Vehicle driving assistance device and vehicle driving assistance method

Abstract

A vehicle (HV) is provided with: a sonar device for acquiring sonar information using ultrasonic waves, the sonar information including information relating to a target located in the vicinity of the vehicle and information indicating the reflection intensity of the ultrasonic waves of the target; the driving support ECU performs automatic braking on the own vehicle when it is determined that a predetermined collision avoidance execution condition is satisfied on the basis of sonar information. When the sonar information indicates that the target object is located in the vicinity of the own vehicle and the reflection intensity included in the sonar information is lower than a predetermined intensity threshold value, the driving assistance ECU executes automatic braking at a time point when a collision avoidance execution condition is satisfied only when a predetermined execution permission condition including a misstep determination condition is satisfied. The erroneous depression determination condition is established when it is estimated that the driver has erroneously depressed the accelerator pedal.

Description

Technical Field

[0001] The present invention relates to a vehicle driving assistance device and a vehicle driving assistance method for performing automatic braking on a vehicle to avoid a collision between the vehicle and a target object. Background Art

[0002] Existing devices, when determining that the own vehicle is in the starting state, determine that the target object is a dangerous obstacle relative to the own vehicle when the distance between the own vehicle and the target object measured by radar is below a predetermined value, and issue an alarm and automatic braking (for example, refer to Japanese Patent Publication No. 2004-106701). Summary of the invention

[0003] However, in particular, when the target object is a pedestrian or a bicycle, the intensity of the reflected wave generated by the radio wave transmitted from the radar and reflected by the target object is not high. Therefore, the height of the target object is unclear, and it is impossible to accurately distinguish whether the detected target object is a target that may collide, or a manhole or a small step. Therefore, sometimes, although automatic braking as a collision avoidance action is not originally necessary, it is still performed, and the driver is annoyed by the automatic braking. On the other hand, although a device that identifies a target object based on image data obtained by a camera and performs automatic braking on the target object has been proposed, when the distance between the target object and the own vehicle is close, the entire target object is not included in the image data (producing the so-called incomplete capture), so it is difficult to accurately measure the distance between the target object and the own vehicle. Therefore, when automatic braking is performed based on image data, there is a problem that unnecessary automatic braking is sometimes performed, just like when automatic braking is performed based only on information from the radar.

[0004] The present invention is made to solve such a problem. That is, one of the objects of the present invention is to provide a vehicle driving assistance device and method thereof that can reduce the frequency of unnecessary automatic braking and effectively perform automatic braking on a target object particularly located near the own vehicle.

[0005] A technical solution of the vehicle driving assistance device of the present invention comprises:

[0006] A sonar device (40) that uses ultrasonic waves to obtain sonar information, wherein the sonar information includes information related to a target object located around the own vehicle and information indicating the reflection intensity of the ultrasonic wave of the target object; and

[0007] The controller (10) performs automatic braking on the own vehicle when it is determined based on the sonar information that a predetermined collision avoidance execution condition is satisfied (S355).

[0008] The controller (10) is configured as follows:

[0009] When the sonar information indicates that a target object is located in the vicinity of the own vehicle (S315: Yes) and the reflection intensity included in the sonar information is lower than a predetermined intensity threshold (S320: No), the automatic braking (S355) is performed at the time point when the collision avoidance execution condition is satisfied only when a predetermined execution permission condition including an erroneous stepping determination condition is satisfied (S350: Yes), and the erroneous stepping determination condition is a condition that is satisfied when it is estimated that the driver of the own vehicle has mistakenly stepped on the accelerator pedal of the own vehicle.

[0010] When the reflection intensity included in the sonar information is lower than the predetermined intensity threshold, the height of the target object is particularly unclear, and therefore, the target object included in the sonar information is not likely to be suitable as a target for automatic braking. Therefore, in the above technical solution, when the reflection intensity included in the sonar information is lower than the predetermined intensity threshold, the automatic braking based on the sonar information is not performed unless the execution permission condition including the mis-stepping determination condition that is satisfied when the accelerator pedal is mistakenly stepped on is satisfied. Thus, the frequency of unnecessary automatic braking can be reduced. On the other hand, according to the above technical solution, even when the reflection intensity included in the sonar information is lower than the predetermined intensity threshold, the automatic braking based on the sonar information can be performed if the execution permission condition including the mis-stepping determination condition is satisfied. Thus, the possibility of the own vehicle colliding with the target object immediately after the sudden start can be reduced. Moreover, in this case, even if the target object is assumed to be a target object that is not suitable for automatic braking, since the accelerator pedal is mistakenly stepped on, the automatic braking can effectively play the function of preventing the sudden start of the own vehicle, and the driver is less likely to be annoyed by the automatic braking.

[0011] In the above description, in order to help understand the present invention, the names and / or figure marks used in the embodiments described below are added in brackets to the configuration of the invention corresponding to the embodiments described later. However, the various components of the present invention are not limited to the embodiments specified by the names and / or figure marks. The present invention also relates to a vehicle driving assistance method and a program thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0013] Figure 1 It is a schematic diagram of the configuration of a vehicle driving assistance device according to an embodiment of the present invention.

[0014] Figure 2 It is shown Figure 1 A top view of the host vehicle showing the camera, radar, and sonar installation locations and detection ranges.

[0015] Figure 3 yes Figure 1 The routine executed by the CPU of the driving assistance ECU shown.

[0016] Figure 4 yes Figure 1 The subroutine executed by the CPU of the driving assistance ECU shown. DETAILED DESCRIPTION

[0017] A "vehicle driving assistance device DS (hereinafter referred to as 'device DS')" according to an embodiment of the present invention comprises Figure 1 The components shown are applied to (mounted on) the own vehicle HV. The own vehicle HV may be any of a vehicle using an internal combustion engine as a power source, a vehicle using an electric motor as a power source (ie, an electric vehicle), and a hybrid vehicle.

[0018] In this specification, "ECU" is an electronic control device (control unit) having a microcomputer including a CPU (processor), ROM, RAM, a nonvolatile memory capable of writing data, an interface, etc. ECU is also called a controller or a computer. Figure 1 The plurality of ECUs shown are connected so as to be able to exchange information with each other via CAN. Some or all of the plurality of ECUs may be integrated into one ECU.

[0019] Use of driving assistance ECU10 Figure 1 The described components execute an automatic braking control which is one of the collision avoidance assist controls.

[0020] The camera device 20 includes a camera 21 and an image ECU 22. Figure 2As shown, the camera 21 is arranged at the upper center of the inner side of the front windshield of the own vehicle HV, and shoots the scene in front of the own vehicle HV in the range between the straight line LRc and the straight line LLc to obtain image data. The image ECU 22 generates camera information by analyzing the image data from the camera 21 every predetermined time, and sends the camera information to the driving assistance ECU 10. The camera information includes the image data itself, and the camera target information such as "the position relative to the own vehicle HV, the relative longitudinal speed, the relative lateral speed and the type" of the photographed target object. The types of the target object include moving objects such as other vehicles and pedestrians and non-moving structures. Moreover, as described below, the camera device 20 (image ECU 22) also functions as a surrounding environment information acquisition device that acquires information about the surrounding environment of the own vehicle HV based on the image data. In addition, when the distance between the target object and the own vehicle HV is very short, the target object is not included in the image data as a whole (in other words, only a part of the target object is included in the image data), so the image ECU 22 sometimes cannot accurately obtain the position of the target object.

[0021] The radar device 30 is a well-known device that uses radio waves in the millimeter wave band to obtain information about a target object that exists around the own vehicle HV, and includes a radar 31 and a radar ECU 32. Figure 2 As shown, the radar 31 is arranged at the front center of the own vehicle HV, sends millimeter waves to the detection range between the straight line LRr and the straight line LLr, receives the reflected waves generated by the reflected millimeter waves of the sent millimeter waves by the target object, and sends the information about the sent and received millimeter waves to the radar ECU32. The radar ECU32 obtains radar information based on the information from the radar 31 every predetermined time, and sends the radar information to the driving assistance ECU10. The radar information includes the distance to the target object, the direction of the target object, and the relative speed of the target object. In addition, when the target object is a pedestrian, for example, the intensity of the reflected wave is weak, so the radar ECU32 sometimes cannot accurately obtain the position of the target object, or cannot distinguish whether it is a target that requires collision avoidance action or a target that does not require collision avoidance action, such as a manhole and a small step.

[0022] The sonar device 40 includes a left corner sonar 41a, a left front sonar 41b, a right front sonar 41c, a right corner sonar 41d, and a sonar ECU 42. The left corner sonar 41a, the left front sonar 41b, the right front sonar 41c, and the right corner sonar 41d have the same configuration and are simply referred to as "sonar" when there is no need to distinguish them.

[0023] like Figure 2As shown in FIG. 1 , the left corner sonar 41a is disposed at the left front corner of the own vehicle HV. The area where the left corner sonar 41a can detect the target (hereinafter referred to as the "target detection area") is represented by the area Rsa. The left front sonar 41b is disposed at a position located at the front end of the own vehicle HV and to the left of the center. The target detection area of ​​the left front sonar 41b is represented by the area Rsb.

[0024] The right front sonar 41c is arranged at the front end of the own vehicle HV and to the right of the center. The target object detection area of ​​the right front sonar 41c is represented by the area Rsc. The right corner sonar 41d is arranged at the right front corner of the own vehicle HV. The target object detection area of ​​the right corner sonar 41d is represented by the area Rsd.

[0025] Each sonar transmits an ultrasonic wave to a corresponding target detection area, and receives a reflected wave generated by the ultrasonic wave being reflected by the target. Furthermore, each sonar transmits sonar reflected wave information including "the time from the transmission of the ultrasonic wave to the reception of the reflected wave" and "a signal indicating the 'frequency and intensity (reflection intensity)' of the received reflected wave" to the sonar ECU 42.

[0026] The sonar ECU 42 measures the distance between each sonar and the target object based on the sonar reflection wave information, and obtains (calculates) the sonar information by triangulation based on "the distance between each of the two adjacent sonars and the target object" and "the distance between the two adjacent sonars" every predetermined time, and transmits the sonar information to the driving support ECU 10. The sonar information includes the position of the target object, the relative speed of the target object, and the intensity of the reflection wave received by the two adjacent sonars used in detecting the position of the target object (for example, the average value of the reflection intensity included in the sonar reflection wave information from the two adjacent sonars).

[0027] In addition, the driving assistance ECU 10 integrates the camera information and the radar information to generate "camera radar combined target information" including the position of the target (longitudinal distance from the target, lateral position of the target, and direction of the target), the relative speed of the target, and the type of the target. Furthermore, the driving assistance ECU 10 integrates the sonar information and the radar information to generate "sonar radar combined target information" including the position of the target and the relative speed of the target.

[0028] The powertrain ECU 50 controls a driving device including a power source of the own vehicle HV (not shown) by driving the powertrain actuator 51 , thereby generating a driving force.

[0029] The brake ECU 60 controls the brake device of the own vehicle HV (not shown) by driving the brake actuator 61, thereby applying a braking force to the own vehicle HV. The brake ECU 60 can drive the brake actuator 61 according to an instruction from the driving assistance ECU 10 to automatically brake the own vehicle HV (can perform automatic braking).

[0030] The steering ECU 70 controls the steering device of the own vehicle HV (not shown) by driving the steering motor 71 to change the steering angle of the own vehicle HV. The steering ECU 70 can drive the steering motor 71 according to an instruction from the driving support ECU 10 to automatically steer the own vehicle HV.

[0031] The alarm ECU 80 can control an alarm display device 81 which is arranged at a position visible from the driver's seat and performs a predetermined display, and an alarm sound generating device 82 which generates an alarm sound, according to an instruction from the driving support ECU 10 .

[0032] The driving assistance ECU 10 receives input of detection values ​​(output values) of sensors described below.

[0033] An accelerator pedal operation amount sensor 91 that detects the accelerator pedal operation amount AP of the own vehicle HV.

[0034] A brake pedal operation amount sensor 92 that detects the brake pedal operation amount BP of the own vehicle HV.

[0035] A vehicle speed sensor 93 that detects the speed of the own vehicle HV (ie, own vehicle speed Vh).

[0036] A shift position sensor 94 that detects the shift position Sp of the shift lever of the own vehicle HV. The shift position Sp includes "D range and S range" as forward movement positions, R range as reverse movement position, neutral range, and parking range.

[0037] Furthermore, the driving support ECU 10 is also connected to other “sensors that detect the state of the own vehicle HV”.

[0038] (Work Summary)

[0039] When the following precondition is satisfied, the device DS determines that the collision avoidance execution condition is satisfied based on the sonar information (more precisely, the sonar radar combined with the target object information), the device DS performs automatic braking only when the execution permission condition described below is satisfied. In other words, if the execution permission condition is not satisfied when the precondition is satisfied, the device DS does not perform automatic braking even if the collision avoidance execution condition is satisfied.

[0040] <Prerequisites>

[0041] The precondition is satisfied when both conditions A1 and A2 described below are satisfied.

[0042] (Condition A1) The camera device 20 and the radar device 30 do not detect the same target object (see the following condition). Figure 3 S305).

[0043] (Condition A2) The sonar device 40 detects a target object, but the intensity of the reflected wave (reflection intensity) received by the sonar that detects the target object is less than the intensity threshold (see the following description). Figure 3 S315 and S320).

[0044] <Execution permission conditions>

[0045] The execution permission condition is satisfied when all of conditions B1 to B4 described below are satisfied.

[0046] (Condition B1) The own vehicle HV is located in a parking lot (see Figure 3 In addition, condition B1 is also called an environmental condition. However, condition B1 is not a condition necessary for the execution permission condition to be established.

[0047] (Condition B2) The same target object detection condition is satisfied when the sonar device 40 and the radar device 30 detect the same target object (see the following description). Figure 3 S335).

[0048] (Condition B3) The immediate post-startup condition is satisfied when the current time point is within the period from the first time point to the second time point (see the following description). Figure 3 The first time point is the time point at which the own vehicle HV is started and becomes capable of starting, and the second time point is the time point at which the driving determination condition is satisfied when the own vehicle HV starts driving.

[0049] (Condition B4) The mis-depression determination condition is satisfied when the gear position is the forward gear and it is estimated that the driver of the own vehicle HV has mistakenly stepped on the accelerator pedal (see the following). Figure 3 S345 and S350).

[0050] (Specific work)

[0051] The CPU 10a (hereinafter referred to as "CPU") of the driving support ECU 10 executes the following operation every time a predetermined time (operation cycle dt) elapses when the automatic braking described later is not executed. Figure 3 The routine shown in the flowchart in . In addition, "step" is recorded as "S" below.

[0052] When the predetermined timing is reached in a state where the automatic braking is not executed, the CPU Figure 3 The process starts from S300 and proceeds to S305. In S305, the CPU compares the camera information with the radar information to determine whether the camera device 20 and the radar device 30 have detected the same target object. That is, the CPU makes a determination related to the above-mentioned condition A1.

[0053] When the camera device 20 and the radar device 30 detect the same target object, the CPU enters S310 from S305 and performs a known automatic braking control (collision avoidance auxiliary control) based on the camera radar combined with the target object information. For example, when the CPU determines that the time required for collision with the target object TTC (= the distance between the target object and the own vehicle HV / the relative speed of the target object) is less than the collision determination threshold TTCth based on the camera radar combined with the target object information, the automatic braking is performed. Then, the CPU enters S395 and temporarily ends this routine.

[0054] On the other hand, when the camera device 20 and the radar device 30 do not detect the same target object (ie, when the above-mentioned condition A1 is satisfied), the CPU proceeds from S305 to S315 to determine whether the sonar device 40 has detected the target object based on the sonar information.

[0055] When the sonar device 40 does not detect the target object, the CPU proceeds from S315 to S395.

[0056] When the sonar device 40 detects a target object, the CPU proceeds from S315 to S320 to determine whether the intensity of the reflected wave (reflection intensity) received by the sonar that detected the target object is greater than the reflection intensity threshold. In addition, through the processing of S315 and S320, the determination related to the above-mentioned condition A2 is performed.

[0057] When the intensity of the reflected wave is above the reflection intensity threshold, the CPU proceeds from S320 to S325, and performs known automatic braking control (collision avoidance auxiliary control) based on the sonar information. For example, when the CPU determines based on the sonar information that the time required for collision with the target object TTC is below the collision determination threshold TTCth, or the distance between the target object and the vehicle HV is below the close distance determination threshold, the CPU performs automatic braking. Then, the CPU proceeds to S395.

[0058] In contrast, when the intensity of the reflected wave is smaller (weaker) than the reflection intensity threshold, the CPU enters S330 from S320 and determines whether the own vehicle HV is located in the parking lot based on the camera information. That is, the CPU determines whether the above condition B1 is established. More specifically, the CPU extracts feature points of the surrounding environment from the image data contained in the camera information. In addition, the CPU determines that the own vehicle HV is located in the parking lot when the number of feature points of the surrounding environment that are consistent with the feature points of the parking lot previously learned by the driving assistance ECU 10 (for example, there are double lines representing parking spaces, a pair of wheel fixings, and a plurality of parking spaces) is greater than a predetermined value. In addition, the CPU may also determine that the own vehicle HV is located in the parking lot when the number of "feature points of the surrounding environment extracted from the image data" that are consistent with the "feature points of the road (general road and motor vehicle-only road) previously learned by the driving assistance ECU 10 (for example, the dividing line of the specified lane)" is less than a predetermined value. Furthermore, when the own vehicle HV is equipped with a known navigation system, the CPU may determine whether the own vehicle HV is located in the parking lot based on the current position of the own vehicle HV estimated based on the GPS signal and the map information of the navigation system.

[0059] When the vehicle HV is in the parking lot, the CPU proceeds from S330 to S335 to compare the sonar information with the radar information to determine whether the sonar device 40 and the radar device 30 have detected the same target object. That is, the CPU determines whether the same target object detection condition of condition B2 is satisfied.

[0060] When the sonar device 40 and the radar device 30 detect the same target object, the CPU proceeds from S335 to S340 to determine whether the just after start condition of the condition B3 is satisfied. The just after start condition is a condition that is satisfied when the current time point is within the period from the IG ON time point as the first time point to the second time point at which the driving determination condition is satisfied.

[0061] The IG ON timing is the timing when the ignition key switch of the own vehicle HV (including the start switch of the own vehicle HV such as the Ready Switch) not shown in the figure is changed from the OFF position to the ON position, and the own vehicle HV becomes able to travel.

[0062] The driving judgment condition is a condition that is satisfied when at least one of the following conditions is met: the moving distance of the own vehicle, which is "the distance moved by the own vehicle HV without changing the ignition key switch to the off position after the IG is turned on", is greater than the moving distance threshold; and the own vehicle speed Vh is higher than the vehicle speed threshold Vhth.

[0063] Therefore, when the own vehicle movement distance from the IG ON time point is equal to or less than the movement distance threshold value and the own vehicle speed Vh is equal to or less than the vehicle speed threshold value Vhth, the immediate post-start condition is satisfied.

[0064] When the conditions are met just after startup (i.e., when the vehicle's moving distance from the time the IG is turned on is below the moving distance threshold and the vehicle's speed Vh is below the vehicle speed threshold Vhth), the CPU enters S345 from S340 and determines whether the gear is a forward gear (D gear, S gear, etc.) based on the gear position Sp from the gear sensor 94.

[0065] When the gear is the forward gear, the CPU proceeds from S345 to S350 to determine whether the accelerator pedal is mistakenly stepped on as the brake pedal (accelerator pedal mis-stepping state). That is, the CPU determines whether the above condition B4 is satisfied through the processing of S345 and S350.

[0066] More specifically, the CPU determines that the accelerator pedal mis-depression state has occurred when both conditions C1 and C2 described below are satisfied.

[0067] (Condition C1) The accelerator pedal operation amount AP is equal to or greater than the accelerator pedal operation amount threshold value APth. In other words, the accelerator pedal is greatly depressed.

[0068] (Condition C2) The "change in the accelerator pedal operation amount AP per unit time (dAP)" immediately before the time point when the accelerator pedal operation amount AP becomes equal to or greater than the accelerator pedal operation amount threshold value APth (immediately before the time point when the accelerator pedal operation amount AP becomes equal to or greater than the accelerator pedal operation amount threshold value APth) is equal to or greater than the change speed threshold value dAPth. That is, the accelerator pedal is rapidly depressed.

[0069] When the accelerator pedal is mistakenly depressed (ie, when both the above conditions C1 and C2 are satisfied), the CPU enters S355 from S350 to perform automatic braking control (collision avoidance assist control) based on the sonar radar combined with the target object information.

[0070] More specifically, when the CPU enters S355, it starts from S400 Figure 4 The subroutine processing enters S410.

[0071] In S410, the CPU determines whether the current state is "not in the state of automatic braking". If the current state is "in the state of automatic braking", the CPU directly enters S495 from S410, and then enters Figure 3 S395.

[0072] On the other hand, when the current state is "automatic braking is not performed", the CPU proceeds from S410 to S420. In addition, S410 may be omitted. In this case, the CPU proceeds directly from S400 to S420.

[0073] In S420 , the CPU determines whether the distance D between the own vehicle HV and the target object is equal to or less than a short distance determination threshold value Dth based on the sonar radar combined with the target object information.

[0074] When the distance D is less than the short-distance determination threshold Dth, the CPU proceeds from S420 to S430, and sends an instruction to the brake ECU 60 to perform automatic braking. Furthermore, the CPU sends an instruction to the alarm ECU 80 to cause the alarm display device 81 to display an alarm mark and the alarm sound generating device 82 to generate an alarm sound. Then, the CPU proceeds to S440. Figure 3 S395.

[0075] On the other hand, when the distance D is greater than the short-distance determination threshold Dth, the CPU proceeds from S420 to S440 to calculate the time required for collision with the target TTC based on the sonar radar combined with the target information. The time required for collision TTC is obtained by dividing the distance D by the relative speed of the target.

[0076] Next, the CPU enters S450 to determine whether the time required for collision TTC is less than the collision determination threshold TTCth. If the time required for collision TTC is greater than the collision determination threshold TTCth, the CPU enters S495 from S450 and then enters Figure 3 S395.

[0077] In contrast, when the time required for collision TTC is less than the collision determination threshold value TTCth, the CPU enters S430 from S450, sends an instruction to the brake ECU 60 to perform automatic braking, and sends an instruction to the alarm ECU 80 to cause the alarm display device 81 to display an alarm mark and the alarm sound generating device 82 to generate an alarm sound. Then, the CPU enters Figure 3 S395.

[0078] In addition, the CPU Figure 3 If a "No" determination is made in any of the steps "S330 to S350" shown, the process directly proceeds to S395 from the step where a "No" determination is made. Therefore, in this case, the automatic braking control is not executed.

[0079] Furthermore, the CPU may omit S330. In this case, when the CPU makes a "No" determination in S320, the CPU proceeds to S335.

[0080] As described above, the device DS allows the execution of automatic braking only when the preconditions are satisfied and the predetermined execution permission conditions including the mis-stepping determination conditions are satisfied. Therefore, the frequency of unnecessary execution of automatic braking can be reduced, and the possibility of the own vehicle HV colliding with a target object just after a sudden start due to mis-stepping of the accelerator pedal can be reduced.

[0081] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention. For example, the device DS can be applied to the own vehicle HV in a state where the driving mode of the autonomous vehicle is changed from autonomous driving to driving by the driver.

[0082] Furthermore, when the device DS is equipped with a "rear camera, multiple sonars, and radars" for detecting a target object directly behind the own vehicle HV, the device DS can also perform the above-mentioned automatic braking control for the target object detected by them. In this case, Figure 3 S345 is replaced by a step of determining whether the gear is a reverse gear. Figure 3 The "determination of whether the accelerator pedal mis-depression determination condition is satisfied" performed in S350 may also be performed based on various known methods. That is, for example, the device DS may determine that the accelerator pedal mis-depression has occurred when the time from the accelerator pedal operation amount AP from the "first threshold value close to 0" to the "very large second threshold value" is within a predetermined time.

Claims

1. A vehicle driving assistance device, comprising: a sonar device that uses ultrasonic waves to obtain sonar information, the sonar information including information related to a target object located around the own vehicle and information indicating a reflection intensity of the ultrasonic wave reflected by the target object; and The controller performs automatic braking on the own vehicle when it is determined based on the sonar information that a predetermined collision avoidance execution condition is satisfied, The controller is configured as follows: In a case where the sonar information indicates that a target object is located around the own vehicle and the reflection intensity included in the sonar information is lower than a predetermined intensity threshold, the automatic braking is performed at a time point when the collision avoidance execution condition is satisfied only when a predetermined execution permission condition including a wrong stepping determination condition is satisfied, the wrong stepping determination condition being a condition satisfied when it is estimated that the driver of the own vehicle has mistakenly stepped on an accelerator pedal of the own vehicle.

2. The vehicle driving assistance device according to claim 1, further comprising a radar device that uses radio waves to acquire radar information that is information about a target object located around the own vehicle, The controller is configured as follows: determining whether a same target object detection condition, which is one of the conditions required for the execution permission condition to be satisfied, is satisfied, the same target object detection condition being satisfied when both the sonar information and the radar information include information about the same target object, When it is determined that the execution permission condition is satisfied, it is determined whether the collision avoidance execution condition is satisfied based not only on the sonar information but also on the radar information.

3. The vehicle driving assistance device according to claim 2, The controller is configured as follows: Determine whether a just-start condition, which is a condition required for the establishment of the execution permission condition, is established, the just-start condition being a condition that is established when the current time point is a time point within a period from a first time point to a second time point, the first time point being a time point when the own vehicle is started and becomes able to start, and the second time point being a time point when a predetermined driving determination condition that is established when the own vehicle starts driving is established.

4. The vehicle driving assistance device according to claim 3, The vehicle further comprises a surrounding environment information acquisition device, wherein the surrounding environment information acquisition device acquires information about the surrounding environment of the vehicle. The controller is configured as follows: Based on the information on the surrounding environment, it is determined whether an environmental condition that is one of the conditions required for the establishment of the execution permission condition is established, the environmental condition being a condition established when the own vehicle is located in a parking lot.

5. A vehicle driving assistance method, comprising: A step of acquiring sonar information from a sonar device using ultrasonic waves, wherein the sonar information includes information related to a target object located around the own vehicle and information indicating a reflection intensity of the ultrasonic waves of the target object; When the sonar information indicates that a target object is located around the own vehicle and the reflection intensity included in the sonar information is lower than a predetermined intensity threshold, a step of determining whether a predetermined execution permission condition including an erroneous stepping determination condition is satisfied, the erroneous stepping determination condition being a condition satisfied when it is estimated that the driver of the own vehicle has mistakenly stepped on an accelerator pedal of the own vehicle; as well as The step of executing automatic braking of the own vehicle only when the execution permission condition is satisfied, when it is determined based on the sonar information that a predetermined collision avoidance execution condition is satisfied.

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