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

Abstract

The driving assistance apparatus (6) includes a first acquisition section (622) that acquires a first braking force capable of avoiding a collision between a backing-up vehicle that is backing up and a moving object approaching the backing-up vehicle, a second acquisition section (623) that acquires a second braking force based on a brake pedal depression amount, and a brake control section (624) that controls the braking of the backing-up vehicle. If the first braking force is less than the maximum braking force of the reverse vehicle and a second braking force determined based on the brake pedal depression amount is less than the first braking force, the brake control unit (624) causes the reverse vehicle to generate the first braking force.

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 a driver's driving operation. Background Art

[0002] Technologies for avoiding collisions between vehicles and moving objects are known. For example, Japanese Unexamined Patent Application Publication No. 2004-295620 discloses a technology for generating the maximum braking force that can be achieved by a brake device of a vehicle that is reversing when it is determined that a collision between a vehicle and a moving object (e.g., another vehicle) is unavoidable based on the relative position and relative speed of the moving object relative to the vehicle. Summary of the invention

[0003] Problems to be solved by the present invention

[0004] The distance between the reversing vehicle and the moving object is sometimes detected as shorter than the actual distance. In this case, sometimes even if the collision between the reversing vehicle and the moving object is actually avoidable, it is determined that the collision between the reversing vehicle and the moving object cannot be avoided, resulting in the generation of maximum braking force.

[0005] The present disclosure focuses on this point, and an object of the present disclosure is to prevent excessive braking force 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, which includes: a first acquisition unit, which acquires a first braking force, and the first braking force can avoid a collision between a reversing vehicle that is reversing and a moving object approaching the reversing vehicle; a second acquisition unit, which acquires a second braking force based on the amount of brake pedal depression; and a braking control unit, which causes the reversing vehicle to generate the first braking force if the first braking force is less than the maximum braking force of the reversing vehicle and the second braking force is less than the first braking force.

[0008] If the second braking force is equal to or greater than the first braking force, the brake control portion may cause the reverse vehicle to generate the second braking force.

[0009] If the second braking force becomes smaller than the first braking force, the brake control portion may cause the reverse vehicle to generate the maximum braking force.

[0010] The brake control portion may cause the reversing vehicle to generate a maximum braking force if the second braking force becomes smaller than the first braking force after a predetermined time has passed from a time when it is determined that there is a risk of collision between the reversing vehicle and the moving object.

[0011] If the first braking force at the above timing is equal to or greater than the maximum braking force, the brake control portion may cause the reverse vehicle to generate the maximum braking force.

[0012] If the moving object is a pedestrian, the braking control unit may cause the reversing vehicle to generate a maximum braking force regardless of the first braking force and the second braking force, and if the moving object is a vehicle, the braking control unit may cause the reversing vehicle to generate a first braking force, the first braking force is less than the maximum braking force, and the second braking force is less than the first braking force.

[0013] The first acquisition section may acquire a first braking force that causes deceleration to stop the backing vehicle before a time elapses until a collision between the backing vehicle and the moving object.

[0014] If the first braking force is smaller than the maximum braking force and the second braking force generated by the reverse vehicle is smaller than the first braking force, the brake control unit that generates the second braking force for the reverse vehicle may increase the braking force of the reverse vehicle until the braking force reaches the first braking force.

[0015] The first braking force can be represented by a function including: i) the time elapsed from the moment when it is determined that there is a risk of collision between the reversing vehicle and the moving object as a variable, and ii) the deceleration for stopping the reversing vehicle from the above moment until the time elapses until the collision between the reversing vehicle and the moving object as a coefficient, and if the second braking force continues to be less than the first braking force and the difference between the first braking force and the second braking force is equal to or greater than a predetermined value, the braking control unit can cause the reversing vehicle to generate the first braking force by increasing the braking force of the reversing vehicle until the braking force reaches the first braking force.

[0016] The above-mentioned coefficient may be a ratio of the speed of the reverse vehicle at the above-mentioned time relative to a value obtained by subtracting a predetermined time from the time until the collision.

[0017] A second aspect of the present disclosure provides a method for controlling a driving assistance device, the method being executed by a processor installed on a reversing vehicle that is reversing, the method comprising the following steps: obtaining a first braking force capable of avoiding a collision between the reversing vehicle and a moving object approaching the reversing vehicle; obtaining a second braking force based on an amount of brake pedal depression; and causing the reversing vehicle to generate the first braking force if the first braking force is less than a maximum braking force of the reversing vehicle and the second braking force is less than the first braking force.

[0018] A third aspect of the present invention provides a storage medium storing a program for causing a processor installed on a reversing vehicle that is reversing to function as: a first acquisition unit for acquiring a first braking force capable of avoiding a collision between the reversing vehicle and a moving object approaching the reversing vehicle; a second acquisition unit for acquiring a second braking force based on an amount of brake pedal depression; and a braking control unit for causing the reversing vehicle to generate the first braking force if the first braking force is less than the maximum braking force of the reversing vehicle and the second braking force is less than the first braking force.

[0019] Effects of the Invention

[0020] According to the present disclosure, when avoiding a collision between a backing vehicle and a moving object, it is possible to prevent the braking force from being excessive. 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 The braking force generated by the reverse vehicle 1 is shown.

[0024] Figure 4 The change in speed of the reversing vehicle is shown.

[0025] Figure 5 is a flow chart illustrating an example of a collision avoidance process. DETAILED DESCRIPTION

[0026] [Configuration of driving assistance device 6]

[0027] 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.

[0028] 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 brake device 4, a speaker 5, and a driving assistance device 6 mounted thereon.

[0029] The moving object 2 is an object that exists around the reversing vehicle 1 and approaches the reversing vehicle 1. The moving object 2 is another vehicle (a motorcycle or a passenger car), a pedestrian, or a bicycle, for example but not limited thereto.

[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 whether the moving object 2 is a vehicle.

[0031] The detection device 3 estimates the estimated path 21 of the mobile object 2. For example, the detection device 3 estimates the estimated path 21 of the mobile object 2 based on the relative position, relative distance and relative speed of the mobile object 2 relative to the detected reverse vehicle 1, but other methods may be used to estimate the estimated path.

[0032] The brake device 4 is a device for decelerating the reverse vehicle 1. For example, the brake device 4 is at least any one of a drum brake or an auxiliary brake that generates a braking force. The drum brake achieves braking force by pressing a brake shoe 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 an 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.

[0033] 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 or a sound transmission member that outputs a buzzing sound.

[0034] The depression amount acquisition device 7 is a device for acquiring the depression amount of the brake pedal. The depression amount acquisition device 7 inputs the brake pedal depression amount to the driving assistance device 6. The depression amount acquisition device 7 is, for example, a sensor provided on the brake pedal.

[0035] The driving assistance device 6 assists the driver of the reversing vehicle 1 in driving. For example, the driving assistance device 6 helps to avoid a collision between the reversing vehicle 1 and the moving object 2. Specifically, if the moving object 2 approaches an estimated path 11 through which the reversing vehicle 1 is estimated to pass, the driving assistance device 6 performs a control for assisting in avoiding the collision. The driving assistance device 6 estimates the estimated path 11. The estimated path 11 is an estimated path of the reversing vehicle 1. 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.

[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) and implements functions as a determination section 621 , a first acquisition section 622 , a second acquisition section 623 , and a brake control section 624 by executing a program stored in the memory 61 .

[0038] The determination unit 621 determines whether there is a risk of collision between the reversing vehicle 1 and the mobile object 2. Specifically, if the estimated path 11 of the reversing vehicle 1 and the estimated path 21 of the mobile object 2 intersect with each other, the determination unit 621 determines that there is a risk of collision between the reversing vehicle 1 and the mobile object 2. More specifically, if the reversing vehicle 1 and the mobile object 2 simultaneously arrive at the intersection position CP where the estimated path 11 of the reversing vehicle 1 and the estimated path 21 of the mobile object 2 intersect, the determination unit 621 determines that there is a risk of collision between the reversing vehicle 1 and the mobile object 2. If the estimated path 11 of the reversing vehicle 1 and the estimated path 21 of the mobile object 2 do not intersect with each other, the determination unit 621 determines that the reversing vehicle 1 and the mobile object 2 do not collide with each other. Hereinafter, the moment when the determination unit 621 determines that there is a risk of collision between the reversing vehicle 1 and the mobile object 2 is referred to as the reference moment.

[0039] If the determination section 621 determines that there is a risk of collision between the backing vehicle 1 and the moving object 2, the determination section 621 causes the speaker 5 to output a warning sound notifying that a collision is about to occur between the backing vehicle 1 and the moving object 2. Therefore, the driver of the backing vehicle 1 recognizes that there is a risk of collision between the backing vehicle 1 and the moving object 2. In the following description, it is assumed that the driver who recognizes that there is a risk of collision between the backing vehicle 1 and the moving object 2 depresses the brake pedal.

[0040] If the reversing vehicle 1 and the moving object 2 are determined to be at risk of collision, the first acquisition section 622 acquires a first braking force that can avoid the collision between the reversing vehicle 1 and the moving object 2. The first braking force is a braking force that causes the reversing vehicle 1 to stop before the reversing vehicle 1 and the moving object 2 collide with each other. Specifically, the first braking force is a braking force that causes deceleration to stop the reversing vehicle 1 before the time until the collision between the reversing vehicle 1 and the moving object 2 elapses. The time until the collision is the time required for the reversing vehicle 1 and the moving object 2 to reach the intersection position CP while maintaining the speed determined at the reference time.

[0041] The first braking force is represented by a function including time as a variable and deceleration as a coefficient. The first braking force is represented by a linear function including: i) the time elapsed from a reference moment as a variable; and ii) the deceleration as a coefficient. For example, the deceleration is the ratio of the speed of the reversing vehicle 1 at the reference moment to a value obtained by subtracting a predetermined time from the time until the collision. The predetermined time is determined in consideration of safety and is, for example, 200 milliseconds, but is not limited thereto. As a specific example, if the time until the collision is 2000 milliseconds, the first acquisition unit 622 uses i) the time elapsed as a variable and ii) the deceleration as a coefficient to acquire a linear function as a function representing the first braking force, and the deceleration is obtained by dividing the speed of the reversing vehicle 1 at the reference moment by 1800 milliseconds.

[0042] The second acquisition unit 623 acquires the second braking force corresponding to the brake pedal depression amount input from the depression amount acquisition device 7. It is assumed that the relationship between the depression amount and the second braking force is stored in the memory 61. Specifically, the memory 61 stores a data table that associates each of a plurality of depression amounts having different sizes with the second braking force corresponding to each depression amount. It should be noted that in the present embodiment, it is assumed that the driver increases the brake pedal depression amount with a constant force, and the second acquisition unit 623 acquires the second braking force that increases as the brake pedal depression amount increases.

[0043] The brake control section 624 controls the brake device 4 to generate a braking force for the reverse vehicle 1. If the determination section 621 determines that there is a risk of collision between the reverse vehicle 1 and the moving object 2, the brake control section 624 causes the brake device 4 to generate the first braking force or the second braking force. The details of the operation of the brake control section 624 will be described later.

[0044] Figure 3 The braking force generated by the reverse vehicle 1 is shown. Figure 3In FIG. 6 , the horizontal axis represents time t, and the vertical axis represents braking force F. Reference time t0 is the time when the determination unit 621 determines that the reversing vehicle 1 and the moving object 2 have a collision risk. The dotted line F1 represents the change of the first braking force over time. The first braking force increases over time at an increasing rate corresponding to the deceleration.

[0045] The double-dotted dash line F2 represents the change of the second braking force over time. The second braking force increases as the amount of brake pedal depression increases. Figure 3 As shown, the second braking force is smaller than the first braking force, and an increasing rate of the second braking force is smaller than an increasing rate of the first braking force.

[0046] The dotted line FM shows the change of the maximum braking force over time. The maximum braking force is the maximum braking force that the reversing vehicle 1 can generate. Specifically, the maximum braking force is the braking force that decelerates the reversing vehicle 1 at the maximum deceleration that the reversing vehicle 1 can generate. The solid line Fa shows the change of the braking force that the brake control unit 624 actually causes the reversing vehicle 1 to generate over time.

[0047] Figure 4 The speed change of the reversing vehicle 1 is shown. Figure 4 , the horizontal axis represents time t, and the vertical axis represents speed V of the backing vehicle 1. Time TC is the time when the backing vehicle 1 and the moving object 2 are expected to collide with each other. In other words, time TC is the time elapsed from the reference time t0 until the collision.

[0048] The dashed line V1 indicates the change in speed of the reversing vehicle 1 if the vehicle is decelerated under the first braking force. If the brake device 4 decelerates the reversing vehicle 1 using the first braking force, the reversing vehicle 1 can stop at time TA before time TC, thereby avoiding a collision between the reversing vehicle 1 and the moving object 2. The double-dashed line V2 indicates the change in speed of the reversing vehicle 1 if the vehicle is decelerated under the second braking force. If the brake device 4 decelerates the reversing vehicle 1 using the second braking force, the reversing vehicle 1 is expected to stop after time TC, and thus the reversing vehicle 1 and the moving object 2 may collide with each other.

[0049] Therefore, if the second braking force is less than the first braking force and the reversing vehicle 1 may collide with the moving object 2, the braking control unit 624 causes the reversing vehicle 1 to generate the first braking force. Specifically, if the first braking force is less than the maximum braking force of the reversing vehicle 1 and the second braking force is less than the first braking force, the braking control unit 624 increases the braking force of the reversing vehicle 1 until the braking force reaches the first braking force. More specifically, when the second braking force is less than the first braking force and the difference between the first braking force and the second braking force is less than a predetermined value D, the braking control unit 624 causes the reversing vehicle 1 to continue to generate the second braking force.

[0050] If the second braking force continues to be less than the first braking force and the difference between the first braking force and the second braking force becomes equal to or greater than the predetermined value D, the braking control section 624 increases the braking force of the reverse vehicle 1 until the braking force reaches the first braking force. The braking control section 624 sets the predetermined value D so that the braking force can be the first braking force at the time TC at which a collision is expected to occur. In this way, the braking control section 624 enables the driver to operate the reverse vehicle 1 within a range that can avoid a collision.

[0051] like Figure 3 As shown, the brake control unit 624 causes the reverse vehicle 1 to generate the second braking force from the reference time t0 to the time t1. The brake control unit 624 increases the braking force at a rate of increase greater than the rate of increase of the second braking force from the time t1 when the difference between the first braking force and the second braking force becomes equal to or greater than the predetermined value D. Then, at the time t2 after the time t1, the braking force generated by the brake control unit 624 becomes the first braking force. The brake control unit 624 increases the braking force from the time t2 using the function representing the first braking force.

[0052] Figure 4 The solid line Va in represents the change of the speed V of the reversing vehicle 1 when the reversing vehicle 1 is decelerated with the braking force generated by the reversing vehicle 1 by the braking control unit 624. From the reference time t0 to the time t1, the speed of the reversing vehicle 1 is reduced by the second deceleration corresponding to the second braking force. Subsequently, from the time t1 to the time t2, the braking control unit 624 increases the braking force until the braking force reaches the first braking force, thereby increasing the deceleration of the reversing vehicle 1. Therefore, the reversing vehicle 1 is decelerated by the third deceleration, which is greater than the second deceleration corresponding to the second braking force. Subsequently, after the time t2, the braking control unit 624 causes the reversing vehicle 1 to generate the first braking force. Therefore, the speed of the reversing vehicle 1 is reduced by the first deceleration corresponding to the first braking force. It should be noted that the first deceleration is smaller than the third deceleration. Then, the reversing vehicle 1 stops at the time TA, which is before the time TC, thereby avoiding the collision between the reversing vehicle 1 and the moving object 2.

[0053] As described above, when avoiding a collision between the backing vehicle 1 and the moving object 2, the brake control unit 624 causes the backing vehicle 1 to generate a first braking force that is less than the maximum braking force. As a result, the brake control unit 624 can prevent the braking force of the backing vehicle 1 from becoming the maximum braking force that is an excessive braking force when avoiding a collision between the backing vehicle 1 and the moving object 2.

[0054] If the driver presses the brake pedal strongly enough, the second braking force becomes equal to or greater than the first braking force. In this case, the brake control section 624 causes the reverse vehicle 1 to generate the second braking force. Specifically, when the second braking force continues to be equal to or greater than the first braking force, the brake control section 624 causes the reverse vehicle 1 to continue to generate the second braking force. Since the reverse vehicle 1 stops before the time until the collision elapses if the second braking force is equal to or greater than the first braking force, the collision between the reverse vehicle 1 and the moving object 2 can be avoided only by the driver's operation.

[0055] Incidentally, there is a case where the second braking force is initially equal to or greater than the first braking force but becomes smaller than the first braking force. For example, if the driver who has strongly pressed the brake pedal is startled by activating the anti-lock braking system (ABS) and relieves the pressure on the brake pedal, the second braking force may decrease to be smaller than the first braking force, for example. In this case, the collision between the backing vehicle 1 and the moving object 2 cannot be avoided.

[0056] Therefore, if the second braking force becomes smaller than the first braking force, the brake control unit 624 causes the reversing vehicle 1 to generate the maximum braking force. For example, if the second braking force becomes smaller than the first braking force after a predetermined time has passed from the reference time t0, the brake control unit 624 causes the reversing vehicle 1 to generate the maximum braking force regardless of the difference between the first braking force and the second braking force. Specifically, if the second braking force becomes smaller than the first braking force after a predetermined time has passed from the reference time t0 while the second braking force continues to be equal to or greater than the first braking force, the brake control unit 624 increases the braking force generated by the reversing vehicle 1 until the braking force reaches the maximum braking force. The predetermined time is the time obtained by subtracting the time required for the reversing vehicle 1 traveling at a speed V0 at the reference time t0 to stop with the maximum braking force from the time until the collision. As a specific example, if the time until the collision is 2 seconds and the time required to stop with the maximum braking force is 1 second, the predetermined time is 1 second. In this way, even if the driver relieves the pressure on the brake pedal, the brake control unit 624 can avoid the collision between the reversing vehicle 1 and the moving object 2.

[0057] It should be noted that if the first braking force at the reference time t0 is equal to or greater than the maximum braking force, the brake control unit 624 causes the reverse vehicle 1 to generate the maximum braking force regardless of the amount by which the driver depresses the brake pedal. In this way, the brake control unit 624 can reduce the damage caused by the collision between the reverse vehicle 1 and the moving object 2 even if it cannot avoid the collision between the reverse vehicle 1 and the moving object 2.

[0058] The brake control unit 624 can change the braking force generated by the reversing vehicle 1 according to the type of mobile object 2. For example, the damage in a collision when the mobile object 2 is a pedestrian tends to be greater than the damage in a collision when the mobile object 2 is a vehicle. Therefore, if the mobile object 2 is either a pedestrian or a light vehicle such as a bicycle, the brake control unit 624 prioritizes safety and generates the maximum braking force on the reversing vehicle 1. Specifically, if it is determined that there is a risk of collision between the reversing vehicle 1 and the pedestrian, the brake control unit 624 generates the maximum braking force on the reversing vehicle 1, regardless of the first braking force, the second braking force, and the time until collision (see Figure 3 More specifically, the brake control unit 624 causes the reverse vehicle 1 to continue to generate the maximum braking force until the reverse vehicle 1 stops. In other words, the brake control unit 624 causes the reverse vehicle 1 to continue to decelerate at the maximum deceleration that the reverse vehicle 1 can generate.

[0059] When decelerating at the maximum deceleration, the reverse vehicle 1 stops at the time TM (see Figure 4 The dashed line VM in FIG. 1 is before the time TA when the vehicle stops with the first braking force. As described above, the brake control unit 624 generates a greater braking force on the reversing vehicle 1 to stop the reversing vehicle 1 earlier, thereby improving the safety of pedestrians, bicycles, etc.

[0060] If the moving object 2 is a vehicle, as described above, the brake control section 624 causes the backing vehicle 1 to generate the first braking force. Therefore, the brake control section 624 can prevent the braking force from being excessive when avoiding a collision between the backing vehicle 1 and the vehicle.

[0061] [Collision avoidance process]

[0062] Figure 5 2 is a flowchart illustrating an example of a collision avoidance process. The collision avoidance process is executed when it is determined that there is a risk of collision between the reversing vehicle 1 and the moving object 2.

[0063] First, the braking control unit 624 determines whether the moving object 2 is a pedestrian (step S1). Specifically, the braking control unit 624 determines whether the moving object 2 is a pedestrian or a vehicle based on the detection result of the detection device 3. If the moving object 2 is a pedestrian ("yes" in step S1), the braking control unit 624 causes the reversing vehicle 1 to generate the maximum braking force that the reversing vehicle 1 can generate (step S2). Specifically, the braking control unit 624 causes the reversing vehicle 1 to continue to generate the maximum braking force until the reversing vehicle 1 stops. When the reversing vehicle 1 stops, the braking control unit 624 ends the collision avoidance process. The braking control unit 624 causes the reversing vehicle 1 to continue to generate the maximum braking force even after the collision avoidance process ends.

[0064] If the mobile object 2 is a vehicle ("No" in step S1), the first acquisition unit 622 acquires a first braking force that enables a collision between the backing vehicle 1 and the mobile object 2 to be avoided (step S3). In addition, the second acquisition unit 623 acquires a second braking force corresponding to the current brake pedal depression amount (step S4). It should be noted that step S4 may be performed before step S3, or may be performed in parallel with step S3.

[0065] The brake control unit 624 determines whether the second braking force is less than the first braking force (step S5). If the second braking force is less than the first braking force ("yes" in step S5), the brake control unit 624 causes the reversing vehicle 1 to generate the first braking force (step S6). Specifically, the brake control unit 624 increases the braking force until the braking force reaches the first braking force. If the second braking force is equal to or greater than the first braking force ("no" in step S5), the brake control unit 624 causes the reversing vehicle 1 to generate the second braking force (step S7).

[0066] If the brake control unit 624 causes the reversing vehicle 1 to generate the first braking force or the second braking force, the brake control unit 624 determines whether the reversing vehicle 1 has stopped (step S8). If the reversing vehicle 1 has not stopped ("No" in step S8), the brake control unit 624 repeats steps S3 to S8 until the reversing vehicle 1 stops. If the reversing vehicle 1 has stopped ("Yes" in step S8), the brake control unit 624 ends the collision avoidance process. Specifically, the brake control unit 624 ends the collision avoidance process. The brake control unit 624 causes the reversing vehicle 1 to continue to generate the first braking force or the second braking force even after the collision avoidance process ends.

[0067] [Effects of driving assistance device 6]

[0068] As described above, if: i) the first braking force capable of avoiding the collision between the backing vehicle 1 and the moving object 2 is less than the maximum braking force; and ii) the second braking force determined based on the brake pedal depression amount is less than the first braking force, the driving assistance device 6 causes the backing vehicle 1 to generate the first braking force. Therefore, the driving assistance device 6 can avoid the collision between the backing vehicle 1 and the moving object 2 while suppressing the maximum braking force to be generated, thereby preventing excessive braking force when avoiding the collision between the backing vehicle 1 and the moving object 2.

[0069] The present disclosure is described on the basis of the 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 the above embodiments are included in the exemplary embodiments of the present disclosure. In addition, the effect of the new exemplary embodiment brought about by the combination also has the effect of the original exemplary embodiment.

[0070] Symbol Description

[0071] 1: Reversing vehicle

[0072] 2: Move the object

[0073] 3: Detection device

[0074] 4: Braking device

[0075] 5: Speaker

[0076] 6: Driving assistance equipment

[0077] 7: Downward pressure acquisition device

[0078] 61: Memory

[0079] 62: Controller

[0080] 621: Inspection Department

[0081] 622: First Acquisition Department

[0082] 623: Second Acquisition Section

[0083] 624: Brake control unit

Claims

1. A driving assistance device, comprising: a first acquisition unit, configured to acquire a first braking force capable of avoiding a collision between a reversing vehicle and a moving object approaching the reversing vehicle; a second acquiring unit, which acquires a second braking force based on the brake pedal depression amount; as well as The brake control unit causes the reverse vehicle to generate the first braking force if the first braking force is smaller than a maximum braking force of the reverse vehicle and the second braking force is smaller than the first braking force.

2. The driving assistance device according to claim 1, wherein: The brake control portion causes the reverse vehicle to generate the second braking force if the second braking force is equal to or greater than the first braking force.

3. The driving assistance device according to claim 2, wherein: If the second braking force becomes smaller than the first braking force, the brake control unit causes the reverse vehicle to generate the maximum braking force.

4. The driving assistance device according to claim 2 or 3, wherein: The brake control section causes the reversing vehicle to generate the maximum braking force if the second braking force becomes smaller than the first braking force after a predetermined time has elapsed from a time when it is determined that there is a risk of collision between the reversing vehicle and the moving object.

5. The driving assistance device according to claim 4, wherein: If the first braking force at the timing is equal to or greater than the maximum braking force, the brake control section causes the reverse vehicle to generate the maximum braking force.

6. The driving assistance device according to any one of claims 1 to 3, wherein: If the moving object is a pedestrian, the brake control section causes the reverse vehicle to generate the maximum braking force regardless of the first braking force and the second braking force, and If the moving object is a vehicle, the brake control unit causes the reverse vehicle to generate the first braking force, the first braking force being smaller than the maximum braking force, and the second braking force being smaller than the first braking force.

7. The driving assistance device according to any one of claims 1 to 3, wherein: The first acquisition section acquires the first braking force that causes deceleration to stop the reverse vehicle before a time elapses until a collision between the reverse vehicle and the moving object.

8. The driving assistance device according to any one of claims 1 to 3, wherein: If the first braking force is smaller than the maximum braking force and the second braking force generated by the reverse vehicle is smaller than the first braking force, the brake control unit that generates the second braking force by the reverse vehicle increases the braking force of the reverse vehicle until the braking force reaches the first braking force.

9. The driving assistance device according to claim 8, wherein: The first braking force is represented by a function, and the function includes: i) the time that has passed since the moment when it is determined that there is a risk of collision between the backing vehicle and the moving object is used as a variable, and ii) a deceleration for stopping the backing vehicle before the time until the collision between the backing vehicle and the moving object elapses from the time as a coefficient, and If the second braking force continues to be smaller than the first braking force and the difference between the first braking force and the second braking force is equal to or greater than a predetermined value, the brake control portion causes the reversing vehicle to generate the first braking force by increasing the braking force of the reversing vehicle until the braking force reaches the first braking force.

10. The driving assistance device according to claim 9, wherein: The coefficient is a ratio of the speed of the reverse vehicle at the time relative to a value obtained by subtracting a predetermined time from the time until the collision.

11. A method for controlling a driving assistance device, the method being executed by a processor mounted on a reversing vehicle that is reversing, the method comprising the following steps: acquiring a first braking force capable of avoiding a collision between the reversing vehicle and a moving object approaching the reversing vehicle; obtaining a second braking force based on the amount of brake pedal depression; as well as If the first braking force is smaller than the maximum braking force of the reversing vehicle and the second braking force is smaller than the first braking force, the reversing vehicle is caused to generate the first braking force.

12. A storage medium storing a program for causing a processor installed in a reversing vehicle that is reversing to: a first obtaining unit for obtaining a first braking force capable of avoiding a collision between the reversing vehicle and a moving object approaching the reversing vehicle; a second acquiring unit, which acquires a second braking force based on the brake pedal depression amount; as well as The brake control unit causes the reverse vehicle to generate the first braking force if the first braking force is smaller than a maximum braking force of the reverse vehicle and the second braking force is smaller than the first braking force.

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