1; or ii) an exhaust brake that enhances the effect of engine braking by utilizing the rotational resistance of the engine.

[0032] The speaker 5 is a device that outputs sound. The speaker 5 is controlled by the driving assistance device 6 to output sound. It should be noted that the speaker 5 may be a buzzer that outputs a buzzing sound or a prompt sound.

[0033] The driving assistance device 6 assists the driver of the reversing vehicle 1 in driving. For example, the driving assistance device 6 causes the reversing vehicle 1 to perform avoidance control to avoid a collision between the reversing vehicle 1 and the moving object 2. Specifically, if the moving object 2 is approaching an estimated path 11 that the reversing vehicle is estimated to pass, the driving assistance device 6 causes the reversing vehicle 1 to perform avoidance control. The driving assistance device 6 estimates the estimated path 11. The driving assistance device 6 estimates the estimated path 11 based on the angle and angular velocity of the steering wheel of the reversing vehicle 1 and the speed and acceleration of the reversing vehicle 1. It should be noted that a known technology can be used as a method for estimating the estimated path 11.

[0034] A plurality of regions are set along the estimated path 11. The plurality of regions are, in descending order of proximity to the reversing vehicle 1, a first region 12A, a second region 12B, and a third region 12C. Risk levels are assigned to the first region 12A, the second region 12B, and the third region 12C in descending order of proximity to the reversing vehicle 1. Specifically, the highest risk level [A] is assigned to the first region 12A closest to the reversing vehicle 1. The lowest risk level [C] is assigned to the third region 12C farthest from the reversing vehicle 1. A risk level [B] between the highest risk level [A] and the lowest risk level [C] is assigned to the second region 12B.

[0035] The driving assistance device 6 causes the backing vehicle 1 to perform avoidance control capable of avoiding a collision between the backing vehicle 1 and the mobile object 2, according to an entry area into which the mobile object 2 enters among a plurality of areas along the estimated path 11. Therefore, the backing vehicle 1 can avoid a collision between the backing vehicle 1 and the mobile object 2. The specific structure of the driving assistance device 6 will be described below.

[0036] The driving assistance device 6 includes a memory 61 and a controller 62 . The memory 61 is a storage medium including a read only memory (ROM), a random access memory (RAM), a hard disk, etc. The memory 61 stores a program executed by the controller 62 .

[0037] The controller 62 is a computing resource including a processor such as a central processing unit (CPU). The controller 62 implements the functions of an area identification unit 621, a speed level determination unit 612, a level designation unit 623, a TTC estimation unit 624, a level designation unit 625, a type identification unit 626, and an avoidance control unit 627 by executing a program stored in the memory 61.

[0038] The region identification unit 621 identifies an entry region into which the mobile object 2 enters, among a plurality of regions along the estimated path 11. The region identification unit 621 identifies an entry region of the mobile object 2 existing within the detectable range of the detection device 3. Specifically, the region identification unit 621 identifies the entry region for at least any one of i) a mobile object 2 existing within the detection range of the LIDAR or ii) a mobile object 2 existing within a range that can be captured by an imaging device that captures an area behind the reversing vehicle 1. A detailed process of the region identification unit 621 for identifying an entry region will be described below.

[0039] First, the region identification unit 621 estimates the estimated path that each mobile object 2 is estimated to pass through. For example, the region identification unit 621 estimates the estimated path of each mobile object 2 based on the relative position, relative distance and relative speed of each mobile object 2 acquired from the detection device 3. It should be noted that the region identification unit 621 can use other methods to estimate the path. Subsequently, the region identification unit 621 estimates the estimated path 211 of the mobile object 21, the estimated path 221 of the mobile object 22 and the estimated path 231 of the mobile object 23. Then, the region identification unit 621 identifies the region including the estimated path of the mobile object 2 from the plurality of regions as the entry region. As a specific example, the region identification unit 621 identifies the first region 12A as the entry region of the mobile object 21 because the estimated path 211 of the mobile object 21 is included in the first region 12A. The region identification unit 621 identifies the entry region of each mobile object 2 estimated to enter the estimated path from the plurality of mobile objects 2. It should be noted that the area identification section 621 may identify, as the entry area, an area where the estimated path 11 of the reversing vehicle 1 and the estimated path of each mobile object 2 intersect with each other.

[0040] The speed level determination section 622 determines the speed level according to the speed of the mobile object 2 whose entry into the area has been identified. First, the speed level determination section 622 estimates the speed of each mobile object 2. For example, the speed level determination section 622 estimates the speed of the mobile object 2 based on i) the speed of the backing vehicle 1 and ii) the relative speed of the mobile object 2 with respect to the backing vehicle 1. The speed level determination section 622 may estimate the speed of the mobile object 2 using other methods.

[0041] Subsequently, the speed level determination unit 622 determines a speed level corresponding to the estimated speed of the mobile object 2 from a plurality of predetermined speed levels as the speed level of the mobile object 2 whose speed has been estimated. The plurality of speed levels are respectively associated with a plurality of speed ranges. For example, the plurality of speed ranges include: i) a first speed range greater than 15 km / h; ii) a second speed range greater than 10 km / h and less than or equal to 15 km / h; and iii) a third speed range of 10 km / h or less. The first speed range is associated with [Speed ​​Level 1]. The second speed range is associated with [Speed ​​Level 2]. The third speed range is associated with [Speed ​​Level 3].

[0042] Then, the speed level determination unit 622 determines a speed level corresponding to a speed range including the estimated speed of the mobile object 2 as the speed level of the mobile object 2. If the speed of the mobile object 2 is included in the first speed range, the speed level determination unit 622 determines [Speed ​​Level 1] as the speed level of the mobile object 2. If the speed of the mobile object 2 is included in the second speed range, the speed level determination unit 622 determines [Speed ​​Level 2] as the speed level of the mobile object 2. If the speed of the mobile object 2 is included in the third speed range, the speed level determination unit 622 determines [Speed ​​Level 3] as the speed level of the mobile object 2. As a specific example, the speed level determination unit 622 determines [Speed ​​Level 1] as the speed level of the mobile object 2 traveling at a speed of 20 km / h.

[0043] The level designation section 623 designates a risk level indicating a collision risk between the mobile object 2 and the reversing vehicle 1 to the mobile object 2 whose entry area has been identified and whose speed level has been determined. For example, the level designation section 623 designates a risk level and a speed level corresponding to the entry area to the mobile object 2. Specifically, the level designation section 623 designates a risk level corresponding to the entry area and the speed level of the mobile object 2 to the mobile object 2 by referring to the level designation information. For example, the level designation information is a data table in which each of a plurality of entry areas and each of a plurality of speed levels are associated with each other. Figure 3 is a data table showing an example of the level designation information. For example, the level designation information is stored in the memory 61. As a specific example, the level designation section 623 designates the risk level [A-1] to the mobile object 21 estimated to enter the first area 12A and to which [speed level 1] has been designated.

[0044] The time until collision (TTC) estimating section 624 estimates the intersection position CP of the estimated path of the mobile object 2 and the estimated path of the backing vehicle 1. The TTC estimating section 624 estimates the time until the collision between the mobile object 2 and the backing vehicle 1 whose intersection position CP has been estimated. For example, the TTC estimating section 624 estimates the time until the collision based on i) the distance between the estimated intersection position CP and the position of the backing vehicle 1 and ii) the speed of the backing vehicle 1. Specifically, the TTC estimating section 624 estimates the time required for the backing vehicle 1 to travel from the position of the backing vehicle 1 to the intersection position CP along the estimated path 11 of the backing vehicle 1 while the backing vehicle 1 maintains its current speed as the time until the collision. In other words, the TTC estimating section 624 estimates a value equal to the distance from the position of the backing vehicle 1 to the intersection position CP along the estimated path 11 of the backing vehicle 1 divided by the current speed of the backing vehicle 1 as the time until the collision. The time until the backing vehicle 1 reaches the estimated intersection position CP is the time until the collision (TTC) when the backing vehicle 1 and the mobile object 2 continue to move.

[0045] The level designation section 625 designates the TTC level corresponding to the time until collision estimated by the TTC estimation section 624 to the TTC level of the mobile object 2. For example, the level designation section 625 designates the TTC level to the TTC level of the mobile object 2 by referring to level designation information in which i) each of a plurality of ranges of time until collision and ii) the TTC level corresponding to each of these ranges are associated with each other. The level designation information is stored in the memory 61. Figure 4 is a data table showing an example of level designation information.

[0046] like Figure 4 As shown, multiple ranges of time until collision include, but are not limited to, five time ranges. The first time range is greater than 0.0 seconds and less than 0.3 seconds. The second time range is greater than 0.3 seconds and less than 0.5 seconds. The third time range is greater than 0.5 seconds and less than 1.0 seconds. The fourth time range is greater than 1.0 seconds and less than 1.5 seconds. The fifth time range is 1.5 seconds or longer. Each range is associated with a risk level, where a lower minimum value of the range corresponds to a higher risk level. The first time range with the lowest minimum value in the range is associated with [Level 1], which represents the highest risk level, and the fifth range with the highest minimum value in the range is associated with [Level 5], which represents the lowest risk level.

[0047] The level designation section 625 designates, to the TTC level of the mobile object 2, a TTC level associated with a range of time until collision that includes the time until collision estimated by the TTC estimation section 624. As a specific example, if the time until collision between the mobile object 21 and the reverse vehicle 1 is 0.2 seconds, the level designation section 625 designates [Level 1] to the TTC level of the mobile object 21.

[0048] The type recognition unit 626 recognizes the type of the mobile object 2 to which the risk level has been assigned. For example, the type recognition unit 626 recognizes whether the mobile object 2 is a vehicle or a pedestrian. Specifically, the type recognition unit 626 recognizes whether the mobile object 2 is a pedestrian, a light vehicle such as a bicycle, or a vehicle by analyzing at least any one of the captured image or scan data from the detection device 3. It should be noted that the type recognition unit 626 can obtain information indicating the type of the mobile object 2 from the detection device 3. In this case, the type recognition unit 626 obtains information indicating whether the mobile object 2 is a pedestrian or a vehicle. In addition, the type recognition unit 626 recognizes the type of each of the multiple mobile objects 2 to which the risk level has been assigned.

[0049] The avoidance control unit 627 causes the backing vehicle 1 to perform avoidance control that can avoid a collision between the backing vehicle 1 and the mobile object 2. For example, the avoidance control unit 627 causes the backing vehicle 1 to perform avoidance control that can avoid a collision between the backing vehicle 1 and the mobile object 2 to which a risk level and a TTC level have been assigned. Specifically, the avoidance control unit 627 causes the backing vehicle 1 to perform avoidance control associated with the assigned risk level. More specifically, the avoidance control unit 627 causes the backing vehicle 1 to perform avoidance control associated with the risk level assigned to the mobile object 2 by referring to control information in which each of a plurality of risk levels and avoidance control corresponding to each risk level are associated with each other. The control information is stored in the memory 61. Figure 5 is a data table showing an example of the control information.

[0050] like Figure 5 As shown, each of the plurality of risk levels and the plurality of avoidance controls is associated with control information. Specifically, the control information is associated with i) each of the plurality of risk levels, ii) a plurality of TTC levels corresponding to the time until collision, and iii) a plurality of avoidance controls. More specifically, the control information is associated with one or more avoidance controls corresponding to both each risk level and each TTC level. Furthermore, each of the avoidance controls is associated with a priority of each of the risk levels.

[0051] The plurality of avoidance controls include a brake control, an alarm control, and a warning control. The brake control is a control for causing the brake device 4 of the reversing vehicle 1 to generate a braking force capable of avoiding a collision between the reversing vehicle 1 and the moving object 2. In other words, the brake control is a control for causing the brake device 4 to generate a braking force that causes deceleration to stop the reversing vehicle 1 before the time until the collision elapses. The brake control is assigned the highest priority (3).

[0052] The alarm control is a control for outputting an alarm sound to notify that the mobile object 2 is approaching the reversing vehicle 1. For example, the alarm control is a control for causing the speaker 5 to output a relatively small sound. As a specific example, the alarm control is a control for causing the speaker 5 to output a long "beep" sound. The alarm control is assigned the lowest priority (1).

[0053] The warning control is used to output a warning sound to notify an impending collision between the backing vehicle 1 and the moving object 2. For example, the warning control is a control for causing the speaker 5 to output a sound that is louder than the sound in the warning control, and its output interval becomes shorter as the distance between the backing vehicle 1 and the moving object 2 decreases. Specifically, as the distance between the backing vehicle 1 and the moving object 2 decreases, the warning control shortens the interval between the output of each short "beep" sound. The warning control is assigned a priority (2) between the highest priority (3) and the lowest priority (1).

[0054] Some of the plurality of avoidance controls are associated with the type of the mobile object 2. In other words, control information is associated with the plurality of avoidance controls associated with the risk level and the TTC level. One of the plurality of avoidance controls is performed depending on whether the type of the mobile object 2 is a vehicle or a pedestrian. In other words, the risk level and the TTC level are associated with i) a plurality of types of mobile objects 2 and ii) avoidance controls to be performed depending on the type of the mobile object 2. As a specific example, the risk level [A-3] and the TTC level [Level 3] are associated with i) [Braking control (3)] as an avoidance control for the type of the mobile object 2 (pedestrian) and ii) [Warning control (2)] as an avoidance control for the type of the mobile object 2 (vehicle).

[0055] The avoidance control unit 627 performs avoidance control associated with the risk level and TTC level of the mobile object 2. In other words, the avoidance control unit 627 causes the reversing vehicle 1 to perform avoidance control associated with the risk level and TTC level of the mobile object 2 by controlling at least any one of the brake device 4 or the speaker 5 of the reversing vehicle 1. As a specific example, if the risk level [A-1] and the TTC level [level 1] are assigned to the mobile object 21, the avoidance control unit 627 causes the brake device 4 to apply a braking force, thereby causing the reversing vehicle 1 to perform [brake control (3)] associated with the risk level [A-1] and the TTC level [level 1]. Furthermore, as another example, if the risk level [C-2] and the TTC level [level 3] are assigned to the mobile object 23, the avoidance control unit 627 causes the speaker 5 to output an alarm sound, thereby causing the reversing vehicle 1 to perform [alarm control (1)] associated with the risk level [C-2] and the TTC level [level 3]. In this way, the avoidance control section 627 can cause the backing vehicle 1 to perform appropriate avoidance control according to the risk of the mobile object 2 or the time until the collision with respect to the mobile object 2 that may collide with the backing vehicle 1 .

[0056] If it is estimated that a plurality of mobile objects 2 enter the area, the avoidance control unit 627 causes the backing vehicle 1 to execute an avoidance control having a higher priority than other avoidance controls. For example, the avoidance control unit 627 causes the backing vehicle 1 to execute an avoidance control having the highest priority among a plurality of avoidance controls, each of which is associated with the risk level of each mobile object 2 entering the area. Specifically, the avoidance control unit 627 first identifies the avoidance control associated with the risk level and TTC level of each mobile object 2 by referring to the control information. Then, the avoidance control unit 627 causes the backing vehicle 1 to execute the avoidance control having the highest priority among the identified plurality of avoidance controls. For example, if [brake control (3)] and [alarm control (1)] are identified, the avoidance control unit 627 causes the brake device 4 to apply a braking force, thereby causing the backing vehicle 1 to execute [brake control (3)] having the highest priority. Therefore, the avoidance control unit 627 can cause the backing vehicle 1 to execute the avoidance control corresponding to the mobile object 2 that causes a greater danger in the event of a collision. It should be noted that the avoidance control section 627 may cause the speaker 5 to output an alarm sound to execute the [alarm control (1)] simultaneously with the [brake control (3)].

[0057] The avoidance control section 627 causes the backing vehicle 1 to perform avoidance control according to the priority associated with the type of the mobile object 2. For example, the avoidance control section 627 causes the backing vehicle 1 to perform avoidance control having the highest priority among the priorities of avoidance control associated with the risk level, TTC level, and type of the mobile object 2 by referring to the control information. Specifically, if the mobile object 2 is a pedestrian, the avoidance control section 627 causes the backing vehicle 1 to perform avoidance control having a higher priority than when the mobile object 2 is a vehicle.

[0058] As a specific example, if the mobile object 2 assigned the risk level [A-3] and the TTC level [Level 3] is a vehicle, the avoidance control unit 627 causes the backing vehicle 1 to execute [warning control (2)] associated with the risk level assigned to the mobile object 2 and the type of the mobile object 2 (vehicle) (see Figure 5 ). In addition, if the mobile object 2 assigned a risk level [A-3] and a TTC level [Level 3] is a pedestrian, the avoidance control unit 627 causes the reversing vehicle 1 to perform [brake control (3)], which is associated with the risk level assigned to the mobile object 2 and the type of the mobile object 2 (pedestrian), and the priority of [brake control (3)] is higher than the priority of [warning control (2)] associated with the type (vehicle). In this way, the avoidance control unit 627 can improve the safety of pedestrians who are more likely to suffer greater damage than the vehicle in a collision. It should be noted that even if the mobile object 2 is a light vehicle such as a bicycle, the avoidance control unit 627 can cause the reversing vehicle 1 to perform avoidance control associated with the type of the mobile object 2 (pedestrian).

[0059] [Collision avoidance process]

[0060] Figure 6 2 is a flowchart showing an example of a collision avoidance process. When the backing vehicle 1 starts backing up, a process for avoiding a collision between the backing vehicle 1 and the moving object 2 is performed.

[0061] The area recognition unit 621 recognizes an entry area of ​​the mobile object 2 around the reversing vehicle 1 (step S1). Specifically, the area recognition unit 621 recognizes an entry area including an estimated path of the mobile object 2 from a plurality of areas set along the estimated path 11 of the reversing vehicle 1. The speed level determination unit 622 determines the speed level of the mobile object 2 (step S2). Specifically, the speed level determination unit 622: i) estimates the speed of the mobile object 2 determined based on the speed of the reversing vehicle 1 and the relative speed of the mobile object 2 with respect to the reversing vehicle 1; and ii) determines the speed level according to the estimated speed.

[0062] The level designation unit 623 designates the risk level and speed level corresponding to the entry area to the mobile object 2 (step S3). Specifically, the level designation unit 623 refers to the level designation information (see Figure 3 ), and assigns a risk level associated with the identified entry area and the specified speed level to the mobile object 2.

[0063] The TTC estimation section 624 estimates the time until collision between the mobile object 2 for which the entry area and speed have been estimated and the backing vehicle 1 (step S4). Specifically, the TTC estimation section 624 estimates the time required for the backing vehicle 1 to travel along the estimated path 11 from the position of the backing vehicle 1 to the intersection position CP of the estimated path of the mobile object 2 and the estimated path of the backing vehicle 1 as the time until collision.

[0064] The level specifying section 625 specifies the TTC level corresponding to the estimated time until collision (step S5). Specifically, the level specifying section 625 specifies the TTC level corresponding to the estimated time until collision by referring to the level specifying information (see Figure 4 ) to assign to the mobile object 2 a TTC level associated with a range that includes the time until collision.

[0065] The avoidance control unit 627 identifies the avoidance control corresponding to the risk level and the TTC level (step S6). Specifically, the avoidance control unit 627 identifies the avoidance control associated with the risk level and the TTC level by referring to the control information (see Figure 5 ).

[0066] The avoidance control section 627 determines whether avoidance control has been identified for all mobile objects 2 to which risk levels and TTC levels have been assigned (step S7). If there is a mobile object 2 for which avoidance control has not been identified ("No" in step S7), the avoidance control section 627 repeats steps S1 to S6 until avoidance control is identified for all mobile objects 2 to which risk levels and TTC levels have been assigned. It should be noted that the avoidance control section 627 may perform the process of steps S1 to S7 in parallel for each of a plurality of mobile objects 2.

[0067] If avoidance controls have been identified for all mobile objects 2 to which risk levels and TTC classes have been assigned (YES in step S7 ), the avoidance control section 627 causes the backing vehicle 1 to execute the avoidance control having the highest priority among the identified avoidance controls (step S8 ).

[0068] (Variant 1)

[0069] It can be considered that there is no danger of collision between the mobile object 2 for which the entry area is not identified and the reversing vehicle 1. Therefore, the level designation unit 623 does not designate a risk level to the mobile object 2 for which the entry area is not identified. In other words, the level designation unit 623 does not designate a risk level to the mobile object 2 that does not enter any of the multiple areas. As a specific example, the level designation unit 623 does not estimate the speed, type, and time until collision of the mobile object 2 whose estimated path 221 does not pass through any of the multiple areas. Therefore, the driving assistance device 6 does not need to perform multiple processes related to designating risk levels and identifying avoidance control for the mobile object 22 that does not have the risk of colliding with the reversing vehicle 1, thereby reducing the processing load of the driving assistance device 6.

[0070] (Variant 2)

[0071] The memory 61 may store control information corresponding to each of a plurality of types of mobile objects 2. For example, the memory 61 stores vehicle control information corresponding to a vehicle and pedestrian control information corresponding to a pedestrian. In this case, the avoidance control section 627 identifies avoidance control associated with the risk level of the mobile object 2 as a vehicle from the vehicle control information, and identifies avoidance control associated with the risk level of the mobile object 2 as a pedestrian from the pedestrian control information.

[0072] [Effects of driving assistance device 6]

[0073] As described above, the driving assistance device 6 identifies the entry area into which the mobile object 2 around the reversing vehicle 1 enters from among the plurality of areas set along the estimated path 11 of the reversing vehicle 1, wherein the plurality of areas set along the estimated path 11 of the reversing vehicle 1 are assigned a higher risk level as they are closer to the reversing vehicle 1. Then, the driving assistance device 6: (i) refers to control information in which a plurality of risk levels and avoidance controls corresponding to each risk level and capable of avoiding a collision between the reversing vehicle 1 and the mobile object 2 are associated with each other; and (ii) causes the reversing vehicle 1 to execute the avoidance control associated with the risk level of the entry area of ​​the mobile object 2.

[0074] Thus, for example, i) if the mobile object 2 enters an area close to the reversing vehicle 1, the driving assistance device 6 causes the reversing vehicle 1 to perform avoidance control associated with a higher risk level, and ii) if the mobile object 2 enters an area far from the reversing vehicle 1, the driving assistance device 6 causes the reversing vehicle 1 to perform avoidance control associated with a lower risk level. In this way, the driving assistance device 6 can cause the reversing vehicle 1 to perform appropriate avoidance control according to the risk level of the mobile object 2 that may collide with the reversing vehicle 1.

[0075] The present disclosure is described based on exemplary embodiments. The technical scope of the present disclosure is not limited to the scope described in the above embodiments, and various changes and modifications can be made within the scope of the present disclosure. For example, all or part of the device can be configured with any unit that is functionally or physically dispersed or integrated. In addition, new exemplary embodiments generated by any combination of exemplary embodiments are included in the exemplary embodiments of the present disclosure. In addition, the effects of the new exemplary embodiments brought about by the combination also have the effects of the original exemplary embodiments.

[0076] [Symbol description]

[0077] 1: Reversing vehicle

[0078] 2: Move the object

[0079] 3: Detection device

[0080] 4: Braking device

[0081] 5: Speaker

[0082] 6: Driving assistance equipment

[0083] 61: Memory

[0084] 62: Controller

[0085] 621: Regional Identification Department

[0086] 622: Speed ​​grade determination unit

[0087] 623: Grade Designation Department

[0088] 624: TTC Estimation Department

[0089] 625: Level Designation Department

[0090] 626: Type Identification Department

[0091] 627: Avoidance Control Unit

Claims

1. A driving assistance device, comprising: a memory storing control information in which i) each of a plurality of risk levels indicating a risk of collision between a reversing vehicle that is reversing and a moving object and ii) avoidance control capable of avoiding a collision between the reversing vehicle and the moving object are associated with each other; an area recognition section that recognizes an entry area into which a mobile object existing around the reversing vehicle enters from a plurality of areas set along an estimated path of the reversing vehicle; as well as The avoidance control unit causes the reversing vehicle to execute avoidance control associated with a risk level corresponding to the identified entry area based on the control information.

2. The driving assistance device according to claim 1, wherein: The plurality of areas are assigned higher risk levels as the distance between the area and the backing vehicle becomes shorter, and The avoidance control portion causes the backing vehicle to execute the avoidance control associated with the risk level assigned to the area identified as the entry area among the plurality of areas by referring to the control information.

3. The driving assistance device according to claim 1, comprising: a determining unit that determines a speed level corresponding to a speed of the moving object, wherein the speed of the moving object is determined based on i) a speed of the backing vehicle and ii) a relative speed of the moving object with respect to the backing vehicle, wherein the memory stores the control information in which i) each of the plurality of risk levels, ii) each of the plurality of speed levels corresponding to the speed of the moving object, and iii) the avoidance control are associated with each other, and The avoidance control unit causes the reversing vehicle to perform avoidance control associated with the risk level and the speed level of the entry area.

4. The driving assistance device according to claim 3, comprising: an estimating unit that estimates a time until a collision between the backing vehicle and the moving object, wherein the memory stores the control information in which i) each of the plurality of risk levels, ii) each of the plurality of speed levels according to the speed of the moving object, iii) each of the plurality of levels according to the time until collision, and iv) the avoidance control are associated with each other, the estimating section estimates, as the time until collision, a time determined based on i) a distance between a position of an intersection where an estimated path of the backing vehicle and an estimated path of the mobile object intersect each other and a position of the backing vehicle and ii) a speed of the backing vehicle; and The avoidance control portion causes the backing vehicle to execute avoidance control associated with a level corresponding to the risk level of the entry area, the speed level, and the estimated time until collision.

5. The driving assistance device according to claim 3 or 4, wherein: The speed grade is associated with each of the plurality of speed ranges, and The determination section determines, as the speed level of the moving object, a speed level associated with the speed range including the speed of the moving object.

6. The driving assistance device according to claim 3 or 4, wherein: The region identifying section identifies a region including an estimated path of the mobile object among the plurality of regions as the entry region of the mobile object, and The determination section determines the speed level for a mobile object for which entry into a region has been recognized, and does not determine the speed level for a mobile object for which entry into a region has not been recognized.

7. The driving assistance device according to any one of claims 1 to 3, wherein: Each of the plurality of avoidance controls of the control information is assigned a priority, The area recognition section recognizes an entry area into which each of the plurality of moving objects around the backing vehicle enters, and The avoidance control section causes the backing vehicle to execute avoidance control having the highest priority among a plurality of avoidance controls associated with a risk level of the entry area of ​​each mobile object.

8. The driving assistance device according to claim 7, wherein: The plurality of avoidance controls include: a braking control which is a control for causing the reversing vehicle to generate a braking force capable of avoiding a collision between the reversing vehicle and the moving object and has the highest priority, an alarm control which is a control for outputting an alarm sound notifying that the moving object is approaching the reversing vehicle and has the lowest priority, and A warning control is a control for outputting a warning sound notifying that a collision between the backing vehicle and the moving object is about to occur, and has a priority between the highest priority and the lowest priority.

9. The driving assistance device according to any one of claims 1 to 3, comprising: A type identification unit identifies the type of the mobile object, wherein: The avoidance control section causes the backing vehicle to perform avoidance control associated with the risk level of the entry area and the type of the mobile object by referring to the control information in which the type of the mobile object is associated with the avoidance control.

10. The driving assistance device according to claim 9, wherein: The risk level is associated with i) a vehicle and a pedestrian as types of moving objects and ii) an avoidance control corresponding to the vehicle and an avoidance control corresponding to the pedestrian, The type identification unit identifies whether the type of the moving object is a vehicle or a pedestrian, and If the type of the mobile object is identified as a vehicle, the avoidance control section causes the backing vehicle to perform avoidance control associated with the identified risk level of the entry area and the vehicle, and If the type of the mobile object is identified as a pedestrian, the avoidance control portion causes the backing vehicle to perform avoidance control associated with the identified risk level of the entry area and the pedestrian.

11. A driving assistance method, the driving assistance method being executed by a processor installed on a reversing vehicle, the method comprising the following steps: identifying an entry area into which a mobile object enters from a plurality of areas set along an estimated path of the reversing vehicle; as well as The reversing vehicle is caused to perform avoidance control associated with the risk level corresponding to the identified entry area based on control information, in which i) each of a plurality of risk levels indicating the risk of collision between the reversing vehicle and a moving object is associated with ii) avoidance control capable of avoiding the collision between the reversing vehicle and the moving object.

12. A storage medium storing a program for causing a processor installed in a reversing vehicle that is reversing to: an identification unit that identifies an entry area into which a mobile object enters from a plurality of areas set along an estimated path of the reversing vehicle; and An avoidance control unit causes the reversing vehicle to perform avoidance control associated with a risk level corresponding to the identified entry area based on control information, in which i) each of a plurality of risk levels indicating a risk of collision between the reversing vehicle and a moving object is associated with ii) avoidance control capable of avoiding a collision between the reversing vehicle and the moving object.

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